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Error starting Turtlebot 2

asked 2013-05-13 03:22:00 -0600

CarolineQ gravatar image


I am currently using a Turtlebot 2 with ROS groovy. When I start the script minimal.launch in the package turtlebot_bringup on the robot's laptop, I get the following error :

nodelet: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "" " **** READ THIS WEB PAGE !!! ****"' failed.
[FATAL] [1368451090.542690660]: Service call failed!
[FATAL] [1368451090.544932863]: Service call failed!
[FATAL] [1368451090.544932853]: Service call failed!
[mobile_base_nodelet_manager-5] process has died [pid 26924, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=mobile_base_nodelet_manager __log:=/home/turtlebot/.ros/log/687078bc-bbcf-11e2-97f0-446d57c545ae/mobile_base_nodelet_manager-5.log].
log file: /home/turtlebot/.ros/log/687078bc-bbcf-11e2-97f0-446d57c545ae/mobile_base_nodelet_manager-5*.log
[bumper2pointcloud-9] process has died [pid 27236, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_bumper2pc/Bumper2PcNodelet mobile_base_nodelet_manager bumper2pointcloud/pointcloud:=mobile_base/sensors/bumper_pointcloud bumper2pointcloud/cliff_events:=mobile_base/events/cliff bumper2pointcloud/bumper_events:=mobile_base/events/bumper __name:=bumper2pointcloud __log:=/home/turtlebot/.ros/log/687078bc-bbcf-11e2-97f0-446d57c545ae/bumper2pointcloud-9.log].

It seems that the problem come from the bumper2pc node, because if I comment the include tag corresponding to the bumper2pc I don't get the error...

Moreover if I connect the Kobuki base to my desktop computer, I can start the script and everything works perfectly. All packages are up to date on both computers.

How can I solve this problem ?


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What model/make is your laptop Caroline? Given that your pc is fine with the same software, maybe that can point us toward actually being able to reproduce the problem.

Daniel Stonier gravatar image Daniel Stonier  ( 2013-05-13 21:02:50 -0600 )edit

@Daniel : Thanks for your help, the model of my laptop is : Asus Eee PC 1025C.

CarolineQ gravatar image CarolineQ  ( 2013-05-13 21:36:19 -0600 )edit

Another question; do you have 32 or 64 bits OS installed?

jorge gravatar image jorge  ( 2013-05-14 15:43:23 -0600 )edit

@jorge : On the robot's laptop (Asus) I have a 32 bits OS installed, could this be a problem ? Thanks for help.

CarolineQ gravatar image CarolineQ  ( 2013-05-14 21:12:14 -0600 )edit

Yes, I think we have narrowed down the problem. Eigen will align long, float and double variables differently on 32/64 bit, so what may work on one, might not on the other. We'll try and reproduce here.

Daniel Stonier gravatar image Daniel Stonier  ( 2013-05-14 21:54:54 -0600 )edit

Follow the bug report on github.

Daniel Stonier gravatar image Daniel Stonier  ( 2013-05-14 21:59:36 -0600 )edit

I will follow the bug report. Thanks !

CarolineQ gravatar image CarolineQ  ( 2013-05-14 22:05:35 -0600 )edit

1 Answer

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answered 2013-05-21 19:39:24 -0600

jorge gravatar image

We fixed it and released just now. New version should be available soon on shadow-fix repo. Thanks for your inputs!

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Asked: 2013-05-13 03:22:00 -0600

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Last updated: May 13 '13