ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

problem of costmap_2d in ros hydro

asked 2013-07-26 06:04:35 -0500

Mike Gao gravatar image

updated 2014-04-20 14:09:27 -0500

ngrennan gravatar image

Hello! I encounter a problem when using the "new version" costmap_2d in ros hydro. I tested it with costmap_2d_node with the proper parameters, but the program stopped because of the famous warning information from eigen:

/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.

And I tried to use gdb to get some more details about this crash, and it seems that the problem comes from the observation_buffer.cpp file in the costmap_2d package, as it deals with the pcl point cloud. The last several calls before the crash are shown below:

#1 0xb715f1df in raise () from /lib/i386-linux-gnu/

#2 0xb7162825 in abort () from /lib/i386-linux-gnu/

#3 0xb7158085 in ?? () from /lib/i386-linux-gnu/

#4 0xb7158137 in __assert_fail () from /lib/i386-linux-gnu/

#5 0xb76abff1 in ?? () from /opt/ros/hydro/lib/

#6 0xb76b4682 in costmap_2d::ObservationBuffer::bufferCloud(pcl::PointCloud<pcl::pointxyz> const&) () from /opt/ros/hydro/lib/

#7 0xb76b4a61 in costmap_2d::ObservationBuffer::bufferCloud(sensor_msgs::PointCloud2_<std::allocator<void> > const&) () from /opt/ros/hydro/lib/

#8 0xb2228421 in costmap_2d::ObstacleLayer::laserScanCallback(boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void> > const> const&, boost::shared_ptr<costmap_2d::observationbuffer> const&) () from /opt/ros/hydro/lib/

#9 0xb2231eb3 in boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf2<void,="" costmap_2d::obstaclelayer,="" boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void=""> > const> const&, boost::shared_ptr<costmap_2d::observationbuffer> const&>, boost::_bi::list3<boost::_bi::value<costmap_2d::obstaclelayer*>, boost::arg<1>, boost::_bi::value<boost::shared_ptr<costmap_2d::observationbuffer> > > >, void, boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void> > const> const&) () from /opt/ros/hydro/lib/

#10 0xb223a346 in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void=""> > const> const&)>, void, boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void> > const>) () from /opt/ros/hydro/lib/

#11 0xb225adae in message_filters::CallbackHelper1T<boost::shared_ptr<sensor_msgs::laserscan_<std::allocator<void> > const> const&, sensor_msgs::LaserScan_<std::allocator<void> > >::call(ros::MessageEvent<sensor_msgs::laserscan_<std::allocator<void> > const> const&, bool) () from /opt/ros/hydro/lib/

#12 0xb22455be in message_filters::SimpleFilter<sensor_msgs::laserscan_<std::allocator<void> > >::signalMessage(ros::MessageEvent<sensor_msgs::laserscan_<std::allocator<void> > const> const&) () from /opt/ros/hydro/lib/

I never had this problem before. My os is ubuntu precise 32bit. Thanks for any help!

edit retag flag offensive close merge delete


Still there the error? It always happens or just randomly? I show something similar when using pointclouds with costmaps. But it was while preparing a demo, so no way to stop and debug!

jorge gravatar image jorge  ( 2013-09-04 22:58:34 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2013-09-05 04:34:22 -0500

David Lu gravatar image

Did this already get resolved here: ?

edit flag offensive delete link more


Yes! Sorry for such late response...

Mike Gao gravatar image Mike Gao  ( 2013-12-10 05:08:58 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2013-07-26 06:04:35 -0500

Seen: 296 times

Last updated: Sep 05 '13