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I am getting error out of move_base that I can not figure out [closed]

asked 2013-09-03 07:54:19 -0500

rnunziata gravatar image

updated 2013-09-11 02:13:18 -0500

I do not know how gazebo and ros are related but if I used a SDF model in gazebo and URDF in RVIZ then I move-base aborts. But if I bring up gazebo with a single urdf for both rviz and gazebo then move-base does not abort. However a urdf in gazebo is not working for my robot.

I am getting error out of move_base that I can not figure out. I am running WMware on Mac OSX 10.8. I have the latest in hydro and gazebo 1.9 installed

Laser Pose= -7.03812 2.5283 0.0750175
[ INFO] [1378214170.838243980, 421.260000000]: Using plugin "obstacle_layer"
[ INFO] [1378214171.187628217, 421.319000000]:     Subscribed to Topics: laser_scan_sensor
[ INFO] [1378214171.285210319, 421.331000000]: Using plugin "footprint_layer"
[ INFO] [1378214171.321360203, 421.336000000]: Using plugin "inflation_layer"
move_base: /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: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
[move_base-7] process has died [pid 22711, exit code -6, cmd /opt/ros/hydro/lib/move_base/move_base __name:=move_base __log:=/home/rnunziata/.ros/log/5f2afbc4-1499-11e3-80f9-000c29589865/move_base-7.log].
log file: /home/rnunziata/.ros/log/5f2afbc4-1499-11e3-80f9-000c29589865/move_base-7*.log
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Closed for the following reason the question is answered, right answer was accepted by rnunziata
close date 2013-09-12 07:42:41

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This looks more like a bug to be reported than an error.

dornhege gravatar image dornhege  ( 2013-09-03 08:36:34 -0500 )edit

Thanks for input....I have opened a ticket.

rnunziata gravatar image rnunziata  ( 2013-09-03 12:35:56 -0500 )edit

Any idea on how I can get a workaround for somthing like this...its really holding me up.

rnunziata gravatar image rnunziata  ( 2013-09-08 04:33:57 -0500 )edit

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answered 2013-09-11 06:47:31 -0500

updated 2013-09-11 08:20:04 -0500

This appears to be a typical instance of the Eigen Unaligned Array Assert that can happen on 32 Bit systems when there has been an oversight on how to correctly align Eigen types.

There are a few things you could try:

  1. Switch to using a 64 Bit system (this error will not appear on those)
  2. Add compiler defines for switching off vectorization as described here
  3. Do a bug report, hope people will fix the error for you (apparently done already)
  4. Look at the Eigen documentation on the problem and try fixing the problem yourself, or contributing to the fix by others.

If you google "Ros Answers Eigen Unaligned Array" you should also find more questions/answers on this problem.

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Thank you. It is not clear where one defines the "environment variables" . Do I need to download source and compile it , if so which source. The link you gave is not clear on what to do. I will keep looking.

rnunziata gravatar image rnunziata  ( 2013-09-11 07:05:47 -0500 )edit

Sorry, I meant compiler defines. Edited my original answer.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2013-09-11 08:20:35 -0500 )edit

I have this problem too, I am running groovy move_base in ubuntu 12.04. For the adding compiler defines for switching off vectorization, where should I add it? I had tried to define in several file such as move_base.cpp and etc the problem still exist. Please help me

heng gravatar image heng  ( 2015-01-01 04:32:36 -0500 )edit
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answered 2013-09-12 07:41:57 -0500

rnunziata gravatar image

I installed ubuntu 13 in dual boot on my macbook and no longer get this particular error.

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Asked: 2013-09-03 07:54:19 -0500

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Last updated: Sep 12 '13