Eigen problem while running topo_replan.launch #86
Description
`I can run kino_replan.launch successfully, but I cannot run topo_replan.launch with following error.
Stack trace (most recent call last):
21 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
20 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/plan_manage/fast_planner_node", at 0x41b2a8, in _start
19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f62470f983f, in __libc_start_main
18 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/plan_manage/fast_planner_node", at 0x418ed9, in main
17 Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7f6249a36a6a, in ros::spin()
16 Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7f6249a51a18, in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*)
15 Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7f62499f513a, in ros::CallbackQueue::callAvailable(ros::WallDuration)
14 Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7f62499f36ff, in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*)
13 Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7f62499ceabc, in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::TimerQueueCallback::call()
12 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/plan_manage/fast_planner_node", at 0x431d0d, in fast_planner::TopoReplanFSM::execFSMCallback(ros::TimerEvent const&)
11 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/plan_manage/fast_planner_node", at 0x43182e, in fast_planner::TopoReplanFSM::callTopologicalTraj(int)
10 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/plan_manage/fast_planner_node", at 0x43b5f4, in fast_planner::FastPlannerManager::planGlobalTraj(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)
9 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496ea68f, in minSnapTraj(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)
8 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496fc9f9, in Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::PlainObjectBase<Eigen::Product<Eigen::Product<Eigen::Product<Eigen::Product<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Inverse<Eigen::Transpose<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >, 0>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, 0>, Eigen::Inverse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >, 0>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, 0> >(Eigen::DenseBase<Eigen::Product<Eigen::Product<Eigen::Product<Eigen::Product<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Inverse<Eigen::Transpose<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >, 0>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, 0>, Eigen::Inverse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >, 0>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, 0> > const&)
7 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496fc207, in
6 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496fba93, in
5 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496fb080, in
4 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496f9569, in Eigen::PartialPivLU<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::PartialPivLU<Eigen::Matrix<double, -1, -1, 1, -1, -1> >(Eigen::EigenBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> > const&)
3 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496f8ff3, in Eigen::PartialPivLU<Eigen::Matrix<double, -1, -1, 1, -1, -1> >::compute()
2 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpoly_traj.so", at 0x7f62496f8936, in Eigen::internal::partial_lu_impl<double, 1, int>::blocked_lu(long, long, double*, long, int*, int&, long)
1 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpath_searching.so", at 0x7f624a3dd414, in Eigen::internal::general_matrix_matrix_product<long, double, 0, false, double, 0, false, 0>::run(long, long, long, double const*, long, double const*, long, double*, long, double, Eigen::internal::level3_blocking<double, double>&, Eigen::internal::GemmParallelInfo*)
#0 Object "/home/htsys/LCY/fast_planner_ws/devel/lib/libpath_searching.so", at 0x7f624a3d629b, in
Segmentation fault (Address not mapped to object [0x10])
`
It's similar with [#41 ] , but the operation dosen't work on this error.