Error in move_group Eigen::DenseCoeffsBase

[Beatriz León]

When I lauch moveit and the ur10 arm with track_ik specified, I often get the following error:

Looking in private handle: /move_group for param name: right_arm/kinematics_solver_timeout
move_group: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:173: Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::DenseCoeffsBase<Derived, 0>::Index) const [with Derived = Eigen::Matrix<double, -1, 1>; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = const double&; Eigen::DenseCoeffsBase<Derived, 0>::Index = long int]: Assertion `index >= 0 && index < size()' failed.

running again solves the issue. This has never happen with the normal KDL solver.

Do you know what could be the cause of that error?

[Patrick Beeson]

I've seen this before on the PR2 robot when using the MoveIt! plugin (not for any use of the trac_ik_lib library though). It may have something to do with the "older" way I'm parsing the URDF within the MoveIt! universe (not using MoveIt! data structures). I'll look into this when I get a chance. Thanks.

[Patrick Beeson]

Fixed with commit e8069d9

[Beatriz León]

Thans Patrick for fixing it so quickly! It doesn't seem to fail any more. I will keep you posted if it does.