Eigen problem by running the demo topo_replan.launch

[Daihn6]

When I run: roslaunch plan_manage topo_replan.launch, and give a target point, it appears an error that:

Stack trace (most recent call last):
#13   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#12   Object "/home/daihn666/catkin_ws/devel/lib/plan_manage/fast_planner_node", at 0x41c148, in _start
#11   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb24fd2083f, in __libc_start_main
#10   Object "/home/daihn666/catkin_ws/devel/lib/plan_manage/fast_planner_node", at 0x4197db, in main
#9    Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7fb252688e9a, in ros::spin()
#8    Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7fb2526a3e38, in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*)
#7    Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7fb25264723a, in ros::CallbackQueue::callAvailable(ros::WallDuration)
#6    Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7fb252645837, in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*)
#5    Object "/opt/ros/kinetic/lib/libroscpp.so", at 0x7fb25261f2dc, in ros::TimerManager<ros::Time, ros::Duration, ros::TimerEvent>::TimerQueueCallback::call()
#4    Object "/home/daihn666/catkin_ws/devel/lib/plan_manage/fast_planner_node", at 0x433927, in fast_planner::TopoReplanFSM::execFSMCallback(ros::TimerEvent const&)
#3    Object "/home/daihn666/catkin_ws/devel/lib/plan_manage/fast_planner_node", at 0x43343e, in fast_planner::TopoReplanFSM::callTopologicalTraj(int)
#2    Object "/home/daihn666/catkin_ws/devel/lib/plan_manage/fast_planner_node", at 0x43bdff, in fast_planner::FastPlannerManager::planGlobalTraj(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)
#1    Object "/home/daihn666/catkin_ws/devel/lib/libpoly_traj.so", at 0x7fb25233349e, 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&)
#0    Object "/home/daihn666/catkin_ws/devel/lib/libpath_searching.so", at 0x7fb253036dd0, in void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<double> >(Eigen::Matrix<double, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<double> const&)
Segmentation fault (Signal sent by the kernel [(nil)])
[fast_planner_node-1] process has died [pid 21125, exit code -11, cmd /home/daihn666/catkin_ws/devel/lib/plan_manage/fast_planner_node /odom_world:=/state_ukf/odom /sdf_map/odom:=/state_ukf/odom /sdf_map/cloud:=/pcl_render_node/cloud /sdf_map/pose:=/pcl_render_node/camera_pose /sdf_map/depth:=/pcl_render_node/depth __name:=fast_planner_node __log:=/home/daihn666/.ros/log/2003cfbe-d645-11ea-8617-485f9981cbdb/fast_planner_node-1.log].
log file: /home/daihn666/.ros/log/2003cfbe-d645-11ea-8617-485f9981cbdb/fast_planner_node-1*.log

I am not sure whether it is an Eigen problem or a stack problem. My Eigen version is 3.2.92. My college has also this version Eigen, but he can run this demo without problem.

[liuzhenboo]

in polynomial_traj.cpp replace A.block(k * 6, k * 6, 6, 6) = Ab; to A.block<6, 6>(6 * k, 6 * k) = Ab; at function minSnapTra()j

[Daihn6]

in polynomial_traj.cpp replace A.block(k * 6, k * 6, 6, 6) = Ab; to A.block<6, 6>(6 * k, 6 * k) = Ab; at function minSnapTra()j

Ok, Thank you!