"Segmentation violation.This error was detected while a MEX-file was running"

gtrll / gpmp2

Gaussian Process Motion Planner 2

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Hello, I‘m trying to learn gpmp2 by your awesome matlab sripts. I have compiled the cpp code and matlab wrapper successfully by gcc7.5/matlabR2014b/gtsam4.0.3release. But when I am execuating the example matlab script like "WAMReplannerExample.m". When it runs to
plotArm(arm.fk_model(), start_conf, 'r', 2)(line 41) I got info below:

   Segmentation violation detected at Thu Dec 24 14:44:11 2020
Configuration: Crash Decoding : Disabled Current Visual : None Default Encoding : UTF-8 GNU C Library : 2.27 stable MATLAB Architecture: glnxa64 MATLAB Root : /usr/local/MATLAB/R2014b MATLAB Version : 8.4.0.150421 (R2014b) Operating System : Linux 4.15.0-128-generic #131-Ubuntu SMP Wed Dec 9 06:57:35 UTC 2020 x86_64 Processor ID : x86 Family 6 Model 60 Stepping 3, GenuineIntel Software OpenGL : 0 Virtual Machine : Java 1.7.0_11-b21 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode Window System : No active display

Fault Count: 1

Abnormal termination: Segmentation violation

Register State (from fault): RAX = 00007f2dc5162fa0 RBX = 00007f2c80d53df0 RCX = 0000000000000000 RDX = 0000000000000000 RSP = 00007f2dc5162b40 RBP = 00007f2dc5163230 RSI = 00007f2c80d53540 RDI = 00007f2dc5162af8

R8 = 00007f2dc5162fe0 R9 = 00007f2dc5162ae0 R10 = 00007f2dc5163250 R11 = 00007f2dc5162af8 R12 = 0000000000000007 R13 = 0000000000000000 R14 = 00007f2d37f35020 R15 = 00007f2dc5163320

RIP = 00007f2c9af4e4cc EFL = 0000000000010207

CS = 0033 FS = 0000 GS = 0000

Stack Trace (from fault): [ 0] 0x00007f2c9af4e4cc /usr/local/lib/libgpmp2.so.0+00525516 _ZNK5gpmp23Arm17forwardKinematicsERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEN5boost8optionalIS5_EERSt6vectorIN5gtsam5Pose3ESaISB_EENS7_IRS9_INS2_IdLi3ELi1ELi0ELi3ELi1EEESaISF_EEEENS7_IRS9_INS2_IdLin1ELin1ELi0ELin1ELin1EEESaISK_EEEESOSO+00001036 [ 1] 0x00007f2c9b2d0798 /usr/local/gtsam_toolbox/gpmp2_wrapper.mexa64+00972696 _ZNK5gpmp217ForwardKinematicsIN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES3E25forwardKinematicsPositionERKS3+00000216 [ 2] 0x00007f2c9b28ffb7 /usr/local/gtsam_toolbox/gpmp2_wrapper.mexa64+00708535 _Z37gpmp2Arm_forwardKinematicsPosition_35iPP11mxArraytagiPPKS+00000183 [ 3] 0x00007f2c9b29cf83 /usr/local/gtsam_toolbox/gpmp2_wrapper.mexa64+00761731 mexFunction+00004627 [ 4] 0x00007f2dd0220c0a /usr/local/MATLAB/R2014b/bin/glnxa64/libmex.so+00150538 mexRunMexFile+00000090 [ 5] 0x00007f2dd021d5c4 /usr/local/MATLAB/R2014b/bin/glnxa64/libmex.so+00136644 [ 6] 0x00007f2dd021e414 /usr/local/MATLAB/R2014b/bin/glnxa64/libmex.so+00140308 [ 7] 0x00007f2dcf555329 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00791337 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 8] 0x00007f2dce42fb70 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04053872 [ 9] 0x00007f2dce3dfe02 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03726850 [ 10] 0x00007f2dce3e2022 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03735586 [ 11] 0x00007f2dce3e7f87 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03760007 [ 12] 0x00007f2dce3e36ff /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03741439 [ 13] 0x00007f2dce3e4334 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03744564 [ 14] 0x00007f2dce45952e /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04224302 [ 15] 0x00007f2dcf555329 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00791337 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 16] 0x00007f2dcf10dca8 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02448552 [ 17] 0x00007f2dcf0a57e2 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02021346 [ 18] 0x00007f2dcf0a71ce /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02027982 [ 19] 0x00007f2dcf0acb70 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02050928 [ 20] 0x00007f2dcf0a858d /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02033037 [ 21] 0x00007f2dcf1914d0 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02987216 [ 22] 0x00007f2dcf500e34 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00446004 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [ 23] 0x00007f2dcf18edd1 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02977233 [ 24] 0x00007f2dce42f7df /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04052959 [ 25] 0x00007f2dce444be4 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04140004 [ 26] 0x00007f2dce445aaf /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04143791 [ 27] 0x00007f2dce446d90 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04148624 [ 28] 0x00007f2dce3c25a6 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03605926 [ 29] 0x00007f2dce3b26b5 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03540661 [ 30] 0x00007f2dce3e10b2 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03731634 [ 31] 0x00007f2dce3e7f87 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03760007 [ 32] 0x00007f2dce3e36ff /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03741439 [ 33] 0x00007f2dce3e4334 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03744564 [ 34] 0x00007f2dce45952e /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04224302 [ 35] 0x00007f2dcf555329 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00791337 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 36] 0x00007f2dcf10dca8 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02448552 [ 37] 0x00007f2dcf0a57e2 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02021346 [ 38] 0x00007f2dcf0a71ce /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02027982 [ 39] 0x00007f2dcf0acb70 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02050928 [ 40] 0x00007f2dcf0a858d /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02033037 [ 41] 0x00007f2dcf10fe06 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02457094 [ 42] 0x00007f2dcf18f2ab /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02978475 [ 43] 0x00007f2dcf500e34 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00446004 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [ 44] 0x00007f2dcf18edd1 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcos.so+02977233 [ 45] 0x00007f2dce42fb70 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04053872 [ 46] 0x00007f2dce3b0293 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03531411 [ 47] 0x00007f2dce3e10de /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03731678 [ 48] 0x00007f2dce3e7f87 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03760007 [ 49] 0x00007f2dce3e36ff /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03741439 [ 50] 0x00007f2dce3e4334 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03744564 [ 51] 0x00007f2dce45952e /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04224302 [ 52] 0x00007f2dcf5554af /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00791727 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00001087 [ 53] 0x00007f2dce42fb70 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04053872 [ 54] 0x00007f2dce3b0293 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03531411 [ 55] 0x00007f2dce3e10de /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03731678 [ 56] 0x00007f2dce3e7f87 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03760007 [ 57] 0x00007f2dce3e36ff /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03741439 [ 58] 0x00007f2dce3e4334 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03744564 [ 59] 0x00007f2dce45952e /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+04224302 [ 60] 0x00007f2dcf5554af /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_dispatcher.so+00791727 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00001087 [ 61] 0x00007f2dce417ff5 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03956725 [ 62] 0x00007f2dce3d9699 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03700377 [ 63] 0x00007f2dce3d5a87 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03684999 [ 64] 0x00007f2dce3d6143 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwm_interpreter.so+03686723 [ 65] 0x00007f2dd04619dc /usr/local/MATLAB/R2014b/bin/glnxa64/libmwbridge.so+00223708 [ 66] 0x00007f2dd0462649 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwbridge.so+00226889 _Z8mnParserv+00000729 [ 67] 0x00007f2ddacb8b7f /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00772991 _ZN11mcrInstance30mnParser_on_interpreter_threadEv+00000031 [ 68] 0x00007f2ddac99083 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00643203 [ 69] 0x00007f2ddac9ad69 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00650601 _ZN5boost6detail11task_objectIvNS_3_bi6bind_tIvPFvRKNS_8functionIFvvEEEENS2_5list1INS2_5valueIS6_EEEEEEE6do_runEv+00000025 [ 70] 0x00007f2ddac9b737 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00653111 _ZN5boost6detail9task_baseIvE3runEv+00000071 [ 71] 0x00007f2ddac9b797 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00653207 [ 72] 0x00007f2ddac96bca /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00633802 [ 73] 0x00007f2dcd790a46 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwuix.so+00330310 [ 74] 0x00007f2dcd778ad2 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwuix.so+00232146 [ 75] 0x00007f2ddb45900f /usr/local/MATLAB/R2014b/bin/glnxa64/libmwservices.so+02523151 [ 76] 0x00007f2ddb45917c /usr/local/MATLAB/R2014b/bin/glnxa64/libmwservices.so+02523516 [ 77] 0x00007f2ddb45507f /usr/local/MATLAB/R2014b/bin/glnxa64/libmwservices.so+02506879 [ 78] 0x00007f2ddb45a4b5 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwservices.so+02528437 [ 79] 0x00007f2ddb45a8e7 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwservices.so+02529511 [ 80] 0x00007f2ddb45afc0 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwservices.so+02531264 _Z25svWS_ProcessPendingEventsiib+00000080 [ 81] 0x00007f2ddac97248 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00635464 [ 82] 0x00007f2ddac97564 /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00636260 [ 83] 0x00007f2ddac83cdd /usr/local/MATLAB/R2014b/bin/glnxa64/libmwmcr.so+00556253 [ 84] 0x00007f2dd9a4e6db /lib/x86_64-linux-gnu/libpthread.so.0+00030427 [ 85] 0x00007f2dd977771f /lib/x86_64-linux-gnu/libc.so.6+01185567 clone+00000063

This error was detected while a MEX-file was running. If the MEX-file is not an official MathWorks function, please examine its source code for errors. Please consult the External Interfaces Guide for information on debugging MEX-files.

If this problem is reproducible, please submit a Service Request via: http://www.mathworks.com/support/contact_us/

A technical support engineer might contact you with further information.

Thank you for your help. This crash report has been saved to disk as /home/jimeng/matlab_crash_dump.9347-1

But sometime (a few times), I debug and step in the function

 function varargout = fk_model(this, varargin)
  % FK_MODEL usage: fk_model() : returns gpmp2::Arm
  % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
  varargout{1} = gpmp2_wrapper(116, this, varargin{:});
end 
and

function obj = Arm(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; gpmp2_wrapper(24, my_ptr); elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'double') && isa(varargin{3},'double') && isa(varargin{4},'double') my_ptr = gpmp2_wrapper(25, varargin{1}, varargin{2}, varargin{3}, varargin{4}); elseif nargin == 5 && isa(varargin{1},'numeric') && isa(varargin{2},'double') && isa(varargin{3},'double') && isa(varargin{4},'double') && isa(varargin{5},'gtsam.Pose3') my_ptr = gpmp2_wrapper(26, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5}); elseif nargin == 6 && isa(varargin{1},'numeric') && isa(varargin{2},'double') && isa(varargin{3},'double') && isa(varargin{4},'double') && isa(varargin{5},'gtsam.Pose3') && isa(varargin{6},'double') my_ptr = gpmp2_wrapper(27, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5}, varargin{6}); else error('Arguments do not match any overload of gpmp2.Arm constructor'); end obj.ptr_gpmp2Arm = my_ptr; end it will work and plot a robot arm,(most times it crashed and repoted the info above) I don't know how to figure this out. Is there any compiling error? Since when I choose to compile the matlab wrapper as a static lib, cmake generate process would report error. Maybe I should learn gpmp2 directly from cpp files?(It would be harder to understand the code...)

Segmentation violation detected at 2021-01-21 09:34:34 +0100 Configuration: Crash Decoding : Disabled - No sandbox or build area path Crash Mode : continue (default) Default Encoding : UTF-8 Deployed : false Desktop Environment : ubuntu:GNOME GNU C Library : 2.27 stable Graphics Driver : Unknown hardware Graphics card 1 : 0x10de ( 0x10de ) 0x1c20 Version 460.32.3.0 (0-0-0) Graphics card 2 : 0x8086 ( 0x8086 ) 0x591b Version 0.0.0.0 (0-0-0) Java Version : Java 1.8.0_202-b08 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode MATLAB Architecture : glnxa64 MATLAB Entitlement ID : 862834 MATLAB Root : /usr/local/MATLAB/R2020b MATLAB Version : 9.9.0.1538559 (R2020b) Update 3 OpenGL : hardware Operating System : Ubuntu 18.04.5 LTS Process ID : 11634 Processor ID : x86 Family 6 Model 158 Stepping 9, GenuineIntel Session Key : 07fb8dfd-4b22-41fc-bf23-d3c2f7799ee8 Static TLS mitigation : Enabled: Full Window System : The X.Org Foundation (12008000), display :1 Fault Count: 1 Abnormal termination: Segmentation violation Current Thread: 'MCR 0 interpret' id 140534538934016 Register State (from fault): RAX = 00007fd0bf453400 RBX = 00007fcf4774be70 RCX = 0000000000000000 RDX = 00007fd0bf453460 RSP = 00007fd0bf452fa0 RBP = 00007fd0bf453690 RSI = 00007fcf4774c450 RDI = 00007fd0bf452f58 R8 = 0000000000000000 R9 = 0000000000000018 R10 = 00007fd0b00008d0 R11 = 0000000000000000 R12 = 0000000000000003 R13 = 0000000000000000 R14 = 00007fcf4761dfa0 R15 = 00007fd0bf453780 RIP = 00007fcf3667eccc EFL = 0000000000010206 CS = 0033 FS = 0000 GS = 0000 Stack Trace (from fault): [ 0] 0x00007fcf3667eccc /usr/local/lib/libgpmp2.so.0+00527564 _ZNK5gpmp23Arm17forwardKinematicsERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEN5boost8optionalIS5_EERSt6vectorIN5gtsam5Pose3ESaISB_EENS7_IRS9_INS2_IdLi3ELi1ELi0ELi3ELi1EEESaISF_EEEENS7_IRS9_INS2_IdLin1ELin1ELi0ELin1ELin1EEESaISK_EEEESO_SO_+00001036 [ 1] 0x00007fcf38f23868 /usr/local/gtsam_toolbox/gpmp2_wrapper.mexa64+00981096 _ZNK5gpmp217ForwardKinematicsIN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEES3_E25forwardKinematicsPositionERKS3_+00000216 [ 2] 0x00007fcf38ee26f7 /usr/local/gtsam_toolbox/gpmp2_wrapper.mexa64+00714487 _Z37gpmp2Arm_forwardKinematicsPosition_35iPP11mxArray_tagiPPKS_+00000183 [ 3] 0x00007fcf38eef593 /usr/local/gtsam_toolbox/gpmp2_wrapper.mexa64+00767379 mexFunction+00004627 [ 4] 0x00007fd0ca61f79f /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00837535 [ 5] 0x00007fd0ca61f8a5 /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00837797 [ 6] 0x00007fd0ca61fc77 /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00838775 [ 7] 0x00007fd0ca620804 /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00841732 [ 8] 0x00007fd0ca60ebdc /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00768988 [ 9] 0x00007fd0cdde1720 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01160992 _ZN8Mfh_file20dispatch_file_commonEMS_FviPP11mxArray_tagiS2_EiS2_iS2_+00000208 [ 10] 0x00007fd0cdde2e4c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01166924 [ 11] 0x00007fd0cdde3311 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01168145 _ZN8Mfh_file8dispatchEiPSt10unique_ptrI11mxArray_tagN6matrix6detail17mxDestroy_deleterEEiPPS1_+00000033 [ 12] 0x00007fd0cb3b1964 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10959204 [ 13] 0x00007fd0cb3b5712 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10974994 [ 14] 0x00007fd0cb4d7abd /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12163773 [ 15] 0x00007fd0cb4cb42b /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12112939 [ 16] 0x00007fd0cb45ee8d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669133 [ 17] 0x00007fd0cb45ef10 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669264 [ 18] 0x00007fd0caf90274 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06627956 [ 19] 0x00007fd0caf922b4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06636212 [ 20] 0x00007fd0caf8f391 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06624145 [ 21] 0x00007fd0caf873a5 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06591397 [ 22] 0x00007fd0caf87891 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06592657 [ 23] 0x00007fd0caf8ec0a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622218 [ 24] 0x00007fd0caf8ed06 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622470 [ 25] 0x00007fd0cb0b6566 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07832934 [ 26] 0x00007fd0cb0b8ea5 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07843493 [ 27] 0x00007fd0cb2cdf21 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10026785 [ 28] 0x00007fd0cb3a221f /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10895903 [ 29] 0x00007fd0cb3a23bd /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10896317 [ 30] 0x00007fd0cdde1720 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01160992 _ZN8Mfh_file20dispatch_file_commonEMS_FviPP11mxArray_tagiS2_EiS2_iS2_+00000208 [ 31] 0x00007fd0cdde2e4c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01166924 [ 32] 0x00007fd0cdde3311 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01168145 _ZN8Mfh_file8dispatchEiPSt10unique_ptrI11mxArray_tagN6matrix6detail17mxDestroy_deleterEEiPPS1_+00000033 [ 33] 0x00007fd0cb3b1964 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10959204 [ 34] 0x00007fd0cb3b5712 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10974994 [ 35] 0x00007fd0cb4d7abd /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12163773 [ 36] 0x00007fd0cb4cb56a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12113258 [ 37] 0x00007fd0cb45ee8d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669133 [ 38] 0x00007fd0cb45ef60 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669344 [ 39] 0x00007fd0caf90274 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06627956 [ 40] 0x00007fd0caf922b4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06636212 [ 41] 0x00007fd0caf8f391 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06624145 [ 42] 0x00007fd0caf873a5 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06591397 [ 43] 0x00007fd0caf87891 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06592657 [ 44] 0x00007fd0caf8ec0a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622218 [ 45] 0x00007fd0caf8ed06 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622470 [ 46] 0x00007fd0cb0b6566 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07832934 [ 47] 0x00007fd0cb0b8ea5 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07843493 [ 48] 0x00007fd0cb2cdf21 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10026785 [ 49] 0x00007fd0cb27f013 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09703443 [ 50] 0x00007fd0cb28264f /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09717327 [ 51] 0x00007fd0cb284c92 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09727122 [ 52] 0x00007fd0cb3165b4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10323380 [ 53] 0x00007fd0cb316769 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10323817 [ 54] 0x00007fd0ce0498e9 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00588009 [ 55] 0x00007fd0ce0ab13a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00987450 _ZN3iqm14UserEvalPlugin7executeEP15inWorkSpace_tag+00000970 [ 56] 0x00007fd0ce0806cf /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00812751 [ 57] 0x00007fd0ce08e136 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00868662 [ 58] 0x00007fd0ce052b1c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00625436 [ 59] 0x00007fd0ca6b5762 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwbridge.so+00300898 [ 60] 0x00007fd0ca6b5fd3 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwbridge.so+00303059 [ 61] 0x00007fd0ca6bc366 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwbridge.so+00328550 _Z22mnGetCommandLineBufferbRbN7mwboost8optionalIKP15inWorkSpace_tagEEbRKNS0_9function2IN6mlutil14cmddistributor17inExecutionStatusERKNSt7__cxx1112basic_stringIDsSt11char_traitsIDsESaIDsEEES4_EE+00000230 [ 62] 0x00007fd0ca6bc60a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwbridge.so+00329226 _Z8mnParserv+00000490 [ 63] 0x00007fd0cdf2cbd7 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcr.so+00973783 [ 64] 0x00007fd0e18908c0 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmvm.so+03250368 _ZNK7mwboost9function0IvEclEv+00000032 [ 65] 0x00007fd0e1891ab0 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmvm.so+03254960 _ZN14cmddistributor15PackagedTaskIIP10invokeFuncIN7mwboost8functionIFvvEEEEENS2_10shared_ptrINS2_13unique_futureIDTclfp_EEEEEERKT_+00000048 [ 66] 0x00007fd0e1891b58 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmvm.so+03255128 _ZNSt17_Function_handlerIFN7mwboost3anyEvEZN14cmddistributor15PackagedTaskIIP10createFuncINS0_8functionIFvvEEEEESt8functionIS2_ET_EUlvE_E9_M_invokeERKSt9_Any_data+00000024 [ 67] 0x00007fd0ce09f3fb /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00939003 _ZN3iqm18PackagedTaskPlugin7executeEP15inWorkSpace_tag+00000091 [ 68] 0x00007fd0cdf2a3bd /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcr.so+00963517 [ 69] 0x00007fd0ce0806cf /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00812751 [ 70] 0x00007fd0ce050845 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00616517 [ 71] 0x00007fd0ce051240 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwiqm.so+00619072 [ 72] 0x00007fd0cdf10efe /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcr.so+00859902 [ 73] 0x00007fd0cdf11477 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcr.so+00861303 [ 74] 0x00007fd0cdf11677 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcr.so+00861815 [ 75] 0x00007fd0dfca5482 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwboost_thread.so.1.70.0+00062594 [ 76] 0x00007fd0e0ee26db /lib/x86_64-linux-gnu/libpthread.so.0+00030427 [ 77] 0x00007fd0e09f371f /lib/x86_64-linux-gnu/libc.so.6+01185567 clone+00000063 This error was detected while a MEX-file was running. If the MEX-file is not an official MathWorks function, please examine its source code for errors. Please consult the External Interfaces Guide for information on debugging MEX-files. ** This crash report has been saved to disk as /home/user/matlab_crash_dump.11634-1 ** FatalException

Start 1: testDynamicVector 1/36 Test #1: testDynamicVector ............................ Passed 0.06 sec Start 2: testPose2Vector 2/36 Test #2: testPose2Vector .............................. Passed 0.00 sec Start 3: testProductDynamicLieGroup 3/36 Test #3: testProductDynamicLieGroup ................... Passed 0.00 sec Start 4: testGaussianProcessInterpolatorLinear 4/36 Test #4: testGaussianProcessInterpolatorLinear ........ Passed 0.00 sec Start 5: testGaussianProcessInterpolatorPose2 5/36 Test #5: testGaussianProcessInterpolatorPose2 ......... Passed 0.00 sec Start 6: testGaussianProcessInterpolatorPose2Vector 6/36 Test #6: testGaussianProcessInterpolatorPose2Vector ... Passed 0.00 sec Start 7: testGaussianProcessInterpolatorPose3 7/36 Test #7: testGaussianProcessInterpolatorPose3 ......... Passed 0.00 sec Start 8: testGaussianProcessPriorLinear 8/36 Test #8: testGaussianProcessPriorLinear ............... Passed 0.01 sec Start 9: testGaussianProcessPriorPose2 9/36 Test #9: testGaussianProcessPriorPose2 ................ Passed 0.01 sec Start 10: testGaussianProcessPriorPose2Vector 10/36 Test #10: testGaussianProcessPriorPose2Vector .......... Passed 0.01 sec Start 11: testGaussianProcessPriorPose3 11/36 Test #11: testGaussianProcessPriorPose3 ................ Passed 0.01 sec Start 12: testArm 12/36 Test #12: testArm ......................................***Exception: SegFault 0.19 sec Start 13: testArmModel 13/36 Test #13: testArmModel .................................***Exception: SegFault 0.10 sec Start 14: testGaussianPriorWorkspaceOrientation 14/36 Test #14: testGaussianPriorWorkspaceOrientation ........***Exception: SegFault 0.10 sec Start 15: testGaussianPriorWorkspacePose 15/36 Test #15: testGaussianPriorWorkspacePose ...............***Exception: SegFault 0.10 sec Start 16: testGaussianPriorWorkspacePosition 16/36 Test #16: testGaussianPriorWorkspacePosition ...........***Exception: SegFault 0.10 sec Start 17: testGoalFactorArm 17/36 Test #17: testGoalFactorArm ............................***Exception: SegFault 0.10 sec Start 18: testJointLimitFactorPose2Vector 18/36 Test #18: testJointLimitFactorPose2Vector .............. Passed 0.00 sec Start 19: testJointLimitFactorVector 19/36 Test #19: testJointLimitFactorVector ................... Passed 0.00 sec Start 20: testMobileBaseUtils 20/36 Test #20: testMobileBaseUtils .......................... Passed 0.00 sec Start 21: testPointRobotModel 21/36 Test #21: testPointRobotModel .......................... Passed 0.00 sec Start 22: testPose2Mobile2Arms 22/36 Test #22: testPose2Mobile2Arms .........................***Exception: SegFault 0.10 sec Start 23: testPose2MobileArm 23/36 Test #23: testPose2MobileArm ...........................***Exception: SegFault 0.10 sec Start 24: testPose2MobileBase 24/36 Test #24: testPose2MobileBase .......................... Passed 0.00 sec Start 25: testPose2MobileVetLin2Arms 25/36 Test #25: testPose2MobileVetLin2Arms ...................***Exception: SegFault 0.10 sec Start 26: testPose2MobileVetLinArm 26/36 Test #26: testPose2MobileVetLinArm .....................***Exception: SegFault 0.10 sec Start 27: testVehicleDynamics 27/36 Test #27: testVehicleDynamics .......................... Passed 0.00 sec Start 28: testObstaclePlanarSDFFactorArm 28/36 Test #28: testObstaclePlanarSDFFactorArm ...............***Exception: SegFault 0.10 sec Start 29: testObstaclePlanarSDFFactorGPArm 29/36 Test #29: testObstaclePlanarSDFFactorGPArm .............***Exception: SegFault 0.10 sec Start 30: testObstacleSDFFactorArm 30/36 Test #30: testObstacleSDFFactorArm .....................***Exception: SegFault 0.10 sec Start 31: testObstacleSDFFactorGPArm 31/36 Test #31: testObstacleSDFFactorGPArm ...................***Exception: SegFault 0.10 sec Start 32: testPlanarSDF 32/36 Test #32: testPlanarSDF ................................ Passed 0.00 sec Start 33: testSignedDistanceField 33/36 Test #33: testSignedDistanceField ...................... Passed 0.00 sec Start 34: testISAM2TrajOptimizer 34/36 Test #34: testISAM2TrajOptimizer ....................... Passed 0.00 sec Start 35: testTrajUtils 35/36 Test #35: testTrajUtils ................................ Passed 0.00 sec Start 36: testTimer 36/36 Test #36: testTimer .................................... Passed 0.01 sec 61% tests passed, 14 tests failed out of 36 Total Test time (real) = 1.72 sec The following tests FAILED: 12 - testArm (SEGFAULT) 13 - testArmModel (SEGFAULT) 14 - testGaussianPriorWorkspaceOrientation (SEGFAULT) 15 - testGaussianPriorWorkspacePose (SEGFAULT) 16 - testGaussianPriorWorkspacePosition (SEGFAULT) 17 - testGoalFactorArm (SEGFAULT) 22 - testPose2Mobile2Arms (SEGFAULT) 23 - testPose2MobileArm (SEGFAULT) 25 - testPose2MobileVetLin2Arms (SEGFAULT) 26 - testPose2MobileVetLinArm (SEGFAULT) 28 - testObstaclePlanarSDFFactorArm (SEGFAULT) 29 - testObstaclePlanarSDFFactorGPArm (SEGFAULT) 30 - testObstacleSDFFactorArm (SEGFAULT) 31 - testObstacleSDFFactorGPArm (SEGFAULT) Errors while running CTest CMakeFiles/check.dir/build.make:76: recipe for target 'CMakeFiles/check' failed make[3]: *** [CMakeFiles/check] Error 8 CMakeFiles/Makefile2:430: recipe for target 'CMakeFiles/check.dir/all' failed make[2]: *** [CMakeFiles/check.dir/all] Error 2 CMakeFiles/Makefile2:437: recipe for target 'CMakeFiles/check.dir/rule' failed make[1]: *** [CMakeFiles/check.dir/rule] Error 2 Makefile:194: recipe for target 'check' failed make: *** [check] Error 2

gtrll / gpmp2

"Segmentation violation.This error was detected while a MEX-file was running" #42