eigen error

[Asserzayed]

Hello, I'm a little new to ROS
Thank you so much for your amazing work. I've been working on a simulated 3D navigation task of a hilly environment for a mobile robot and I decided to use the elevation mapping package and the traversability_estimation package to filter my elevation map and output a 2D occupancy grid of the traversability layer and launch it with the move_base node to more or less perform "obstacle avoiding/little improved path planning" autonomous navigation. I searched/read everywhere but 3D navigation is a really complex topic and I'm struggling with it.
The traversability map I managed to make it work but with small size about 4.0 x 4.0 and it takes like a minute to crash after moving my rover a bit. once the elevation map grows a bit or it's already big I get this message.
traversability_estimation_node: /usr/include/eigen3/Eigen/src/Core/Block.h:122: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Index) [with XprType = Eigen::Matrix<double, -1, -1>; int BlockRows = -1; int BlockCols = 1; bool InnerPanel = true; Eigen::Index = long int]: Assertion (i>=0) && ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows()) ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols()))' failed.

my workspace builds with all the required dependencies in the README.md I'm using Ubuntu 18.04 with ROS melodic.

[kkduter]

Did you solve it?

[Asserzayed]

**kkduter ** commented Mar 22, 2023

I gave up that package.. but I haven't tried it with Noetic yet.

[doctorcolossus]

@kkduter, @Asserzayed: I get the same shit with Noetic, about 5-10 seconds after launching:

traversability_estimation_node: /usr/include/eigen3/Eigen/src/Core/Block.h:120: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Index) [with XprType = Eigen::Matrix<double, -1, -1>; int BlockRows = -1; int BlockCols = 1; bool InnerPanel = true; Eigen::Index = long int]: Assertion `(i>=0) && ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows()) ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols()))' failed.
[traversability_estimation-5] process has died [pid 96, exit code -6, cmd /catkin_workspace/devel/lib/traversability_estimation/traversability_estimation_node __name:=traversability_estimation __log:=/root/.ros/log/4110994c-3561-11ef-9f5d-0242ac110002/traversability_estimation-5.log].
log file: /root/.ros/log/4110994c-3561-11ef-9f5d-0242ac110002/traversability_estimation-5*.log

Although rostopic list shows /traversability_estimation/traversability_map, no data seems to be published to it before the crash.

Has anyone figured out what the issue is? What about the maintainers? This would appear to be a bug.