and this bug will disappear when i try to 'catkin build' again.
but sometimes it appears very often.
My system is: Linux 5.15.0-88-generic #98~20.04.1-Ubuntu SMP Mon Oct 9 16:43:45 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux,
g++ version:
g++ (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0
gcc (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0
the complete command line that triggers the bug: catkin build xxxx
here is error info.
/----------------------------------------------------------/
Errors << ocs2_mobile_manipulator:make ...../logs/ocs2_mobile_manipulator/build.make.702.log
In file included from /ocs2/ocs2_thirdparty/include/cppad/cg/cppadcg.hpp:137,
from /ocs2/ocs2_thirdparty/include/cppad/cg.hpp:18,
from /ocs2/ocs2_core/include/ocs2_core/automatic_differentiation/Types.h:36,
from /ocs2/ocs2_pinocchio/ocs2_pinocchio_interface/include/ocs2_pinocchio_interface/PinocchioInterface.h:39,
from ...../ocs2_mobile_manipulator/include/ocs2_mobile_manipulator/MobileManipulatorPreComputation.h:36,
from ...../ocs2_mobile_manipulator/src/MobileManipulatorPreComputation.cpp:38:
/ocs2/ocs2_thirdparty/include/cppad/cg/code_handler.hpp:211:5: internal compiler error: Segmentation fault
211 | }
| ^
0x7f9d244be08f ???
/build/glibc-BHL3KM/glibc-2.31/signal/../sysdeps/unix/sysv/linux/x86_64/sigaction.c:0
0x7f9d2449f082 __libc_start_main
../csu/libc-start.c:308
Please submit a full bug report,
with preprocessed source if appropriate.
Please include the complete backtrace with any bug report.
See <file:///usr/share/doc/gcc-9/README.Bugs> for instructions.
make[2]: *** [CMakeFiles/ocs2_mobile_manipulator.dir/build.make:76: CMakeFiles/ocs2_mobile_manipulator.dir/src/MobileManipulatorPreComputation.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /ocs2/ocs2_thirdparty/include/cppad/core/ad_fun.hpp:837,
from /ocs2/ocs2_thirdparty/include/cppad/cppad.hpp:63,
from /ocs2/ocs2_thirdparty/include/cppad/cg/cppadcg.hpp:148,
from /ocs2/ocs2_thirdparty/include/cppad/cg.hpp:18,
from /ocs2/ocs2_core/include/ocs2_core/automatic_differentiation/Types.h:36,
from /ocs2/ocs2_pinocchio/ocs2_pinocchio_interface/include/ocs2_pinocchio_interface/PinocchioInterface.h:39,
from ...../ocs2_mobile_manipulator/include/ocs2_mobile_manipulator/MobileManipulatorInterface.h:42,
from ...../ocs2_mobile_manipulator/src/MobileManipulatorInterface.cpp:41:
/ocs2/ocs2_thirdparty/include/cppad/core/fun_construct.hpp:287:1: internal compiler error: Segmentation fault
287 | }
| ^
0x7f1a1ff0208f ???
/build/glibc-BHL3KM/glibc-2.31/signal/../sysdeps/unix/sysv/linux/x86_64/sigaction.c:0
0x7f1a1fee3082 __libc_start_main
../csu/libc-start.c:308
Please submit a full bug report,
with preprocessed source if appropriate.
Please include the complete backtrace with any bug report.
See <file:///usr/share/doc/gcc-9/README.Bugs> for instructions.
make[2]: *** [CMakeFiles/ocs2_mobile_manipulator.dir/build.make:349: CMakeFiles/ocs2_mobile_manipulator.dir/src/MobileManipulatorInterface.cpp.o] Error 1
cc1plus: internal compiler error: Segmentation fault
0x7f1ec4d8e08f ???
/build/glibc-BHL3KM/glibc-2.31/signal/../sysdeps/unix/sysv/linux/x86_64/sigaction.c:0
0x7f1ec4d6f082 __libc_start_main
../csu/libc-start.c:308
Please submit a full bug report,
with preprocessed source if appropriate.
Please include the complete backtrace with any bug report.
See <file:///usr/share/doc/gcc-9/README.Bugs> for instructions.
make[2]: *** [CMakeFiles/ocs2_mobile_manipulator.dir/build.make:154: CMakeFiles/ocs2_mobile_manipulator.dir/src/constraint/ZeroVelocityConstraintCppAd.cpp.o] Error 1
In file included from /opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/visitor.hpp:9,
from /opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/joint/joint-composite.hxx:8,
from /opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/joint/joint-composite.hpp:531,
from /opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/joint/joint-generic.hpp:9,
from /opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/model.hpp:17,
from /opt/openrobots/lib/pkgconfig/../../include/pinocchio/algorithm/center-of-mass.hpp:8,
from ...../ocs2_mobile_manipulator/src/constraint/ZMPConstraintCppAd.cpp:2:
/opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/visitor/joint-unary-visitor.hpp: In instantiation of ‘ReturnType pinocchio::fusion::JointUnaryVisitorBase<JointVisitorDerived, ReturnType>::InternalVisitorModelAndData<JointModel, ArgType>::operator()(const pinocchio::JointModelBase<JointModelDerived>&) const [with JointModelDerived = pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >; JointModel = pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>; ArgType = boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&>; JointVisitorDerived = pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >; ReturnType = void]’:
/usr/include/boost/variant/variant.hpp:1028:24: required from ‘typename boost::disable_if_c<(MoveSemantics && boost::is_same<Value2, Value2>::value), typename Visitor::result_type>::type boost::detail::variant::invoke_visitor<Visitor, MoveSemantics>::internal_visit(T&&, int) [with T = const pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >&; Visitor = pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >; bool MoveSemantics = false; typename boost::disable_if_c<(MoveSemantics && boost::is_same<Value2, Value2>::value), typename Visitor::result_type>::type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:112:9: required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::detail::variant::invoke_visitor<pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >, false>; VoidPtrCV = const void*; T = pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:150:41: required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::detail::variant::invoke_visitor<pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >, false>; VoidPtrCV = const void*; T = pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >; NoBackupFlag = boost::variant<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPlanarTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalZYXTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelTranslationTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl> > >::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:231:5: required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointModelFreeFlyerTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointModelPlanarTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointModelRevoluteUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointModelSphericalTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointModelSphericalZYXTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointModelPrismaticUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointModelTranslationTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::detail::variant::invoke_visitor<pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >, false>; VoidPtrCV = const void*; NoBackupFlag = boost::variant<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPlanarTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalZYXTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelTranslationTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl> > >::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2334:48: required from ‘static typename Visitor::result_type boost::variant<T0, TN>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::detail::variant::invoke_visitor<pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >, false>; VoidPtrCV = const void*; T0_ = pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>; TN = {pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPlanarTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalZYXTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelTranslationTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl> >}; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2355:43: required from ‘typename Visitor::result_type boost::variant<T0, TN>::internal_apply_visitor(Visitor&) const [with Visitor = boost::detail::variant::invoke_visitor<pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >, false>; T0_ = pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>; TN = {pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPlanarTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalZYXTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelTranslationTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl> >}; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2401:52: required from ‘typename Visitor::result_type boost::variant<T0, TN>::apply_visitor(Visitor&) const & [with Visitor = pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >; T0_ = pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>; TN = {pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPlanarTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelSphericalZYXTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelPrismaticTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelTranslationTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<CppAD::AD<CppAD::cg::CG<double> >, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl> >}; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/apply_visitor_unary.hpp:48:72: required from ‘typename Visitor::result_type boost::apply_visitor(Visitor&, Visitable&&) [with Visitor = pinocchio::fusion::JointUnaryVisitorBase<pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >, void>::InternalVisitorModelAndData<pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>, boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&> >; Visitable = const pinocchio::JointModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&; typename Visitor::result_type = void]’
/opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/visitor/joint-unary-visitor.hpp:36:36: required from ‘static ReturnType pinocchio::fusion::JointUnaryVisitorBase<JointVisitorDerived, ReturnType>::run(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&, pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl>&, ArgsTmp) [with Scalar = CppAD::AD<CppAD::cg::CG<double> >; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ArgsTmp = boost::fusion::vector<const pinocchio::ModelTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, pinocchio::DataTpl<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl>&, const Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1, 0, -1, 1>&>; JointVisitorDerived = pinocchio::ForwardKinematicZeroStep<CppAD::AD<CppAD::cg::CG<double> >, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1> >; ReturnType = void]’
/opt/openrobots/lib/pkgconfig/../../include/pinocchio/algorithm/kinematics.hxx:81:16: required from ‘void pinocchio::forwardKinematics(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = CppAD::AD<CppAD::cg::CG<double> >; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<CppAD::AD<CppAD::cg::CG<double> >, -1, 1>]’
...../ocs2_mobile_manipulator/src/constraint/ZMPConstraintCppAd.cpp:49:57: required from here
/opt/openrobots/lib/pkgconfig/../../include/pinocchio/multibody/visitor/joint-unary-visitor.hpp:143:9: internal compiler error: Segmentation fault
143 | }
| ^
0x7f020254a08f ???
/build/glibc-BHL3KM/glibc-2.31/signal/../sysdeps/unix/sysv/linux/x86_64/sigaction.c:0
0x7f020252b082 __libc_start_main
../csu/libc-start.c:308
Please submit a full bug report,
with preprocessed source if appropriate.
Please include the complete backtrace with any bug report.
See <file:///usr/share/doc/gcc-9/README.Bugs> for instructions.
make[2]: *** [CMakeFiles/ocs2_mobile_manipulator.dir/build.make:193: CMakeFiles/ocs2_mobile_manipulator.dir/src/constraint/ZMPConstraintCppAd.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:539: CMakeFiles/ocs2_mobile_manipulator.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd .../build/ocs2_mobile_manipulator; catkin build --get-env ocs2_mobile_manipulator | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
(some personal info. is ommited)
