32 bit alignment issues

[stonier]

Seem to have a problem in 32 bit alignment for eigen classes in bumper2pc. Probably missing that eigen macro in a class somewhere.

Bug reported by caroline on ros answers.

Error output:

nodelet: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
[FATAL] [1368451090.542690660]: Service call failed!
[FATAL] [1368451090.544932863]: Service call failed!
[FATAL] [1368451090.544932853]: Service call failed!
[mobile_base_nodelet_manager-5] process has died [pid 26924, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=mobile_base_nodelet_manager __log:=/home/turtlebot/.ros/log/687078bc-bbcf-11e2-97f0-446d57c545ae/mobile_base_nodelet_manager-5.log].
log file: /home/turtlebot/.ros/log/687078bc-bbcf-11e2-97f0-446d57c545ae/mobile_base_nodelet_manager-5*.log
[bumper2pointcloud-9] process has died [pid 27236, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_bumper2pc/Bumper2PcNodelet mobile_base_nodelet_manager bumper2pointcloud/pointcloud:=mobile_base/sensors/bumper_pointcloud bumper2pointcloud/cliff_events:=mobile_base/events/cliff bumper2pointcloud/bumper_events:=mobile_base/events/bumper __name:=bumper2pointcloud __log:=/home/turtlebot/.ros/log/687078bc-bbcf-11e2-97f0-446d57c545ae/bumper2pointcloud-9.log].

[stonier]

Usually from cause 1 or 2 on http://eigen.tuxfamily.org/dox/TopicUnalignedArrayAssert.html

[corot]

Case 1: Structures having Eigen objects as members
Adding EIGEN_MAKE_ALIGNED_OPERATOR_NEW to class declaration solves the problem

[corot]

Believe or not, this is still alive: still can fail for very, very unlucky people.

Looks like a deeper problem in ecl. By now, the only way to suppress it is to remove the eigen-inheritor attribute.

[corot]

The root of the problem remains, but now it's an ecl problem.

Btw, auto-docking code is a bit messy and should be cleanuped at the first opportunity.