Error while running the diffdrive example in rcppmath::clamp function (limit acceleration related)

[eslamsalahelsheikh]

Hi all,

I'm using Ros2 galactic on Ubuntu 20.04 and after following the whole tutorial and when I reach to the point where I should run the demos, all the demos work fine except for the diff_drive example So, I replaced the command ros2 launch gazebo_ros2_control_demos diff_drive_example.launch.py with ros2 launch gazebo_ros2_control_demos diff_drive.launch.py but I got the following error:

[gzserver-1] gzserver: /opt/ros/galactic/include/rcppmath/clamp.hpp:41: constexpr const T& rcppmath::clamp(const T&, const T&, const T&) [with T = double]: Assertion `!(hi < lo)' failed.

And I found that when I switch off the limits on acceleration here and here , it works without any problems!
So, I'm wondering what is the issue here?

[christophfroehlich]

I was not able to reproduce this with an up-to-date galactic binary installation, but since June there was no change in the galactic packages for this repo. Can you give more information on your setup or the commands you have run?