move_group crashes if you send two goals in a row with less joints on the second goal

[awesomebytes]

I'm on ubuntu 12.04 64bit using MoveIt! from debs (just updated everything before filling this issue).

To reproduce the problem I launch: roslaunch pr2_moveit_config demo.launch

I put a terminal on: rostopic echo /move_group/goal

I ask for a plan for, for example, the right arm of PR2 via the Rviz plugin.

I then open an axclient: rosrun actionlib axclient.py /move_group

And I paste the goal part of the message in the axclient. If I send a goal deleting one of the joints of the message I get a crash of move_group telling me about glibc doing double free() or corruption of double-linked list.

Detailed messages: If you just open the demo.launch and a axclient like I said before, send first: http://pastebin.com/wnD3H8e8 this message

Then: http://pastebin.com/tzU1YCEi this message

And... crash! If you send the second goal without sending the first one, everything works correctly. Also sending the first goal after the second. But then again if you send a goal with less joints than the previous one, crash! (or try to send those goals one after another many times, it will crash. I think has to do with the joint quantity but I'm not sure).

Here you can see my backtrace: http://pastebin.com/jzwnircw

[sachinchitta]

I looked into this briefly - I can confirm that I am seeing something similar but its not crashing in the same place for me.

http://pastebin.com/MBfqmNjX

Will look more into it next week.