move_base crash

[KaijenHsiao]

While the robot was moving, I did a pose estimate far away from where it was originally, and move_base died with the following error:

[ERROR] [1403916376.784857436, 19651.210000000]: None of the 29 first of 29 (29) points of the global plan were in the local costmap and free
[ERROR] [1403916376.784960158, 19651.210000000]: None of the points of the global plan were in the local costmap, global plan points too far from robot
[ WARN] [1403916376.785617350, 19651.210000000]: Scoring heading
move_base: /usr/include/pcl-1.7/pcl/conversions.h:247: void pcl::toPCLPointCloud2(const pcl::PointCloud&, pcl::PCLPointCloud2&) [with PointT = base_local_planner::MapGridCostPoint]: Assertion `cloud.points.size () == cloud.width * cloud.height' failed.
[move_base-5] process has died [pid 23069, exit code -6, cmd /home/hsk1pal/ros_sandbox/robot2020/devel/lib/move_base/move_base cmd_vel:=/navi_cmd_vel __name:=move_base __log:=/home/hsk1pal/.ros/log/d16020ca-fbe3-11e3-a4da-cc52af3e26b6/move_base-5.log].
log file: /home/hsk1pal/.ros/log/d16020ca-fbe3-11e3-a4da-cc52af3e26b6/move_base-5*.log