Lower (less than 5) DOF IK Issue

[IanTheEngineer]

I'm having trouble getting a good stack trace here. But I believe SNS core dumps when too few DOF are specified in the kinematic chain.

 /usr/include/eigen3/Eigen/src/Core/Block.h:148: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Index, Eigen::Index, Eigen::Index, Eigen::Index) [with XprType = Eigen::Matrix<double, -1, -1>; int BlockRows = -1; int BlockCols = -1; bool InnerPanel = true; Eigen::Index = long int]: Assertion `startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols' failed.
Aborted
[gazebo-2] process has died [pid 7972, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /data/users/imcmahon/dev/baxter_xenial/src/sawyer_simulator/sawyer_gazebo/worlds/sawyer.world __name:=gazebo __log:=/data/users/imcmahon/.ros/log/8a26d440-bb59-11e7-b57a-e4b3181cbae7/gazebo-2.log].
log file: /data/users/imcmahon/.ros/log/8a26d440-bb59-11e7-b57a-e4b3181cbae7/gazebo-2*.log