Ok, thanks, rxvt is indeed the important point, I can reproduce this
now.

Can you confirm that if you resize the rxvt terminal window, either
maximize or resize vertically or horizontally by any amount, the crash
no longer happens? This is the behavior I see.

If you agree, then it seems the problem is that rxvt on Debian and
Ubuntu systems does not report the terminal size correctly until the
window has been resized at least once. Some other ways of querying or
estimating the terminal size may work, as you said other programs do not
crash, but rlwrap uses the TIOCGWINSZ ioctl, and it is returning 0 for
both the height and width.

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https://bugs.launchpad.net/bugs/1336043

Title:
  rlwarp is crashing with SIGFPE

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