first of all, thanks once again so much for your help.
I upgraded to Stage 3.2.2 and Player 3.0.2, and I was indeed able to get MBICP to run. Using playerv I was able to track the output of MBICP. However, after a short time driving through the world, Stage unexpectedly died on me, with a segfault again.
My devices are:
My typical workflow is:
- start Player/Stage
- start playerv
- subscribe to position2d:0 (stage)
- set Command option of position2d:0 on
- subscribe to position2d:1 (mbicp) -- this led to both laser:0 (stage) and laser:1 (laserposeinterpolator) automatically becoming filled
- use the interface to drive through the environment
... as soon as the robot starts moving, Stage crashes with a segfault, just as before.
I have also tried commanding position2d:1 instead of position2d:0, with the same results.
Am I doing something stupid?
On 25 Jan 2011, at 03:29, Rich Mattes wrote:
>> -----Original Message-----
>> From: Julian de Hoog [mailto:julian@...]
>> Sent: Thursday, January 20, 2011 8:53 PM
>> To: playerstage-users@...
>> Subject: [Playerstage-users] Localization and MBICP
>> Hi Community,
>> I have a couple of quick questions concerning localization:
>> 1. Are MRICP and MBICP my best bets for laser-based localization in
>> unknown environments? Any other recommendations?
> MRICP and MBICP are the only scan-matching algorithms included in Player.
> You could use amcl if you had a map beforehand, but since you indicated
> you're in an unknown environment that's probably out of the question. There
> are a several other software libraries that implement laser-based
> localization techniques which could be wrapped in Player drivers: see
> http://www.mrpt.org and http://www.openslam.org
>> 2. I've gotten MRICP to run but am having trouble with MBICP. My
>> config is as pasted below. The trouble I have is a segmentation fault
>> every time I start running the MBICP driver. This happens both from
>> within my client code, or when using playerv. In each case I know for
>> sure that position2d:0, laser:0 and laser:1 (output from
>> laserposeinterpolator) are running fine before I subscribe to
>> position2d:1 (output from mbicp). In the console I see the following
>> Setup Scanmatching
>> warning : empty queue after waiting!
>> Segmentation fault
>> Any suggestions are much appreciated! Thanks,
> What versions of Player and Stage are you using? I tried your config file
> using Stage 3.2.2, Player 3.0.2, and simple.world as a worldfile. I was
> able to get Player to segfault, but only when my player client unsubscribed.
> This was, however, due to a known bug in libstageplugin, and once I applied
> the patches that fix that issue I no longer saw any segfaults.
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