You probably do not want to define your fiducialfinder within your laser definition.


On Thu, Feb 5, 2009 at 12:55 AM, <S.P.Scone@lboro.ac.uk> wrote:
Is there a guide or working example of the Fiducial finder
anywhere?  I'm having trouble creating and using the
FiducialFinder; I'm getting a NACK when I call the
following minimal example:

int main(int argc, char *argv[])
{
    PlayerClient robot("localhost");
    Position2dProxy pos(&robot, 0);
    LaserProxy lp(&robot, 0); 
    FiducialProxy fp(&robot,0); //works when this line is
commented out

    pos.SetSpeed(0, 0, 0);
}


gdb says:
(gdb) backtrace
#0  0xb7fd8410 in __kernel_vsyscall ()
#1  0xb7cde085 in raise () from
/lib/tls/i686/cmov/libc.so.6
#2  0xb7cdfa01 in abort () from
/lib/tls/i686/cmov/libc.so.6
#3  0xb7eee480 in __gnu_cxx::__verbose_terminate_handler
()
   from /usr/lib/libstdc++.so.6
#4  0xb7eebd05 in ?? () from /usr/lib/libstdc++.so.6
#5  0xb7eebd42 in std::terminate () from
/usr/lib/libstdc++.so.6
#6  0xb7eebe6a in __cxa_throw () from
/usr/lib/libstdc++.so.6
#7  0xb7f9bded in PlayerCc::FiducialProxy::Subscribe ()
   from /usr/lib/libplayerc++.so.2
#8  0xb7f9c020 in PlayerCc::FiducialProxy::FiducialProxy
()
   from /usr/lib/libplayerc++.so.2
#9  0x08049c4d in main ()

The .world details are below:

#fiducialfinder properties
fiducialfinder (
range_min 0.0
range_max 3.0
range_max_id 2.0
fov 359.0
)
fiducial_return 1
fiducial_key 1

position
(
name "r0"
pose [4.0 6.0 45]
size [0.3 0.3]
color "red"
laser(max_range 20.0 fiducialfinder(range_max 2.0
range_max_id 2.0) )
)


I'm using
Player: 2.0.4-3
gcc 4.2.3
Ubuntu 8.04 on a desktop PC
2.6.24-19-generic #1 SMP i686 GNU/Linux

Thanks in advance

Sion

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