[Playerstage-users] Long function calls in the control loop

[Fred L. <ff...@ab...>]

All,

I have a program doing some image processing to make a robot home to some 
position.  For that, I have running on the robot a player server, and my 
application which contains in the control loop a call to a function that 
computes the new speed and turn rates, which are then set in the loop using a 
SetSpeed().

With player versions before 2, that was working fine.  Since player-2, the 
robot stops while the image processing is being done.  I suspect that this is 
because my setting of speeds is reset to zero due to the replace rule 
(maybe?).  I'm running in PULL mode and have as suggested on another thread:

   robot.SetDataMode(PLAYER_DATAMODE_PULL);
   robot.SetReplaceRule(-1, -1, PLAYER_MSGTYPE_DATA, -1, 1);

What do I need to change?

Cheers,

Fred