Re: [Playerstage-users] Problems with Pmap_test

[Brian G. <br...@ge...>]

On Jan 23, 2007, at 7:25 PM, pq...@cs... wrote:

> Hi,
>
> I'm having a problem getting pmap_test to generate a map from a  
> logfile.
>
> Here's the error message:
>
> allocating 8192 bytes for scans
> allocating 217 Mb of map space (estimated lower bound)
> token_count = 12
> lt-pmaptest: logfile.cpp:121: int logfile_read(logfile_t*): Assertion
> `self->token_count >= 13' failed.
> Aborted (core dumped)
>
> I'm using player 2.0.3 and the version of pmap which comes as a  
> part of it.

There's a bug in the logfile parser.  Attached is a patch against  
2.0.3 that fixes it.   This fix is checked in on the 2.0.x branch.

Some enhancements that would be nice, if people have time to hack on  
pmap:

- support reading the laser's pose from the log file; currently this  
part of the log file is skipped, and you have to give the pose on the  
command line

- support configurations other than 180 degrees at 1-degree  
resolution (181 readings)

	brian.