Re: [Playerstage-users] why one line map.log takes forever to generate the pgm file

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

On Aug 27, 2007, at 1:03 PM, Toby Collett wrote:

> I think you need a little more than just the one line in the log.  
> If you look you look through your log you will see a couple of  
> different types of entry, there are laser entries and position2d  
> entries probably. Each entry is also potentially more than one  
> line, particularlly if your editor wraps. I would test again with  
> an log file that has at least two of each type of reading.
>

In addition, the one line that you left is the configuration of the  
laser (its pose relative to the robot, and its physical size).  pmap  
needs that, but it also needs actual scan data, which is on the very  
very long lines in your log file.  pmap is probably confused by the  
lack of data.

	brian.

> On 28/08/07, Dongqing <don...@gm...> wrote:
> Hi,
>
> I have trouble to build the map using pmaptest.
> After run # player segway_test.cfg
> I got the map.log file.
>
> However, when run #pmaptest map.log
> It returns:
> allocating 8192 bytes for scans
> allocating 217 Mb of map space (estimated lower bound)
>
> saving coarse.out
> saving coarse.pgm
> coarse phase complete; switching to fine
>
> Then it took forever to finish, though the map.log is only one line as
> follows:
> The map.log is simply one line:
>
> ## Player version 2.0.4
> ## File version 0.3.0
> ## Format:
> ## - Messages are newline-separated
> ## - Common header to each message is:
> ##   time     host   robot  interface index  type   subtype
> ##   (double) (uint) (uint) (string)  (uint) (uint) (uint)
> ## - Following the common header is the message payload
> 1188236876.658 16777343 6665 laser 00 004 001  +0.000  +0.000   0.000
> 0.150   0.150
>
>
> the configure file is:
>
> driver
> (
>   name "sicklms200"
>   provides ["laser:0"]
>   port "/dev/ttyS0"
>   resolution 100
>   range_res 10
> )
> driver
> (
>   name "segwayrmp"
>   provides ["position2d:0" "position3d:0" "power:0"]
>   canio "kvaser"
>   max_xspeed 1.5
>   max_yawspeed 80
> )
> driver
> (
>   name "writelog"
>   provides ["log:0"]
>   requires ["laser:0" "position2d:0"]
>   filename "map.log"
>   alwayson 1
> )
>
> Thanks for helping.
> Dongqing
>
>
>
>
>
>
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>
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