[Playerstage-users] Problem with wavefront and planner interface

[Daniel D. <Dan...@un...>]

Hi Everyone,

I tried to run the wavefront path planning driver with stage and ran into  
some difficulties. I combined the mapfile, amcl, vfh and the wavefront  
driver and player works fine. But when I subscribe the planner interface  
of the wavefront with playernav or with a custom driver, player crashes  
with a strange error (no segfault):
	X I/O error
I attached the whole output of player and my config file below. Does  
anyone have a clue where this error message comes from?


Daniel

>>>>>>>>>>>>>>>>>>>
Output of player:

Player v.3.1.0-svn

* Part of the Player/Stage/Gazebo Project  
[http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public  
License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

invoking player_driver_init()...
  Stage driver plugin init

  ** Stage plugin v3.2.2 **
  * Part of the Player Project [http://playerstage.sourceforge.net]
  * Copyright 2000-2009 Richard Vaughan, Brian Gerkey and contributors.
  * Released under the GNU General Public License v2.

success
  Stage plugin:  6665.simulation.0 is a Stage world
  [Loading ../Config/Simulation/parcours.world][Include  
../robomaxx.inc][Include ../map.inc][Include ../hokuyo30.inc]

  Stage plugin:  6665.position2d.0 is "robot1"
  Stage plugin:  6665.laser.0 is "robot1.laser:0"
  Stage plugin:  6665.speech.0 is "robot1"
MapFile loading image file:  
/home/dube/Projects/Rabot/bin/../Config/Simulation/parcours_small.bmp...Done.
MapFile read a 300 X 250 map, at 0.100 m/pix
listening on 6665
Listening on ports: 6665
accepted TCP client 0 on port 6665, fd 10
subscribe to robot1 subs: 1
stage driver setup
subscribe to robot1 subs: 2
subscribe to robot1.laser:0 subs: 1
warn: Stage ignores motor power state (1) (p_position.cc ProcessMessage)
X I/O error

>>>>>>>>>>>>>>>>>>>
Config file:
# Desc: Player sample configuration file for controlling Stage devices
# Author:  Richard Vaughan
# Date: 1 December 2004

# CVS: $Id: simple.cfg,v 1.35 2008-01-15 01:25:42 rtv Exp $


# load the Stage plugin simulation driver
driver
(		
     name "stage"
     provides [ "simulation:0" ]
     plugin "stageplugin"

     # load the named file into the simulator
     worldfile "Simulation/parcours.world"	
)

# Create a Stage driver and attach position2d and laser interfaces
# to the model "robot1"
driver
(
     name "stage"
     provides [ "position2d:0" "laser:0" "speech:0"]
     model "robot1"
)
driver
(
   name "mapfile"
   provides ["map:0"]
   filename "Simulation/parcours_small.bmp"
   resolution 0.1
   alwayson 1
)
driver
(
   name "vfh"
   provides ["position2d:1"]
   requires ["position2d:0" "laser:0"]
   distance_epsilon 0.3
   angle_epsilon 5
)
driver
(
   name "amcl"
   provides ["localize:0" "position2d:2"]
   requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
   odom_init 1
   pf_min_samples 100
   pf_max_samples 10000
   pf_err 0.01
   pf_z 3
   init_pose [0 0 0] #(m m rad)
   init_pose_var [1 1 6.282] #(m m rad)
   update_thresh [0.1 0.5] #(m rad)
   odom_drift[0] [0.2 0.0 0.0]
   odom_drift[1] [0.0 0.2 0.0]
   odom_drift[2] [0.2 0.0 0.2]
   laser_max_beams 100
   laser_range_var 0.1 #m
   laser_range_bad 0.1
)
driver
(
   name "wavefront"
   #provides ["planner:0"]
   provides ["planner:0"]
   requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
   safety_dist 0.15
   distance_epsilon 0.5
   angle_epsilon 10
)