Re: [Playerstage-users] Fast SLAM Algorithm

[Rich M. <jp...@gm...>]

On 06/21/2011 02:25 PM, Hunter Allen wrote:
> Ok. I found a driver! The included driver for fast SLAM is MRICP. No luck
> unfortunately... When I tried it, I got this:
>
> allenh1@allenh1-Vostro-430:~/Code/Eli$ player stage.cfg
> Registering driver
> 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 ./stage.world][Include pioneer.inc][Include stagemap.inc][Include
> sick.inc]
>
>   Stage plugin:  6665.position2d.0 is "r0"
>   Stage plugin:  6665.laser.0 is "r0.laser:0"
>   Stage plugin:  6665.speech.0 is "r0"
>   Stage plugin:  6665.graphics2d.0 is "r0"
>   Stage plugin:  6665.sonar.0 is "r0.ranger:0"
> stage driver setup
>
>   Laser[0] Pose -->  X=0 Y=0 Theta=0
>   LASER Interface Loaded Success index:0listening on 6665
> Listening on ports: 6665
>
> mkdir: cannot create directory `/home/allenh1/Code/Eli/SLAM': File exists
> - Setting UP MRICP Plugin Driver.
> Folder Created Successfully
> 	--->>>  Creating Image Pixel Buffer:~/Code/Eli/SLAMMAP_PATCH0
> 	--->>>  MAP Created with Height=801 Width=800 Resolution=0.050
> <<<---Segmentation fault
>
>
> I don't know what's causing this... I attached the config file here:
> http://old.nabble.com/file/p31896710/stage.cfg stage.cfg

Your problem is the tilde in "~/Code/Eli/SLAM".  The shell will expand 
it to your home directory, but calls to fopen don't happen through the 
shell.  Try using an absolute path.

Also, in this case you should use a trailing slash in your directory 
name.  The driver appends its file names on top of the string you give 
it; it doesn't check to make sure there's a slash between the input 
strings and file names.

Rich