From: Sebastian R. <seb...@go...> - 2010-12-30 13:23:31
Attachments:
PGP.sig
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Hello, I am trying on Mac OSX 10.6.5, Xcode 3.2.5 with latest player and gearbox trunk versions to compile player with the hokuyo_aist driver. I installed Gearbox 2.0 and it seems to be fine (although I can't actual test it as of lacking the ranger hardware at moment). When I enabled Flexiport and Hokuyo_aist in ccmake I get following errors on player compilation (see at bottom). It looks like the hokuyo_aist interface, i.e. the namespace, changed between 1.0 and 2.0 version. Is player not compatible anymore with the latest Gearbox or am I missing something? Thanks in advance. Sebastian /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:176: error: ‘HokuyoLaser’ in namespace ‘hokuyo_aist’ does not name a type /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:178: error: ‘HokuyoData’ in namespace ‘hokuyo_aist’ does not name a type /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc: In constructor ‘HokuyoDriver::HokuyoDriver(ConfigFile*, int)’: /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:232: error: ‘_device’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc: In member function ‘bool HokuyoDriver::AllocateDataSpace()’: /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:252: error: ‘_device’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc: In member function ‘virtual int HokuyoDriver::ProcessMessage(QueuePointer&, player_msghdr*, void*)’: /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:309: error: ‘_device’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:338: error: ‘_device’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:357: error: ‘_device’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:376: error: ‘rangerConfig’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:381: error: ‘rangerConfig’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:385: error: ‘rangerConfig’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:385: error: ‘info’ was not declared in this scope /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc: At global scope: /Users/sebastian/robotdev/svn/player/server/drivers/ranger/hokuyo_aist.cc:394: error: expected unqualified-id before ‘else’ [ 26%] make[2]: *** [server/libplayerdrivers/CMakeFiles/playerdrivers.dir/__/drivers/ranger/hokuyo_aist.o] Error 1 make[1]: *** [server/libplayerdrivers/CMakeFiles/playerdrivers.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... Built target opaque_client make: *** [all] Error 2 |
From: Sebastian R. <seb...@go...> - 2010-12-30 15:40:22
Attachments:
PGP.sig
hokuyo_aist.cc.patch
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I made player compile with latest Gearbox (libhokuyo_aist.2.0.0) by the patch attached. But it is not tested as I have no Hardware to do so at moment. Maybe someone can have a look at it or even give it a try? Sebastian |
From: Sebastian R. <seb...@go...> - 2011-01-07 17:26:56
Attachments:
PGP.sig
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As I have patched the player hokuyo_aist.cc wrapper (I posted here) to just compile with gearbox 10.11 (latest release) I finally could test it today on a Pioneer 2DX with URG-04LX laser attached (SCIP 2.0). But when I run playerv I get the error below. Looks like there is some incompatibility to me ("Unhandled message..") and finally a ranger index access out of bounds causing the seg fault. So is there a general problem in this at moment or am I missing something, anyone has seen the same issue yet? I rather would not step back to player-3.0.2 with gearbox-1.0.0 as then there are other problems (which might be already solved in the trunk branch) Any help would be appreciated. Sebastian ========= playerv -p 6666 PlayerViewer 3.1.0-svn Connecting to [localhost:6666] accepted TCP client 0 on port 6666, fd 5 playerc warning : warning : [Player v.3.1.0-svn] connected on [localhost:6666] with sock 6 Available devices: localhost:6666 position2d:0 p2os ready sonar:0 p2os ready gripper:0 p2os ready power:0 p2os ready ranger:1 hokuyo_aist ready ranger:0 sonartoranger ready laser:0 rangertolaser ready warning : hokuyo_aist: Adjusted min_angle to -2.086214 warning : hokuyo_aist: Adjusted max_angle to 2.092350 warning : Unhandled message for driver device=0:6666:ranger:1 type=request subtype=1 len=0 playerc error : got NACK from request playerv : error in /Users/sebastian/robotdev/svn/player/utils/playerv/pv_dev_ranger.c libplayerc error: got NACK from request warning : Unhandled message for driver device=0:6666:ranger:1 type=request subtype=5 len=0 playerc error : got NACK from request playerv : error in /Users/sebastian/robotdev/svn/player/utils/playerv/pv_dev_ranger.c libplayerc error: got NACK from request warning : other error on client 0 closing TCP connection to client 0 on port 6666 Segmentation fault =====gdb output==== Program received signal EXC_BAD_ACCESS, Could not access memory. Reason: KERN_INVALID_ADDRESS at address: 0x000000000000005c 0x00000001000200ca in rtk_fig_show () (gdb) bt #0 0x00000001000200ca in rtk_fig_show () #1 0x000000010001baa7 in ranger_draw () #2 0x000000010001b785 in ranger_update () #3 0x000000010000debe in main () |
From: Rich M. <jp...@gm...> - 2011-01-11 18:15:16
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> -----Original Message----- > From: Sebastian Rockel [mailto:seb...@go...] > Sent: Friday, January 07, 2011 12:27 PM > To: Player Stage > Subject: [Playerstage-users] Player 3.1.x and hokuyo_aist 2.0.0 > compatibility broken? > > As I have patched the player hokuyo_aist.cc wrapper (I posted here) to > just compile with gearbox 10.11 (latest release) I finally could test > it today on a Pioneer 2DX with URG-04LX laser attached (SCIP 2.0). > > But when I run playerv I get the error below. > Looks like there is some incompatibility to me ("Unhandled message..") > and finally a ranger index access out of bounds causing the seg fault. > > > So is there a general problem in this at moment or am I missing > something, anyone has seen the same issue yet? > > I rather would not step back to player-3.0.2 with gearbox-1.0.0 as then > there are other problems (which might be already solved in the trunk > branch) > > Any help would be appreciated. > > Sebastian > > > ========= > playerv -p 6666 > PlayerViewer 3.1.0-svn > Connecting to [localhost:6666] > accepted TCP client 0 on port 6666, fd 5 > playerc warning : warning : [Player v.3.1.0-svn] connected on > [localhost:6666] with sock 6 > > Available devices: localhost:6666 > position2d:0 p2os ready > sonar:0 p2os ready > gripper:0 p2os ready > power:0 p2os ready > ranger:1 hokuyo_aist ready > ranger:0 sonartoranger ready > laser:0 rangertolaser ready > warning : hokuyo_aist: Adjusted min_angle to -2.086214 warning : > hokuyo_aist: Adjusted max_angle to 2.092350 warning : Unhandled message > for driver device=0:6666:ranger:1 type=request subtype=1 len=0 > > playerc error : got NACK from request > playerv : error in > /Users/sebastian/robotdev/svn/player/utils/playerv/pv_dev_ranger.c > libplayerc error: got NACK from request warning : Unhandled message > for driver device=0:6666:ranger:1 type=request subtype=5 len=0 > > playerc error : got NACK from request > playerv : error in > /Users/sebastian/robotdev/svn/player/utils/playerv/pv_dev_ranger.c > libplayerc error: got NACK from request warning : other error on > client 0 closing TCP connection to client 0 on port 6666 Segmentation > fault > > =====gdb output==== > Program received signal EXC_BAD_ACCESS, Could not access memory. > Reason: KERN_INVALID_ADDRESS at address: 0x000000000000005c > 0x00000001000200ca in rtk_fig_show () > (gdb) bt > #0 0x00000001000200ca in rtk_fig_show () > #1 0x000000010001baa7 in ranger_draw () > #2 0x000000010001b785 in ranger_update () > #3 0x000000010000debe in main () > >From the commit messages, it looks like the hokuyo_aist driver was converted to the 2.0 API 6 weeks ago in svn trunk. It looks like playerv is choking on the REQ_GET_GEOM and REQ_GET_CONFIG, what does the output from the Player server look like? Are you getting any errors or warnings from the hokuyo_aist driver? Rich |
From: Sebastian R. <seb...@go...> - 2011-01-17 11:19:33
Attachments:
PGP.sig
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Eventually today I could test again on the hardware... Am 11.01.2011 um 19:15 schrieb Rich Mattes: >> From the commit messages, it looks like the hokuyo_aist driver was converted > to the 2.0 API 6 weeks ago in svn trunk. It looks like playerv is choking > on the REQ_GET_GEOM and REQ_GET_CONFIG, what does the output from the Player > server look like? In the last email the output of the server and playerv was mixed together so here again what the server says: > warning : Unhandled message for driver device=0:6666:ranger:1 type=request subtype=1 len=0 > warning : Unhandled message for driver device=0:6666:ranger:1 type=request subtype=5 len=0 recv() read zero bytes failed to read from client 0 closing TCP connection to client 0 on port .. Cancelling thread .. belonging to driver .. > Are you getting any errors or warnings from the > hokuyo_aist driver? hokuyo_aist_example and hokuyo_aist_getid reports are looking okay, thus I think there is no problem in the driver. (Although the driver reports now and then some errors on differing beams and not the whole number of beams the hardware provides, i.e. 682. But that was no problem before except the hardware seems to have overall a little poor quality in player) Sebastian |
From: Geoffrey B. <geo...@ai...> - 2011-01-18 02:03:40
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On 17/01/11 20:19, Sebastian Rockel wrote: >> Are you getting any errors or warnings from the >> hokuyo_aist driver? > hokuyo_aist_example and hokuyo_aist_getid reports are looking okay, thus I think there is no problem in the driver. > (Although the driver reports now and then some errors on differing beams and not the whole number of beams the hardware provides, i.e. 682. > But that was no problem before except the hardware seems to have overall a little poor quality in player) hokuyo_aist_example and hokuyo_aist_getid are utilities included with the underlying library. They will tell you if the underlying library is working, but won't tell you anything about the Player driver. It looks like the commit from a couple of months ago got munged or something and dropped half the file. I've fixed it and tested it with a laser. It should all work now. You will need to use the SVN trunk version of Player to use the latest version of Gearbox (which I do recommend, as hokuyo_aist v2 contains some significant performance improvements as well as accurate calibration of the laser's time stamps). Geoff |
From: Sebastian R. <seb...@go...> - 2011-01-18 09:41:06
Attachments:
PGP.sig
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Am 18.01.2011 um 03:03 schrieb Geoffrey Biggs: > On 17/01/11 20:19, Sebastian Rockel wrote: >>> Are you getting any errors or warnings from the >>> hokuyo_aist driver? >> hokuyo_aist_example and hokuyo_aist_getid reports are looking okay, thus I think there is no problem in the driver. >> (Although the driver reports now and then some errors on differing beams and not the whole number of beams the hardware provides, i.e. 682. >> But that was no problem before except the hardware seems to have overall a little poor quality in player) > > hokuyo_aist_example and hokuyo_aist_getid are utilities included with > the underlying library. They will tell you if the underlying library is > working, but won't tell you anything about the Player driver. I thought the hokuyo_aist (and so gearbox itself) is the 'driver' which is then just used by player. Nevertheless thanks for pointing that out. > It looks like the commit from a couple of months ago got munged or > something and dropped half the file. ^^ > I've fixed it and tested it with a > laser. It should all work now. You will need to use the SVN trunk > version of Player to use the latest version of Gearbox (which I do > recommend, as hokuyo_aist v2 contains some significant performance > improvements as well as accurate calibration of the laser's time stamps). I read the release notes and it sounds indeed impressing when it comes to performance. Anyway thanks for the fix I'll give it a try. Sebastian |