From: Malika M. <mal...@gm...> - 2010-05-26 14:49:38
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Hello, I am trying to use the wavefront driver to do global path planning as per the manual on player-3.0.0 and stage-3.1.0. I have created a configuration file according to the format mentioned in the manual. However, when I run the configuration file from the terminal window the stage window opens for a second and shuts down with a segmentation fault. This happens even before running any code at all. Based on some previous mailing list conversations, I found out that if wavefront planner is put in a separate configuration file and accessed via a separate port then there are no segmentation faults and the stage window opens stablly. The problem still remains as the wavefront driver doesn't find any paths at all. I have even tried to use only a separate configuration file but with the same port as all the other drivers which gives me a segmentation fault again. Did anyone have a similar experience or have any suggestions? I am including the configuration and world files below. Any help will be greately appreciated. Thank you, Malika ##### FIRST CONFIGURATION FILE ##### # simulation driver driver( name "stage" plugin "stageplugin" provides ["6665:simulation:0"] # load the named file into the simulator worldfile "basic.world" ) # robot 1 driver( name "stage" provides ["odometry::6665:position2d:0" "6665:sonar:0" "6665:laser:0"] model "robot1" ) # map file driver ( name "mapfile" provides ["6665:map:0"] filename "basic.pgm" resolution 0.1 ) driver ( name "amcl" provides ["6665:position2d:2"] requires ["odometry::6665:position2d:1" "6665:laser:0" "laser::6665:map:0"] alwayson 1 ) driver ( name "vfh" provides ["6665:position2d:1" "6665:planner:0"] requires ["6665:position2d:0" "6665:laser:0"] safety_dist_0ms 0.1 distance_epsilon 0.3 angle_epsilon 5 alwayson 1 ) ##### SECOND CONFIGURATION FILE ##### driver ( name "wavefront" provides ["6666:planner:0"] requires ["output::6665:position2d:1" "input::6665:position2d:2" "6665:map:0"] safety_dist 0.15 distance_epsilon 0.5 angle_epsilon 10 alwayson 1 ) #### WORLD FILE #### resolution 0.02 interval_sim 100 # milliseconds per update step interval_real 0 # real-time milliseconds per update step include "scout.inc" include "map.inc" include "hokuyo.inc" # extend the scout_robot definition from scout.inc define trickedoutscout scout_robot ( ranger( alwayson 0 ) hokuyolaser( pose [0.05 0 0 0 ] alwayson 1 ) localize "odom" odom_error [ 0.05 0.05 0.1 ] ) paused 1 # configure the GUI window window ( size [ 678.000 730.000 ] center [0.122 -0.386] scale 31.082 show_data 1 ) # load an environment bitmap floorplan ( bitmap "basic.png" size [20.000 20.000 0.500] boundary 1 name "lab" ) trickedoutscout ( name "robot1" pose [-1.0 -4.0 0 -2.333] ) |
From: Sebastian R. <seb...@go...> - 2010-05-27 09:49:09
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Hello Malika, As I had similar problems earlier and could them get solved with the help of this list I forward it to you: > Von: Sebastian Rockel <seb...@go...> > Datum: 16. November 2009 19:57:21 MEZ > An: pla...@li... > Betreff: Re: [Playerstage-users] Wavefront driver not working? > > Thanks to you Michael and Paul, > > I got wavefront (+ amcl + vfh) working with Stage as Paul suggested:) > (Basically I did one player instance for Stage plugin and one for the rest) > > Cheers, > Sebastian > > Am 16.11.2009 um 15:56 schrieb Paul Osmialowski: >> >> I never run wavefront and Stage in the same Player instance, the Stage >> instance is started first, then wavefront with 'alwayson 1' is started in >> other Player process (waiting on other TCP port). Also, for multirobot >> environments I never run more than one wavefront driver in one Player >> instance. Instead, I'm preparing some bash script that starts several >> Player instances waiting on different TCP ports, each running one >> wavefront driver. I did basically have in my stage cfg file only: # load the Stage plugin simulation driver driver ( name "stage" provides ["simulation:0"] plugin "stageplugin" # load the named file into the simulator worldfile "pnav_stage.world" ) driver ( name "stage" provides ["odometry:::position2d:0" "laser:0"] model "r0" ) All other drivers run in a separate player instance on a different port, e.g. 6666 (note the default port is 6665 in the stage cfg file). A bash script finally makes my life easier to start all instances appropriate. Hope that helps, Sebastian |
From: Malika M. <mal...@gm...> - 2010-05-28 01:00:44
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Thanks Sebastian. I was precisely referring to your post in my previous mail. This information was really helpful. The configuration file setup I posted earlier works for me to open the stage window without any segmentation fault but I still get the following error: warning : Wavefront missed deadline and not sleeping; check machine load Stage driver has been shutdown Do you have any suggestions for this error?? Thanks a lot. Malika P.S: I tried the setup of the configuration file you suggested but it still gave me segmentation faults and so I decided to go with isolating only the wavefront driver in a separate config file and separate port. I am not sure if the above error is related to this. Sebastian Rockel wrote: > > Hello Malika, > > As I had similar problems earlier and could them get solved with the help > of this list I forward it to you: > >> Von: Sebastian Rockel <seb...@go...> >> Datum: 16. November 2009 19:57:21 MEZ >> An: pla...@li... >> Betreff: Re: [Playerstage-users] Wavefront driver not working? >> >> Thanks to you Michael and Paul, >> >> I got wavefront (+ amcl + vfh) working with Stage as Paul suggested:) >> (Basically I did one player instance for Stage plugin and one for the >> rest) >> >> Cheers, >> Sebastian >> >> Am 16.11.2009 um 15:56 schrieb Paul Osmialowski: >>> >>> I never run wavefront and Stage in the same Player instance, the Stage >>> instance is started first, then wavefront with 'alwayson 1' is started >>> in >>> other Player process (waiting on other TCP port). Also, for multirobot >>> environments I never run more than one wavefront driver in one Player >>> instance. Instead, I'm preparing some bash script that starts several >>> Player instances waiting on different TCP ports, each running one >>> wavefront driver. > > I did basically have in my stage cfg file only: > > # load the Stage plugin simulation driver > driver > ( > name "stage" > provides ["simulation:0"] > plugin "stageplugin" > # load the named file into the simulator > worldfile "pnav_stage.world" > ) > > driver > ( > name "stage" > provides ["odometry:::position2d:0" "laser:0"] > model "r0" > ) > > All other drivers run in a separate player instance on a different port, > e.g. 6666 (note the default port is 6665 in the stage cfg file). > > A bash script finally makes my life easier to start all instances > appropriate. > > Hope that helps, > Sebastian > ------------------------------------------------------------------------------ > > > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/Error-using-wavefront-driver-tp28681856p28701677.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Sebastian R. <seb...@go...> - 2010-05-28 09:44:34
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Hi Malika, Am 28.05.2010 um 03:00 schrieb Malika Meghjani: > > Thanks Sebastian. I was precisely referring to your post in my previous mail. > This information was really helpful. The configuration file setup I posted > earlier works for me to open the stage window without any segmentation fault > but I still get the following error: > > warning : Wavefront missed deadline and not sleeping; check machine load > Stage driver has been shutdown I just checked your posted configurations and found that in there wavefront and vfh provide the same planner interface (planner:0). It's on different ports though but I guess it is not working that way. You can omit the vfh planner. Nevertheless I am not completely sure if that solves the problem. > > Do you have any suggestions for this error?? > > Thanks a lot. > Malika > > P.S: I tried the setup of the configuration file you suggested but it still > gave me segmentation faults and so I decided to go with isolating only the > wavefront driver in a separate config file and separate port. I am not sure > if the above error is related to this. I guess it's not because I never had that problem as I remember... So If you get no seg. fault you are already one step further than me at that time;) Sebastian |