We have a Pan-Tilt unit from Directed Perception, which uses the player driver ptu46.
A control program (libplayerc or libplayerc++) that connects to it segfaults just after giving this error:
playerc warning : warning : Discarding unclaimed ACK
I followed it a little with GDB and Valgrind, and the program was crashing because of a call to the function "playerxdr_cleanup_message", which tries to free some memory based on the package it just received.
It turns out that the ptu46 driver was sending RESP_ACK packages as an answer to commands, when they should only be sent to requests. I did not dig deeper to see if we can make libplayerc more robust to this problem, but at least the ptu46 driver can be fixed easily. The patch is attached.
Info9 - TUM