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]

)