[Playerstage-users] A strange playernav problem

[<yl...@cs...>]

Hi everyone,

I recently updated our system from player 1.6.5 to 2.0.3.
I am having a strange problem with the 'playernav' after the update - if
the map size is small, the 'playernav' is able to load the map properly.
If I change the map to a much bigger size, 'playernav' will have trouble
requesting a map from the pioneer robot. (The cfg file stays the same in
both cases.)

It seems like my cfg file is OK, since 'playerv' works just fine.

My system is setup as follows,
'player  XX.cfg' is running on a pioneer robot and
'playernav IPaddress:6665' is running on a laptop.

Here is the output on the robot (player side)
-------------------------------
warning:timeout
...
MapFile loading image file: /xxxx...Done.
MapFile read a 1755 X 1123 map, at 0.050 m/pix
Listening on ports:6665
accepted client 0 on port 6665, fd 8
closing connection to client 0 on port 6665
accepted client 0 on port 6665, fd 8
warning : skipping subscription to unknown device 25:0
P2OS connection opening serial port /dev/ttyS0...Connected to robot
device, handshaking with P2OS...turning off NONBLOCK mode...
Done.
   Connected to Billy_Ray, a Pioneer P2DX
Wavefront: Loading map from map:0...
Done.

--------------------------------

Here is the output on the laptop(playernav side)
--------------------------------
calling connect
done
playerc error  : got NACK from request
playerc error  : failed to get response
Warning: Failed to subscribe to localize on robot 0; you won't be able to
set its pose.
playerc error  : timed out waiting for server reply to request 1:0:3:3
playerc error  : failed to get response
Warning: Failed to subscribe to planner on robot 0; you won't be able to
geive it goals.
requesting map
playerc error  : got the wrong kind of reply (not good).
playerc error  : failed to get map info
Failed to get map
--------------------------------
'playernav' display a map window with nothing on it

Here is my cfg file
--------------------------------
driver
(
  name "p2os"
  provides ["odometry:::position2d:0"]
  port "/dev/ttyS0"
)
driver
(
  name "sicklms200"
  provides ["laser:0"]
  port "/dev/ttyS2"
  alwayson 1
)

driver
(
  name "mapfile"
  provides ["map:0"]
  filename "claxton.pgm"
  resolution 0.05
  alwayson 1
)
driver
(
  name "amcl"
  provides ["position2d:2"]
  requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
)

driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  distance_epsilon 0.3
  safety_dist 0.1
  angle_epsilon 5
)
driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)
driver
(
  name "festival"
  provides ["speech:0"]
)
driver
(
  name "camerav4l"
  provides ["camera:0"]
  port "/dev/video0"
  source 0
  size [320 240]
  mode ["YUV420P"]
)

driver
(
  name "cmvision"
  provides ["blobfinder:0"]
  requires ["camera:0"]
  colorfile "colors_orange.txt"
)
--------------------------------

I am still keeping player 1.6.5 as the default. So when I run 'player' or
'playernav' I am doing '/player2.0.3_dir/bin/player or playernav'. I am
not sure if it matters, but just in case.


Please help!
Thanks in advance! :)

Yuan