[Playerstage-developers] [ playerstage-Bugs-2084640 ] Laser remote server "require" hangs amcl driver. (trunk)

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Bugs item #2084640, was opened at 2008-08-31 00:41
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Category: player
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Federico Ruiz Ugalde (memeruiz)
Assigned to: Brian Gerkey (gerkey)
Summary: Laser remote server "require" hangs amcl driver. (trunk)

Initial Comment:
If your laser and odometry data is adquired in another player server (possibly remotely), and you want to do amcl localization in a different player server I got a hang in the player server running amcl. The configuration for amcl used is:

driver
(
  name "amcl"
  provides ["localize:0" "input:::position2d:1"]
  requires ["odometry:localhost:6669:position2d:0" "localhost:6669:laser:0" "laser:::map:0"]
)

I also tried using a passthrough laser and odometry interfaces but the same problem. 

I track the problem to this line of code:

  if(!(msg = laser_dev->Request(AMCL.InQueue, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM, NULL, 0, NULL,false)))

in amcl_laser.cc .Aparently it locks inside of this Request. No idea why this is happening. If I comment out this line of code (plus the rest of the stuff of this if) and set the laser geometry (pose) by hand, amcl works fine.

Also everything works fine if the laser interface is on the same player server as amcl.

Federico Ruiz Ugalde


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