From: Sebastian R. <seb...@go...> - 2010-12-09 17:07:37
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Hello, I am trying to port my Stage-3.x worlds to Stage-4. As for the laser following ranger config works fine (except there is no blue box indicating the laser in stage anymore): define laser240 ranger ( sensor ( range [ 0.02 5.6 ] fov 240.0 samples 682 ) # generic model properties color "blue" size [ 0.1 0.1 0.1 ] pose [ 0.13 0 0 0 ] ) As for "amcl" and "vfh" drivers still a laser device is required I have additionally defined: driver ( name "rangertolaser" requires ["6666:ranger:1"] provides ["6666:laser:0"] ) When I try with playerv to subscribe to the laser device it crashes with: warn: stageplugin ranger config describes only the first sensor of the ranger. (/Users/sebastian/robotdev/release/Stage-4.0.0/libstageplugin/p_ranger.cc ProcessMessage) Assertion failed: (XLIB_SEQUENCE_COMPARE(req->sequence, <, dpy->xcb->pending_requests->sequence)), function dequeue_pending_request, file xcb_io.c, line 148. warning : other error on client 0 closing TCP connection to client 0 on port 6666 Stage driver has been shutdown playernav instead seems to work at first glance but actually the localization is not working correctly (I suppose alse because of the above problem). Does the warning mean a wrong Ranger or Rangertolaser definition? Kind regards, Sebastian |