[Roboticsprimer-users] Segmentation fault in intro

[Robotics P. u. h. l. <rob...@li...>]

I get a Segmentation fault  when running intro
john@john-desktop:~/roboticsprimer-0.1/exercises/01_introduction/gumstix$ ./intro client.xml
Loading config file[client.xml]
Trying to connect to [192.168.1.102:6665]
calling connect
done
ID Count[3]
Load Proxy[POSITION][0] Name[roomba]
Load Proxy[POWER][0] Name[roomba]
Load Proxy[BUMPER][0] Name[roomba]
Finished loading devices
playerc error   : got NACK from request
playerc error   : got NACK from request
Segmentation fault (core dumped)


over on the gumstix it says the following but does not crash

# ./player roomba.cfg

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

Opening connection to Roomba on /dev/ttyS2...Done.
Listening on ports: 6665 
accepted client 0 on port 6665, fd 9
warning : Unhandled message for driver device=16777343:6665:4:0 type=3 subtype=2 len=1

warning : Unhandled message for driver device=16777343:6665:4:0 type=3 subtype=2 len=1

warning : other error on client 0
closing connection to client 0 on port 6665

My roomba.cfg is as follows:-
driver                                                                          
(                                                                               
  name "roomba"                                                                 
  provides ["position2d:0" "power:0" "bumper:0"]                                
  port "/dev/ttyS2"                                                             
  alwayson 1                                                                    
)                                            

It looks, to me, as if, at least sometimes, the communications works, and player is doing what it is supposed to do. Thus this is a problem with the intro code. 
Seg. fault seems rather severe!

Questions
1) Why is intro seg. faulting?
2) Do you have any advice on debugging our robot control code on the development computer? For example, can one use gdb? and if so how?


John Cummins

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