Re: Help with map driver

Have you tried using gdb on your driver?  make sure that your plugin is
compiled with the -g option, then run

$ gdb robot-player
(gdb) run configfile.cfg

Once the program segfaults, use the 'bt' and 'list' commands to determine
where your program was when it crashed.  The below code snippet isn't enough
to tell the whole story, but are you allocating map_data.data before you
attempt to write to it?  You should allocate it with the "new" keyword or
with "malloc".

Rich

-----Original Message-----
From: aneves [mailto:[email protected]] 
Sent: Monday, August 30, 2010 6:20 AM
To: [email protected]
Subject: [Playerstage-developers] Help with map driver


Hi!

I'm developing a gridslam driver for player and i'm stuck with the map
interface messages. when i try to use the MapProxy on my client I get a
segmentation fault i'm following gridmap driver as an example. I'm using
robot-player 2.0.4 and stage 2.0.3 from ubuntu repositories.
What i'm i doing wrong?  Please help, my deadline is aproching...

Thanks in advance

here is my ProcessMessage() (just the map part)

	 // Is it a request for the map info?
  if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
                            PLAYER_MAP_REQ_GET_INFO,
                            this->prov_map_ID) )
  {
    
     map_info.scale=0.3;//map.GetResolution();
    map_info.width=40;//map.Getxmax()-map.Getxmin();
    map_info.height=40;//map.Getymax()-map.Getymin();
    map_info.origin=init_pose;
    
    this->Publish(this->prov_map_ID,
                 resp_queue,
                 PLAYER_MSGTYPE_RESP_ACK,
                 PLAYER_MAP_DATA_INFO,
                 (void*)&map_info,
                 sizeof(player_map_info_t),
		  NULL);
    return(0);
  } 
 // Is it a request for the map data?
  if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
                            PLAYER_MAP_REQ_GET_DATA,
                            this->prov_map_ID) )
  {
    
    map_data.col=0;
    map_data.row=0;
    map_data.width=map.GetSizeX();
    map_data.height=map.GetSizeY();
    
    int si=map_data.width;
    int sj=map_data.height;
    
    for(int j = 0; j < sj; j++)
    {
      for(int i = 0; i < si; i++)
      {
	float p=0;//map.GetProbValue(i,j);
	if (p<=0.001)
	  p=-1;
	else{
	  if (p<0.99)
	   p=0; 
	  else
	   p=1;
	}
	map_data.data[i+j*si]=p;
      }
    }
    
    
    
    
    this->Publish(this->prov_map_ID,
                 resp_queue,
                 PLAYER_MSGTYPE_RESP_ACK,
                 PLAYER_MAP_REQ_GET_DATA,
                 (void*)&map_data,
                 sizeof(player_map_data_t));
             
    puts("Map data sent!");
    return(0); 
  }




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Be part of this innovative community and reach millions of netbook users 
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