Re: [Playerstage-users] Recent changes to localize interface (and amcl driver)?

Hello all,

I've just experienced the same problem reported in this thread.

My program runs with player 3.1 rev.8835. On a different machine with
rev.8947 I got the error reported in this thread. I also got the error with
the latest svn trunk, rev.9036, which I just downloaded and installed.

I had a look at the source code and the files playerc++.h and
localizeproxy.cc (as well as the online documentation) are coherent, where
the SetPose() function is defined/implemented as:
void SetPose(double pose[3], double cov[3]);

In my code, I have:
double mean[3];
double cov[3];

Then, I checked the above patch for playernav (gui.c) and the variable
relative to the covariance is defined as:
static double cov[6] = { ... };

I changed my code to:
double mean[3];
double cov[6];

And now player doesn't crash (amcl appears to be working too).

I skimmed through the amcl.cc file and I got rather confused, particularly
with the implementation of PutDataLocalize(), where the assertion fails, and
ProcessMessage().

Has anyone come across this issue?

I noticed that only the diagonal of the 3x3 matrix (the variance) is used in
amcl, right?
Could anyone kindly explain why it is now necessary to have a 3x3 covariance
matrix cov[6] (well, it makes sense, as mean[3] has 3 elements) even though
the function prototype/implementation defines it should be cov[3]?

Perhaps the localizeproxy was not updated after changes to amcl...?!

Regards,

Murilo


On 23 November 2010 09:00, Sebastian Rockel
<[email protected]>wrote:

> Hello,
>
> Thanks Thimo.
> Your patch worked fine  for playernav.
> Since I am working with Javaclient, I had to make a patch there to get it
> working (attached if someone is interested and sorry for cross posting).
>
> @Rich
> So I believe the patch is correct.
>
> Regards,
> Sebastian
>
>
>
>
>
>
>
> Am 22.11.2010 um 19:26 schrieb Rich Mattes:
>
> > On 11/22/2010 06:27 AM, Thimo Langbehn wrote:
> >> Dear Sebastian,
> >>
> >> thank you for reporting the issue.
> >>
> >>> An older configuration (also 3.1.0svn but I don't know the svn release)
> runs fine with the same configuration.
> >>> So has there been any changes specifically to the amcl driver in the
> recent past?
> >> There is a bug in the 8859 changeset for the localization interface
> (omission of playernav) that would cause the error you experienced. My bad.
> >>
> >> I attached a small patch (rev.8972) for it, could you try it with your
> configuration?
> >>
> >> Best regards,
> >>
> >> Thimo Langbehn
> >>
> > Thanks for catching this.  I went ahead and applied the patch you
> > attached to your message (r8973.)  If the problem ends up being
> > somewhere else, let me know.
> >
> > Rich
> >
> >
> >
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