Just out of curiosity...Is your arm processor running in big-endian or
little-endian mode?

-R

On Thu, Jul 8, 2010 at 3:43 AM, Daniel Stonier <d.stonier@gmail.com> wrote:

> Ok, got waylaid with other jobs for a while, but having a look at it again.
>
> Got into it with a debugger, and found it hanging at
> roslib/include/ros/serialization.h at
>
> ROS_CREATE_SIMPLE_SERIALIZER(double);
>
> I've got a backtrace obtained by attaching to the program as soon as it
> hung - pasted below. I also decided to test doubles in a more serious way on
> the board.
>
> - Remade the srv's with int32 rather than float64 and it ran fine.
> - Recompiled the entire ros tree and the original float64 program making
> sure I had the correct use flags for the board (-mfpu=vfp), still failed.
> - Wrote a similar program passing std_msgs::Float64 back and forth between
> topics, that worked!
>
> ******************************************
> Backtrace ******************************************
>
> 0x0001e378 in
> ros::serialization::Serializer<double>::write<ros::serialization::OStream> (
> stream=..., v=304.18260199999997)
> at /opt/iclebo/ros/core/roslib/include/ros/serialization.h:198
>
> warning: Source file is more recent than executable.
> 198 ROS_CREATE_SIMPLE_SERIALIZER(double);
> (gdb) bt
> #0 0x0001e378 in
> ros::serialization::Serializer<double>::write<ros::serialization::OStream> (
> stream=..., v=304.18260199999997)
> at /opt/iclebo/ros/core/roslib/include/ros/serialization.h:198
> #1 0x0001dcec in ros::serialization::serialize<double,
> ros::serialization::OStream> (stream=...,
> t=@0x48af0) at /opt/iclebo/ros/core/roslib/include/ros/serialization.h:149
> #2 0x0001ed4c in next<double> (stream=..., m=...)
> at /opt/iclebo/ros/core/roslib/include/ros/serialization.h:741
> #3
> ros::serialization::Serializer<rpc_latency::float_ping_pongResponse_<std::allocator<void>
> > >::allInOne<ros::serialization::OStream,
> rpc_latency::float_ping_pongResponse_<std::allocator<void> > const&>
> (stream=..., m=...)
> at
> /opt/iclebo/ycs/ycs_tools/rpc_latency/srv_gen/cpp/include/rpc_latency/float_ping_pong.h:304
> #4 0x0001eab0 in
> ros::serialization::Serializer<rpc_latency::float_ping_pongResponse_<std::allocator<void>
> > >::write<ros::serialization::OStream,
> rpc_latency::float_ping_pongResponse_<std::allocator<void> > > (stream=...,
> t=...)
> at
> /opt/iclebo/ycs/ycs_tools/rpc_latency/srv_gen/cpp/include/rpc_latency/float_ping_pong.h:307
> #5 0x0001e2b4 in
> ros::serialization::serialize<rpc_latency::float_ping_pongResponse_<std::allocator<void>
> >, ros::serialization::OStream> (stream=..., t=...)
> at /opt/iclebo/ros/core/roslib/include/ros/serialization.h:149
> #6 0x0001dae4 in
> ros::serialization::serializeServiceResponse<rpc_latency::float_ping_pongResponse_<std::allocator<void>
> > > (ok=true, message=...)
> at /opt/iclebo/ros/core/roslib/include/ros/serialization.h:831
> #7 0x0001cd70 in
> ros::ServiceCallbackHelperT<ros::ServiceSpec<rpc_latency::float_ping_pongRequest_<std::allocator<void>
> >, rpc_latency::float_ping_pongResponse_<std::allocator<void> > > >::call (
> this=0x45f20, params=...)
> at /opt/iclebo/ros/core/roscpp/include/ros/service_callback_helper.h:189
> #8 0x402336d0 in ros::ServiceCallback::call (this=0x49a10)
> at /opt/iclebo/ros/core/roscpp/src/libros/service_publication.cpp:123
> #9 0x40252c28 in ros::CallbackQueue::callOneCB (this=0x3b918, tls=0x48f90)
> at /opt/iclebo/ros/core/roscpp/src/libros/callback_queue.cpp:360
> #10 0x4025258c in ros::CallbackQueue::callAvailable (this=0x3b918,
> timeout=...)
> at /opt/iclebo/ros/core/roscpp/src/libros/callback_queue.cpp:320
>
>
> On 1 July 2010 14:17, Josh Faust <jfaust@willowgarage.com> wrote:
>
>> Are you able to break into it in a debugger to see where it's using cpu?
>>  Do topics work properly?
>>
>> Josh
>>
>> On Wed, Jun 30, 2010 at 5:46 PM, Daniel Stonier <d.stonier@gmail.com>wrote:
>>
>>> Hi all,
>>>
>>> We're trying to get ros running on an armv6 core here and hitting a
>>> few issues. If anyone has any insight on how to go about tracking down
>>> the issues that would be great.
>>>
>>> Some general details about the problem:
>>>
>>> It's an armv6 core running a custom gentoo with cturtle. The example
>>> programs I have to test with are a simple client-server pair. The
>>> client pings the server with a timestamped rpc service request, the
>>> server too, timestamps and then sends a response. When the response is
>>> received by the client, it outputs and terminates.
>>>
>>> So it's pretty simple, no more than a few lines of code in server and
>>> client (I've added the code below). End result though, the server
>>> catches the request, at which point both client and server hang and
>>> server cpu % goes through the roof. Since the code is simple, I'm
>>> figuring it must be behind the scenes somewhere (maybe in the rosdep
>>> library builds or system configuration?)  I'm not sure how to track
>>> down the issue though - anyone have any ideas?
>>>
>>> Cheers,
>>> Daniel.
>>>
>>> ***************************** client.cpp *****************************
>>>
>>> class LatencyClient {
>>> public:
>>>    LatencyClient() :
>>>        client(node.serviceClient< rpc_latency::ping_pong
>>> >("rpc_latency"))
>>>    {}
>>>    /**
>>>     * Latency benchmarking service request handler. This initiates
>>> the request and waits
>>>     * for the response. Handling is done in main().
>>>     * @return bool - success or failure of the request.
>>>     */
>>>    bool ping_pong() {
>>>        rpc_latency::ping_pong srv;
>>>        TimeStamp send_stamp;
>>>        TimeStamp final_stamp;
>>>
>>>        srv.request.ping_time = static_cast<double>(send_stamp.stamp());
>>>        if ( client.call(srv) ) {
>>>            final_stamp.stamp();
>>>            ROS_INFO("Send   Time : %lf", srv.response.pong_time -
>>> srv.request.ping_time);
>>>            ROS_INFO("Return Time : %lf",
>>> static_cast<double>(final_stamp) - srv.response.pong_time);
>>>            ROS_INFO("Round  Trip : %lf",
>>> static_cast<double>(final_stamp - send_stamp) );
>>>            return true;
>>>        } else {
>>>            ROS_ERROR("Failed to call service rpc_latency");
>>>            return false;
>>>        }
>>>    }
>>>
>>> private:
>>>    ros::NodeHandle node;
>>>    ros::ServiceClient client;
>>> };
>>>
>>> int main(int argc, char **argv) {
>>>    ros::init(argc, argv, "rpc_latency_client");
>>>
>>>    LatencyClient latency;
>>>    latency.ping_pong();
>>>    return 0;
>>> }
>>>
>>> ***************************** server.cpp *****************************
>>>
>>> class LatencyServer {
>>> public:
>>>    LatencyServer() :
>>>        service (node.advertiseService("rpc_latency",
>>> &LatencyServer::ping_pong, this))
>>>    {}
>>>
>>>    void spin() {
>>>        ros::spin();
>>>    }
>>>    bool ping_pong(rpc_latency::ping_pong::Request  &request,
>>>                   rpc_latency::ping_pong::Response &response ) {
>>>        response.pong_time = timestamp.stamp();
>>>        ROS_INFO("TimeStamp: %lf", static_cast<double>(timestamp) );
>>>        return true;
>>>    }
>>>
>>> private:
>>>    TimeStamp timestamp;
>>>    ros::NodeHandle node;
>>>    ros::ServiceServer service;
>>> };
>>>
>>> int main(int argc, char **argv) {
>>>    ros::init(argc, argv, "rpc_latency_server");
>>>
>>>    LatencyServer latency_server;
>>>    latency_server.spin();
>>>    return 0;
>>> }
>>>
>>>
>>>
>>> --
>>> Phone : +82-10-5400-3296 (010-5400-3296)
>>> Home: http://snorriheim.dnsdojo.com/
>>> Yujin Robot: http://www.yujinrobot.com/
>>> Embedded Control Libraries:
>>> http://snorriheim.dnsdojo.com/redmine/wiki/ecl
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users@code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>
>>
>> _______________________________________________
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>>
>>
>
>
> --
> Phone : +82-10-5400-3296 (010-5400-3296)
> Home: http://snorriheim.dnsdojo.com/
> Yujin Robot: http://www.yujinrobot.com/
> Embedded Control Libraries: http://snorriheim.dnsdojo.com/redmine/wiki/ecl
>
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