On Fri, May 28, 2010 at 3:38 AM, Jordi Pages <jordi.pages@pal-robotics.com> wrote:

In fact the old laser.bag file works fine after doing

rosbag reindex laser.bag

and running rosbag play according to your correction:

rosbag play --clock laser.bag
On Fri, May 28, 2010 at 12:27 PM, Jordi Pages <jordi.pages@pal-robotics.com> wrote:
Hi Vijay, thanks for you help.

I have tested the new bag file that you have uploaded and I obtain the following crash:

rosbag play --clock laser.bag
[ INFO] [1275042388.534141367]: Opening laser.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
terminate called after throwing an instance of 'std::bad_alloc'41.431989
what(): std::bad_alloc
Aborted

it happens as soon as I launch the launch file:
<launch>
  <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler">
    <remap from="scan" to="tilt_scan"/>




    <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="base_link" />
  </node>
</launch>
On Fri, May 28, 2010 at 1:29 AM, Vijay Pradeep <vpradeep@willowgarage.com> wrote:
Hi Jordi,

The lines of code in question seem fine as is. This loop is simply stepping along the time history of scans until it finds a scan that occurs after the request begin time. The next while loop in the function then continues stepping along, until it steps past the end of the request.

The tutorial was in fact broken. I've uploaded a new laser.bag file, and updated the launch file snippets.

Thank for reporting your troubles with this tutorial. If you are still running into problems, please let me know.

Vijay

On Thu, May 27, 2010 at 9:22 AM, Jordi Pages <jordi.pages@pal-robotics.com> wrote:

Hi all,

   I am trying to follow the tutorial laser_assembler/tutorials/HowToAssembleLaserScans and I can't achieve assembling several laser scans in a unique cloud of points. I am using rosplay to publish pre-recorded data from the bag file laser.bag that can be downloaded from ros webpage. I have been adding trace messages in base_assembler.h and I have the sensation that in the following portion of code in assembleScans callback function

while ( i < scan_hist_.size() && scan_hist_[i].header.stamp < req.begin )
{
    i++ ;
}

the right part of the while condition should be instead

scan_hist_[i].header.stamp >= req.begin

otherwise I get that no points are assembled because both start_index and past_end_index have the same value and none of the laser scans are selected.

Can anybody check that it is actually a bug? Am I not executing correctly the laser pipeline?

Thanks in adavance

--
Jordi Pages, PhD
Researcher
Pal Robotics S.L.

Tel: +34.93.414.53.47
Fax: +34.93.209.11.09
C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
http://www.pal-robotics.com/

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--
Jordi Pages, PhD
Researcher
Pal Robotics S.L.

Tel: +34.93.414.53.47
Fax: +34.93.209.11.09
C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
http://www.pal-robotics.com/

AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario.
Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección
de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida.

CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed. If you are not the intended recipient, you are hereby notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited. If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.
--
Jordi Pages, PhD
Researcher
Pal Robotics S.L.

Tel: +34.93.414.53.47
Fax: +34.93.209.11.09
C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
http://www.pal-robotics.com/

AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario.
Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección
de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida.

CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed. If you are not the intended recipient, you are hereby notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited. If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.