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;
}



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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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