[ros-users] Bug in base_assembler.h?

[Jordi Pages]

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 at 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 at 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 at pal-robotics.com> wrote:
>>
>>> Hi all,
>>>
>>>    I am trying to follow the tutorial
>>> laser_assembler/tutorials/HowToAssembleLaserScans<http://www.ros.org/wiki/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
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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
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