Hi Vijay,<br>
<br>
I'm using Ubuntu 10.04 LTS and ROS v1.1.7 too. The launch file that I use is as follows:<br><br><launch><br> <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler"><br>
<remap from="scan" to="tilt_scan"/><br> <param name="max_scans" type="int" value="400" /><br> <param name="fixed_frame" type="string" value="base_link" /><br>
</node><br> <node type="periodic_snapshotter" pkg="laser_assembler" name="my_periodicSnapshotter"></node><br></launch><br><br><div class="gmail_quote">On Fri, May 28, 2010 at 9:17 PM, Vijay Pradeep <span dir="ltr"><<a href="mailto:vpradeep@willowgarage.com" target="_blank">vpradeep@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi Jordi,<br><br>I just grabbed laser.bag (<a href="http://vault.willowgarage.com/wgdata1/vol1/wiki_docs/laser_pipeline/laser.bag" target="_blank">http://vault.willowgarage.com/wgdata1/vol1/wiki_docs/laser_pipeline/laser.bag</a>) and played it back with the assembler running, and it seems to be working fine for me.<br>
<br>The fact that rosbag is crashing makes it sound like its not a problem with the laser assembler. I'm currently running ROS v1.1.7. What version of ROS are you running? Also, what OS are you running?<br><br>You can find your ROS version by doing "roscd; cat CMakeLists.txt".<br>
<font color="#888888">
<br>Vijay</font><div><div></div><div><br><br><div class="gmail_quote">On Fri, May 28, 2010 at 3:38 AM, Jordi Pages <span dir="ltr"><<a href="mailto:jordi.pages@pal-robotics.com" target="_blank">jordi.pages@pal-robotics.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
In fact the old laser.bag file works fine after doing<br><br>rosbag reindex laser.bag<br><br>and running rosbag play according to your correction:<div><br><br>rosbag play --clock laser.bag<br><br><br></div><div>
<div></div><div><div class="gmail_quote">On Fri, May 28, 2010 at 12:27 PM, Jordi Pages <span dir="ltr"><<a href="mailto:jordi.pages@pal-robotics.com" target="_blank">jordi.pages@pal-robotics.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Hi Vijay, thanks for you help.<br><br>I have tested the new bag file that you have uploaded and I obtain the following crash:<br>
<br>rosbag play --clock laser.bag<br>[ INFO] [1275042388.534141367]: Opening laser.bag<br><br>
Waiting 0.2 seconds after advertising topics... done.<br><br>Hit space to toggle paused, or 's' to step.<br>terminate called after throwing an instance of 'std::bad_alloc'41.431989 <br> what(): std::bad_alloc<br>
Aborted<br><br>it happens as soon as I launch the launch file:<br><br><pre><launch><br> <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler"><br> <remap from="scan" to="tilt_scan"/><br>
<param name="max_scans" type="int" value="400" /><br> <param name="fixed_frame" type="string" value="base_link" /><br> </node><br></launch></pre>
<div><div></div><div>
<br><br><br><div class="gmail_quote">On Fri, May 28, 2010 at 1:29 AM, Vijay Pradeep <span dir="ltr"><<a href="mailto:vpradeep@willowgarage.com" target="_blank">vpradeep@willowgarage.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Hi Jordi,<br><br>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.<br>
<br>The tutorial was in fact broken. I've uploaded a new laser.bag file, and updated the launch file snippets.<br><br>Thank for reporting your troubles with this tutorial. If you are still running into problems, please let me know.<br>
<br>Vijay<br><br><div class="gmail_quote"><div><div></div><div>On Thu, May 27, 2010 at 9:22 AM, Jordi Pages <span dir="ltr"><<a href="mailto:jordi.pages@pal-robotics.com" target="_blank">jordi.pages@pal-robotics.com</a>></span> wrote:<br>
</div></div><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;"><div><div></div><div>
Hi all,<br><br> I am trying to follow the tutorial <a href="http://www.ros.org/wiki/laser_assembler/Tutorials/HowToAssembleLaserScans" target="_blank">laser_assembler/tutorials/HowToAssembleLaserScans</a>
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<br>
<br> while ( i < scan_hist_.size()
&& scan_hist_[i].header.stamp <
req.begin ) <br><div>
{<br> i++ ;<br> }<br><br>the right part of the while condition
should be instead <br><br>scan_hist_[i].header.stamp >= req.begin<br><br>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.<br>
<br>Can anybody check that it is actually a bug? Am I not executing
correctly the laser pipeline?<br><br>Thanks in adavance</div><br>-- <br>Jordi Pages, PhD<br>Researcher<br>Pal Robotics S.L.<br><br>Tel: +34.93.414.53.47<br>Fax: +34.93.209.11.09<br>C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br>
<a href="http://www.pal-robotics.com/" target="_blank">http://www.pal-robotics.com/</a><br>
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</blockquote></div><br><br clear="all"><br>-- <br>Jordi Pages, PhD<br>Researcher<br>Pal Robotics S.L.<br><br>Tel: +34.93.414.53.47<br>Fax: +34.93.209.11.09<br>C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br><a href="http://www.pal-robotics.com/" target="_blank">http://www.pal-robotics.com/</a><br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Jordi Pages, PhD<br>Researcher<br>Pal Robotics S.L.<br><br>Tel: +34.93.414.53.47<br>Fax: +34.93.209.11.09<br>C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Jordi Pages, PhD<br>Researcher<br>Pal Robotics S.L.<br><br>Tel: +34.93.414.53.47<br>Fax: +34.93.209.11.09<br>C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br>
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