[ros-users] Ros on Arm Hanging

[Josh Faust]

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 at 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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> Home: http://snorriheim.dnsdojo.com/
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