ptam remotely from odroid about ethzasl_ptam HOT 11 CLOSED

Sorry the launch file was not clear :https://dl.dropbox.com/u/8948006/launch.txt

from ethzasl_ptam.

Hi Aswin,

great you got the odroid branch of ethzasl_ptam to compile.

The error might be related to a bug in ROS. Open the file (..)/ros/serialization.h

Apply this diff (memcpy instead of reinterpret cast/assign) [the line numbers might be different for Groovy):

172 172 {
173 173 template inline static void write(Stream& stream, const Type v)
174 174 {
175 /reinterpret_cast<Type>(stream.advance(sizeof(v))) = v; _/
175 memcpy(stream.advance(sizeof(v)), &v, sizeof(v));
176 176 }
177 177
178 178 template inline static void read(Stream& stream, Type& v)
179 179 {
180 /_v = reinterpret_cast<Type*>(stream.advance(sizeof(v))); */
180 memcpy(&v, stream.advance(sizeof(v)), sizeof(v));
181 181 }
182 182
183 183 inline static uint32_t serializedLength(const Type t)

Simon

from ethzasl_ptam.

Aswin,

I just saw in your log that you had a BUSERROR (-7) not a SIGSEGV (-11) as you wrote. So the above fix will probably resolve the issue. Make sure you recompile (and reinstall) ros after you applied the fix.

Simon

from ethzasl_ptam.

Hi Simon,
The problem seems to be in serialization, but your suggestion did not fix the problem. I am not sure if I made the changes correctly.I made the change in the read write function as your mentioned. Since it did not work., I made changes in the next occurrence in the file in line 201. But it doesnt seem to have an effect.

GDB output: https://dl.dropbox.com/u/8948006/gdb.txt
serialization file mentioned in the above: https://dl.dropbox.com/u/8948006/serialization.h

Aswin

from ethzasl_ptam.

Hi Aswin,

I can send you my serialization header later today. However could you first send a GDB backtrace? (Enter bt to the gdb console after PTAM crashed)

Thank you

Simon

from ethzasl_ptam.

backtrace: https://dl.dropbox.com/u/8948006/gdb_bt.txt

from ethzasl_ptam.

Hi Aswin,

Just to be sure: the file in /opt/ros/fuerte/include/ros/serialization.h now reflects the diff I sent you yesterday? Did you recompile and reinstall the ros-underlay? Did you also recompile tf and ethzasl-ptam?

To me it looks like some of the steps above are missing for your setup

Simon

from ethzasl_ptam.

Hi Simon,
Yes, I deleted the existing installation and recompiled ros-underlay. And the new serialization.h in /opt/ros/fuerte reflects that.

However, I am not quite confident on rosmake of higher level libraries. They did not compile completely. But I dont think they affect ros as they are not core packages.

Aswin

from ethzasl_ptam.

I have a seperate package "geometry" on my desktop which was downloaded because of the following step in ros installation:
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=fuerte&variant=desktop-full&overlay=no"

Will they be conflicting? Just worried cause I see lot of "geometry" in the backtrace

from ethzasl_ptam.

Hi Simon,
Good news!! I did a rosmake -a --pre-clean and it works now!

Most likely as you mentioned, I did not properly recompile tf and ptam again.

Thank you for your patience and support:)

Aswin

from ethzasl_ptam.

Great, then happy flying!

from ethzasl_ptam.