'speedup' command causing crash to Stage

[amamory]

I was running the simple.cfg example and I realised that if the following line is commented, Stage crashes (randomly, not always) when a client connects to the server.

/# set the multiple of real time that Stage should try to achieve. Default is 1. /# set to 0 to go as fast as possible. speedup 0

Of course, one can always keep this line. The point is that I did my own Stage model without this line (before I realised the cause of the crashes) and I lost a lot of time on it. Perhaps this can help someone else.

This is the Server output

$ player simple.cfg Registering driver Player v.3.0.2

/* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net]. /* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard, /* Nate Koenig, and contributors. Released under the GNU General Public License. /* Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you /* are welcome to redistribute it under certain conditions; see COPYING /* for details.

invoking player_driver_init()... [Stage plugin] Stage driver init

/** Stage plugin v4.3.0 ** /* Part of the Player Project [http://playerstage.sourceforge.net] /* Copyright 2000-2013 Richard Vaughan, Brian Gerkey and contributors. /* Released under the GNU General Public License v2.

success [Stage plugin] Loading world "simple.world"

[Loading ./simple.world][Include pioneer.inc][Include map.inc][Include sick.inc][Image > "bitmaps/cave.png"]

[Stage plugin] 6665.simulation.0 is "./simple.world" [Stage plugin] 6665.position2d.0 is "r0" [Stage plugin] 6665.ranger.0 is "r0.ranger:0" [Stage plugin] 6665.ranger.1 is "r0.ranger:1" listening on 6665 Listening on ports: 6665 accepted TCP client 0 on port 6665, fd 25 [Stage plugin] Stage driver setup Segmentation fault (core dumped)

and the Client output

$ ./test_rangers playerc warning : warning : [Player v.3.0.2] connected on [localhost:6665] with sock 3

playerc error : failed to get response terminate called after throwing an instance of 'PlayerCc::PlayerError' Aborted (core dumped)

The client to test code was meant to be as simple as possible:

#include <iostream>
#include <libplayerc++/playerc++.h>


int main(int argc, char *argv[]){
	using namespace PlayerCc;
	using namespace std;

	string host = "localhost";
	int port = 6665;

	PlayerClient robot(host,port);
	Position2dProxy pp(&robot,0);
	//RangerProxy	bodySonarProxy(&robot);
	RangerProxy	bodySonarProxy(&robot, 0);
	RangerProxy	headSonarProxy(&robot, 1);
	int i=0;
	float speed,turnrate;

	while(true){
		robot.Read();
		cout << "Qnt body:" << bodySonarProxy.GetRangeCount() << endl;
		//for(i=0;i<bodySonarProxy.GetRangeCount();i++) cout << bodySonarProxy[i] << " " << endl;
		cout << endl;
		
		cout << "Qnt head:" << headSonarProxy.GetRangeCount() << endl;
		//for(i=0;i<headSonarProxy.GetRangeCount();i++) cout << headSonarProxy[i] << endl;
		
		
        turnrate = dtor(-20); // turn 20 degrees per second
        speed = 0.100;
        // command the motors
        pp.SetSpeed(speed, turnrate);		
		cout << endl << endl;
		sleep(2);
	}

	return 0;
}

I am using Ubuntu 14.04 but the same issue also happens with 16.04.

It would be nice to investigate why this command cause this kind of crash.

[amamory]

to reproduce the error, open simple.world and comment the line, then run $player simple.cfg.

/# set the multiple of real time that Stage should try to achieve. Default is 1. /# set to 0 to go as fast as possible. speedup 0