Plugin crashes

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lfpvillegas
Posts: 1
Joined: 18 May 2021, 23:01

Plugin crashes

Post by lfpvillegas »

I have been trying to use a plugin installed in Coppelia, but whenever I
use a method , the program crashes.
I cannot see any error message, the program just closes.

The plugin is this one:
https://github.com/roboticafacil/coppeliasim_gridmap

simGridMap.updateMapLaser(laserScan, pose) CoppeliaSim crashes.

OS: Windows 10
Coppelia Sim Edu, Version 4.1.0. (rev. 1) 64 bits (serialization version
22)
Qt Version 5.15.0, MSVC2019


The map windows is correctly created in black, but whenever I want to
update the map, it crashes. I have also tried to update with dummy error
like simGridMap.updateMapLaser({0,1}, {})

There is no error message shown. Only if I run from a console the error
that appears is Segmentation Fault

I'm following the instructions of the following youtube video:
[youtube]https://www.youtube.com/watch?v=fV0ZoDa1FaQ[/youtube]

I'm using the Pioneer robot given in the CoppeliaSim library, I have only
modify the sensors. They were ultrasonic and I changed them to be laser
ones so I could use the updateMapLaser method.

I leave here some code for giving more context

`

Code: Select all

 function sysCall_init()
  usensors={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}
  for i=1,16,1 do
  usensors[i]=sim.getObjectHandle("Pioneer_p3dx_ultrasonicSensor"..i)
  end
  motorLeft=sim.getObjectHandle("Pioneer_p3dx_leftMotor")
  motorRight=sim.getObjectHandle("Pioneer_p3dx_rightMotor")
  wheel_radius=0.975e-01
  b = 0.1655
 
  -- Odometria
  odometry=sim.getObjectHandle('odometry')
  position=sim.getObjectPosition(odometry,-1)
  orientation=sim.getObjectOrientation(odometry,-1)
  pose={position[1],position[2], orientation[3]}
  math.randomseed(os.time())
 
  -- Mapa
  cell_size = 0.1
  map_size= 50
  p_max = 0.9
  p_min = 0.1
  laser_max_range= 5
  laser_prec = 0.1
  laser_sigma = 0.1
  laser_plambda =0.8
  laser_weight_hit =0.7
  laser_weight_unexpected = 0.3
  gridMapParams = {cell_size,map_size, p_max, p_min, laser_max_range,
  laser_prec, laser_sigma,
  laser_plambda,laser_weight_hit,laser_weight_unexpected}
  result = simGridMap.init(gridMapParams, true)
  simGridMap.updateMapLaser({0,1,0,2}, {1,1,0})
 
 
  --Pose robot
  --robot_pose = sim.getObjectHandle('robot_pose')
 
 
  noDetectionDist=0.5
  maxDetectionDist=0.2
  detect={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
  braitenbergL={-0.2,-0.4,-0.6,-0.8,-1,-1.2,-1.4,-1.6,
  0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0}
  braitenbergR={-1.6,-1.4,-1.2,-1,-0.8,-0.6,-0.4,-0.2,
  0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0}
  v0=2
  end`

`

Code: Select all

 function sysCall_sensing()
  odometry=sim.getObjectHandle('odometry')
  position=sim.getObjectPosition(odometry,-1)
  orientation=sim.getObjectOrientation(odometry,-1)
  pose={position[1],position[2], orientation[3]}
  pose=updateOdometry(pose)
 
  for i=1,16,1 do
       result,distance, detected_point=sim.readProximitySensor(usensors[i])
       position=sim.getObjectPosition(usensors[i],-1)
       orientation=sim.getObjectOrientation(usensors[i],-1)
       pose={position[1],position[2], orientation[3]}
 
       if(detected_point ~= nil) then
           laserScan = {detected_point[3],0}
           print("Punto", pose, laserScan)
           simGridMap.updateMapLaser(laserScan, pose)
       end
  end
  end`

Thanks and Regards

coppelia
Site Admin
Posts: 8987
Joined: 14 Dec 2012, 00:25

Re: Plugin crashes

Post by coppelia »

Hello,

we didn't develop that plugin, and cannot give you direct support for this. Try to contact the authors of the plugin. If you can recompile the plugin and run in debug mode, that would be best. Otherwise try to add some outputs in the locations where you suspect the crash to happen and try to precisely locate the faulty instruction.

Cheers

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