Change requests

AU Robot Servers: Bugs and new requests

15 may 2008: The barcode (getGMK command) does not seem to rely on image size when calculating the x-coordinate for the barcode guidemark. Probably right, I will check and change as needed / Christian

14 may 2008: U2Dline & U2Dlined functions getOnLine() returns 0, eventhough it is stated that they actually return the distance from the point to the line! - reply: no it returns a position lx,ly in the two output parameters as intended. The return value was set to 0, but is now changed to void / christian)

Ulmsserver version 1.96-1.97 makes random segmentation faults, not in the loaded modules but in the server itself inbetween module calls. This is esspecially true with a very little modified version of the AuEfLine module in combination with a scanpush command. We suspect that only modules that actally uses the laser data is bugged. - reply: test in progress (ok after 2 hours) / christian

Automated regression test on all classes :) (holidays is overrated anyway)

13 september 2007: A replay plugin manager is needed, so that a <replay step laser> can be issued to step one replay line from the laser logfile, and advance other replay logfiles to the same time - e.g. robot pose (posehist) and image log. Cureently laser replay is implemented only and a laser scan update triggers a pose update (either implicit from the laser logfile or from a pose history logfile). Replay of global variable changes are missing (replaying changes due to manual intervention, scripted changes or due to sensed data).

3 sug 2007: The ausmr-plugin version 1.77 stops (server goes into deadlock) when the 'smr connect' command is issued. In version 1.77 start and connect are automatic when the plugin is loaded. Work around: make a 'smr hup' (hangup) to stop automatic reconnect to smrdemo and then a 'smr connect' to restart automatic reconnect.

3 aug 2007: A process manager is needed to ensure all needed servers including smrdemo is running and functional.

3 aug 2007: HTML applet to monitor and control robot.

3 aug 2007: Obstacle avoidance (auavoid plugin 1.77) fails to find solution on complex problems, or fails to find best solution.

3 aug 2007: Road drive (auroaddrive plugin 1.72) is not tested on real roads.

3 aug 2007: Smrcl command drive (ausmr plugin 1.77) is not tested much, but seems to work, NB! after a sequence of smrcl commands you should issue an 'idle' (smr cmd="idle") or in sequenser script: "smr.do('idle') : false" or a seq add="smr.do('idle') : false". This prevents the mmr from beeing unstable (too much slag in wheels)

Fixed issues

3 aug 2007 (in version 1.78): Server (ulmsserver version 1.76) often makes a 'segmentation fault' during shut-down. (valid for userver too, when a number of plugins were loaded).

8 mar 2008: (in version 1.91) IEEE-1394 interface is missing in camera server (ucamserver 1.68).

8 mar 2008: (in version 1.83) Status for pose history streaming should be available (including source channel: smrdemo client number or otherwise).