ImageServer-based code, for example CvDemo and CvKinect, frequently crash in native code with this error message.

This is using the default "server" vm.

This appears to be a known issue: http://icedtea.classpath.org/bugzilla/show_bug.cgi?id=720

The only real workaround seems to be to switch to the oracle proprietary EJRE, which runs this code fine. Disabling JIT with "-XX:+PrintCommandLineFlags" as suggested in the above report also may work but is painfully slow. Installing openjdk-6-jre-zero and then running with "-zero" (how is the "zero" vm different than the openjdk "server" vm?) may also work but is also slow.

https://bugs.launchpad.net/ubuntu/+source/openjdk-6b18/+bug/917206

Can I reproduce this bug without having physical access to a OHMM robot?

I want to test if the latest "APWaN" (Arm Port Without a Name) in IcedTea6-1.11 runs your software stable.

Xerxes - Thank you for your interest! Yes, you can run much of our code without the robot. You will need a USB webcam, we use logitech webcam pro 9000. To test the issue reported here, make a checkout of the ohmm-sw project repository. Then

1) cd ohmm-sw/hlp/ext && make install 2) attach your usb camera to your arm device 3) cd ohmm-sw/hlp/ohmm && make && ./run-class CvDemo 4) point google chrome at http://IP:8080/server.html where IP is your device

The internal error was occurring intermittently. However, I just installed your newer icedtea and I haven't reproduced it yet. Also, the speed seems good, though I should investigate further. Note that the image rate to the browser is limited to 2fps in the default configuration. But if you hit the key "G" on the browser image you will get debug spew in the terminal on your device, it should say "finished frame FFF (YYY FPS)" where YYY is something like 30, which is good.

This is what java -version is now saying:

java version "1.6.0_24"
OpenJDK Runtime Environment (IcedTea6 1.11) (6b24-1.11-2ubuntu1)
OpenJDK Zero VM (build 20.0-b12, mixed mode)

Because of the intermittent nature of the bug I prefer to leave the issue open for now until we have tested further. On our end this may need to wait until late summer when we prepare for the next offering of our robotics course.