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Re: [Playerstage-users] PSG in gentoo

From: Fred Labrosse <ffl@ab...> - 2005-04-15 08:49

On Thursday 14 Apr 2005 15:36, Brian Gerkey wrote:
> Fred Labrosse wrote:
> > So far, after modification of the gazebo ebuild to cope with newer and/or
> > official versions of some ebuilds, I managed to install gazebo and
> > dependencies.
> >
> > The first problem is with librtk.  I get:
> >
> > /usr/lib/gcc/x86_64-pc-linux-gnu/3.4.3/../../../../x86_64-pc-linux-gnu/bi
> >n/ld: ../librtk/librtk.a(rtk.o): relocation R_X86_64_32 against `a local
> > symbol' can not be usedwhen making a shared object; recompile with -fPIC
> > ../librtk/librtk.a: could not read symbols: Bad value
>
> Can't tell from this output, but the problem could be with ffmpeg.  Can
> you make the ebuild supply '--disable-libavcodec' to configure?

I could also try to add the -fPIC to the compiler's arguments, but in either 
case, I don't know how.  My knowledge of ebuilds is pretty much limitted to 
using them with emerge.

>
> If that doesn't work, I wouldn't spend too much time on the librtk
> ebuild.  The next release of Player (coming as soon as I get a chance to
> make it) will include the bits of librtk that are needed by things like
> playerv.  At that point, the separate librtk package will be deprecated.
>

Any idea when this will be the case?

Cheers,

Fred

Re: [Playerstage-users] PSG in gentoo

From: Fred Labrosse <ffl@ab...> - 2005-04-15 09:41

On Thursday 14 Apr 2005 15:39, Brian Gerkey wrote:
> Fred Labrosse wrote:
> > I recently installed a new gentoo machine (a dual opteron by Sun) and
> > want to install PSG on it.  Looking at the precompiled packages page (and
> > remebering a few discussions on the topic), I wanted to know if there was
> > any progress towards that.
> >
> > In particular, the available ebuilds only support x86 (not amd64) and
> > install packages in app-sci which doesn't exist anymore.
> >
> > I renamed this as sci-misc and will ACCEPT_KEYWORDS x86, to see what
> > happens and will report back.
>
> One other thing: you might try the latest ebuilds that are being
> maintained in CVS.  Check out the 'packages' module and look in the
> 'gentoo' directory.
>

One of the things I noticed is that you still have a package for gdal while 
there is one in the "official" gentoo tree.  Is there a reason for that?

Also, using the latest ebuilds in CVS didn't help since librtk's is still the 
original one...

Cheers,

Fred

Re: [Playerstage-users] PSG in gentoo

From: <ceyusa@gm...> - 2005-04-15 16:40

Hi,

In this document
http://www.gentoo.org/proj/en/base/amd64/technotes.xml?part=3D2&chap=3D3#do=
c_chap9,
is said that in shared libraries for amd64 -fPIC is a must, while in
x86 isn't.  But they insist in not put -fPIC in the global CFLAGS,
each package should choose use it, if not, the package isn't ready for
amd64.

So, there's a need to modify a couple Makefiles in player/stage code.=20
I'll try to put the patch in the ebuilds in the next days.

On 4/15/05, Fred Labrosse <ffl@...> wrote:
> On Thursday 14 Apr 2005 15:36, Brian Gerkey wrote:
> > Fred Labrosse wrote:
> > > So far, after modification of the gazebo ebuild to cope with newer an=
d/or
> > > official versions of some ebuilds, I managed to install gazebo and
> > > dependencies.
> > >
> > > The first problem is with librtk.  I get:
> > >
> > > /usr/lib/gcc/x86_64-pc-linux-gnu/3.4.3/../../../../x86_64-pc-linux-gn=
u/bi
> > >n/ld: ../librtk/librtk.a(rtk.o): relocation R_X86_64_32 against `a loc=
al
> > > symbol' can not be usedwhen making a shared object; recompile with -f=
PIC
> > > ../librtk/librtk.a: could not read symbols: Bad value
> >
> > Can't tell from this output, but the problem could be with ffmpeg.  Can
> > you make the ebuild supply '--disable-libavcodec' to configure?
>=20
> I could also try to add the -fPIC to the compiler's arguments, but in eit=
her
> case, I don't know how.  My knowledge of ebuilds is pretty much limitted =
to
> using them with emerge.
>=20
> >
> > If that doesn't work, I wouldn't spend too much time on the librtk
> > ebuild.  The next release of Player (coming as soon as I get a chance t=
o
> > make it) will include the bits of librtk that are needed by things like
> > playerv.  At that point, the separate librtk package will be deprecated=
.
> >
>=20
> Any idea when this will be the case?
>=20
> Cheers,
>=20
> Fred
>=20
>=20
> -------------------------------------------------------
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> _______________________________________________
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>

Re: [Playerstage-users] PSG in gentoo

From: <ceyusa@gm...> - 2005-04-15 16:54

I don't use gazebo currently, so I can't say much about it.  We should
ask to Andrew.

On 4/15/05, Fred Labrosse <ffl@...> wrote:
> On Thursday 14 Apr 2005 15:39, Brian Gerkey wrote:
> > Fred Labrosse wrote:
> > > I recently installed a new gentoo machine (a dual opteron by Sun) and
> > > want to install PSG on it.  Looking at the precompiled packages page =
(and
> > > remebering a few discussions on the topic), I wanted to know if there=
 was
> > > any progress towards that.
> > >
> > > In particular, the available ebuilds only support x86 (not amd64) and
> > > install packages in app-sci which doesn't exist anymore.
> > >
> > > I renamed this as sci-misc and will ACCEPT_KEYWORDS x86, to see what
> > > happens and will report back.
> >
> > One other thing: you might try the latest ebuilds that are being
> > maintained in CVS.  Check out the 'packages' module and look in the
> > 'gentoo' directory.
> >
>=20
> One of the things I noticed is that you still have a package for gdal whi=
le
> there is one in the "official" gentoo tree.  Is there a reason for that?
>=20
> Also, using the latest ebuilds in CVS didn't help since librtk's is still=
 the
> original one...
>=20
> Cheers,
>=20
> Fred
>=20
>=20
> -------------------------------------------------------
> SF email is sponsored by - The IT Product Guide
> Read honest & candid reviews on hundreds of IT Products from real users.
> Discover which products truly live up to the hype. Start reading now.
> http://ads.osdn.com/?ad_id=3D6595&alloc_id=3D14396&op=3Dclick
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>

Re: [Playerstage-users] PSG in gentoo

From: <ceyusa@gm...> - 2005-04-15 18:10

Already commited a librtk-2.3.0.ebuild adding the -fPIC CFLAG... wait
a couple hours and grab it.  Hope it works.  I don't have a hammer
machine for testing... :(

Vale

On 4/15/05, Fred Labrosse <ffl@...> wrote:
> On Thursday 14 Apr 2005 15:36, Brian Gerkey wrote:
> > Fred Labrosse wrote:
> > > So far, after modification of the gazebo ebuild to cope with newer an=
d/or
> > > official versions of some ebuilds, I managed to install gazebo and
> > > dependencies.
> > >
> > > The first problem is with librtk.  I get:
> > >
> > > /usr/lib/gcc/x86_64-pc-linux-gnu/3.4.3/../../../../x86_64-pc-linux-gn=
u/bi
> > >n/ld: ../librtk/librtk.a(rtk.o): relocation R_X86_64_32 against `a loc=
al
> > > symbol' can not be usedwhen making a shared object; recompile with -f=
PIC
> > > ../librtk/librtk.a: could not read symbols: Bad value
> >
> > Can't tell from this output, but the problem could be with ffmpeg.  Can
> > you make the ebuild supply '--disable-libavcodec' to configure?
>=20
> I could also try to add the -fPIC to the compiler's arguments, but in eit=
her
> case, I don't know how.  My knowledge of ebuilds is pretty much limitted =
to
> using them with emerge.
>=20
> >
> > If that doesn't work, I wouldn't spend too much time on the librtk
> > ebuild.  The next release of Player (coming as soon as I get a chance t=
o
> > make it) will include the bits of librtk that are needed by things like
> > playerv.  At that point, the separate librtk package will be deprecated=
.
> >
>=20
> Any idea when this will be the case?
>=20
> Cheers,
>=20
> Fred
>=20
>=20
> -------------------------------------------------------
> SF email is sponsored by - The IT Product Guide
> Read honest & candid reviews on hundreds of IT Products from real users.
> Discover which products truly live up to the hype. Start reading now.
> http://ads.osdn.com/?ad_id=3D6595&alloc_id=3D14396&op=3Dclick
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>

Re: [Playerstage-users] Re: Gripper let it slide

From: Wiratna W <wira_100@ya...> - 2005-04-15 14:01

Hello,

I tried the Pioneer2Gripper from CVS, and the robot
doesnt jump anymore, thanks!
However, when the robot turns around, still the box
slide down. I suppose that's because the friction
changes? 

Thanks,
Wiratna


--- Nate Koenig <natekoenig@...> wrote:
> Hello,
> 
> The Pioneer2Gripper is fixed in CVS. There is no
> longer a need to
> specify a <canBeGrip> for a model. The gripper
> relies soley on
> friction to pick something up.
> 
> -nate
> 
> On 4/13/05, Tommy Persson <tpe@...> wrote:
> > 
> > > I just started using the gripper, and it doesnt
> work
> > > properly. When I set the property
> > > <canBeGrip>yes</canBeGrip>, the robot 'jump' and
> fall.
> > >
> > >
> > > I saw the following message in the archive, but
> the
> > > thread stopped. So, does anyone  know how to
> deal with
> > > this?
> > 
> > I also got the jumping.  I spent a day getting it
> to work but I do not
> > know if the approach I used is the optimal one. 
> Unforunately I
> > reformatted the code when I was changing it so it
> is not so easy to
> > get a diff.  My files I changed are available here
> if somebody else
> > want to use them:
> > 
> >      http://www.ida.liu.se/~tompe/gazebo/
> > 
> > /Tommy Persson
> > 
> > 
> >
>
-------------------------------------------------------
> > SF email is sponsored by - The IT Product Guide
> > Read honest & candid reviews on hundreds of IT
> Products from real users.
> > Discover which products truly live up to the hype.
> Start reading now.
> >
>
http://ads.osdn.com/?ad_id=6595&alloc_id=14396&op=click
> > _______________________________________________
> > Playerstage-users mailing list
> > Playerstage-users@...
> >
>
https://lists.sourceforge.net/lists/listinfo/playerstage-users
> >
> 
> 
>
-------------------------------------------------------
> SF email is sponsored by - The IT Product Guide
> Read honest & candid reviews on hundreds of IT
> Products from real users.
> Discover which products truly live up to the hype.
> Start reading now.
> http://ads.osdn.com/?ad_ide95&alloc_id396&op=click
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
>
https://lists.sourceforge.net/lists/listinfo/playerstage-users
> 


		
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Re: [Playerstage-users] Re: Gripper let it slide

From: Nate Koenig <natekoenig@gm...> - 2005-04-15 15:27

Hello,

I can't seem to reproduce that problem. I'm using the
pioneer2dxGrip.world, and a simple program to pick up the cube and
then move in a circle.

Is your problem only when the robot turns, or whenever it moves?
Could you write a simple test program for the gripper that illustrates
your problem and send it to me?

thanks,
-nate

On 4/15/05, Wiratna W <wira_100@...> wrote:
> Hello,
>=20
> I tried the Pioneer2Gripper from CVS, and the robot
> doesnt jump anymore, thanks!
> However, when the robot turns around, still the box
> slide down. I suppose that's because the friction
> changes?
>=20
> Thanks,
> Wiratna
>=20
>=20
> --- Nate Koenig <natekoenig@...> wrote:
> > Hello,
> >
> > The Pioneer2Gripper is fixed in CVS. There is no
> > longer a need to
> > specify a <canBeGrip> for a model. The gripper
> > relies soley on
> > friction to pick something up.
> >
> > -nate
> >
> > On 4/13/05, Tommy Persson <tpe@...> wrote:
> > >
> > > > I just started using the gripper, and it doesnt
> > work
> > > > properly. When I set the property
> > > > <canBeGrip>yes</canBeGrip>, the robot 'jump' and
> > fall.
> > > >
> > > >
> > > > I saw the following message in the archive, but
> > the
> > > > thread stopped. So, does anyone  know how to
> > deal with
> > > > this?
> > >
> > > I also got the jumping.  I spent a day getting it
> > to work but I do not
> > > know if the approach I used is the optimal one.
> > Unforunately I
> > > reformatted the code when I was changing it so it
> > is not so easy to
> > > get a diff.  My files I changed are available here
> > if somebody else
> > > want to use them:
> > >
> > >      http://www.ida.liu.se/~tompe/gazebo/
> > >
> > > /Tommy Persson
> > >
> > >
> > >
> >
> -------------------------------------------------------
> > > SF email is sponsored by - The IT Product Guide
> > > Read honest & candid reviews on hundreds of IT
> > Products from real users.
> > > Discover which products truly live up to the hype.
> > Start reading now.
> > >
> >
> http://ads.osdn.com/?ad_id=3D6595&alloc_id=3D14396&op=3Dclick
> > > _______________________________________________
> > > Playerstage-users mailing list
> > > Playerstage-users@...
> > >
> >
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
> > >
> >
> >
> >
> -------------------------------------------------------
> > SF email is sponsored by - The IT Product Guide
> > Read honest & candid reviews on hundreds of IT
> > Products from real users.
> > Discover which products truly live up to the hype.
> > Start reading now.
> > http://ads.osdn.com/?ad_ide95&alloc_id=14396&op=3Dclick
> > _______________________________________________
> > Playerstage-users mailing list
> > Playerstage-users@...
> >
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
> >
>=20
> __________________________________
> Do you Yahoo!?
> Yahoo! Small Business - Try our new resources site!
> http://smallbusiness.yahoo.com/resources/
>=20
>=20
> -------------------------------------------------------
> SF email is sponsored by - The IT Product Guide
> Read honest & candid reviews on hundreds of IT Products from real users.
> Discover which products truly live up to the hype. Start reading now.
> http://ads.osdn.com/?ad_id=3D6595&alloc_id=3D14396&op=3Dclick
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>

Re: [Playerstage-users] Problem replicating amcl simulation

From: Brian Gerkey <gerkey@ai...> - 2005-04-15 14:58

Stephen Chiu wrote:
> I have tried two ways in getting the amcl to converge into the right 
> position, or at least, near the right position. One way was to supply a 
> large init_pose_var and a pf_max_samples to 60,000. However, it never 
> did converge to the right spot. The second thing that I tried was to set 
> the init_pose_var to [1 1 10] and kept the same number of 
> pf_max_samples, it converged relatively close to the right spot, but 
> once I started moving the robot around (using playerjoy), it started 
> teleporting away from the correct position (according to playernav).

What happens to the load on your machine?  If you see your machine is 
approximately 0.0% idle (e.g., in top), then amcl can easily fall behind 
the incoming data.  At this point, if the robot keeps moving it will 
indeed get lost.  Evolving 60K particles might be too computationally 
expensive, depending on your machine specs.  In my experience, if you 
start with a good pose estimate (e.g., drag and drop to about the right 
pose in playernav), amcl works well with 100-2000 particles:
   pf_max_samples 2000
   pf_min_samples 100

I've been meaning for a long time to add support for the wavefront 
driver to stop the robot when amcl falls behind (this situation can be 
inferred from the amcl data message).  I'd happily accept a patch that 
does this...

	brian.

-- 
Brian P. Gerkey                    gerkey@...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey

Re: [Playerstage-users] Configuring player-1.6.2 with --enable-rtkgui

From: Brian Gerkey <gerkey@ai...> - 2005-04-15 14:52

Tahir Abdullah wrote:
> Hi Brian
> AMCL was not working under stage and therefore I wanted to configure my 
> player with following (as you told to one of the users):
> ./configure --enable-rtkgui

Note that you cannot run the AMCL GUI in the same instance of Player 
with the Stage GUI.

> But when I make install then following error comes. These are last few 
> lines of the make install command output.
> I am using Mandrake-9.2
> What is the problem??
> 
> make[5]: Entering directory 
> `/home/tahir/Documents/player-1.6.2/server/drivers/position/vfh'
> if g++ -DHAVE_CONFIG_H -I. -I. -I../../../.. -I../../../../server  
> -I../../../../server   -g -O2 -MT vfh.o -MD -MP -MF ".deps/vfh.Tpo" \
>  -c -o vfh.o `test -f 'vfh.cc' || echo './'`vfh.cc; \
> then mv -f ".deps/vfh.Tpo" ".deps/vfh.Po"; \
> else rm -f ".deps/vfh.Tpo"; exit 1; \
> fi
> vfh.cc:3:19: fstream: No such file or directory
> vfh.cc:6:18: vector: No such file or directory
> In file included from vfh.cc:17:
> vfh_algorithm.h:4:18: vector: No such file or directory
> In file included from vfh.cc:17:

Looks like you don't have the C++ STL (standard template library 
installed).  That's really unusual.  But maybe you can find a developer 
package that needs to be installed...

	brian.

-- 
Brian P. Gerkey                    gerkey@...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey