The Player Project

With player it does not matter which driver you are using, what is important
is the interfaces that the driver provides.

Wavefront provides a 'planner' interface, so you will need to command it
with the planner proxy (playerc_planner_t). as per
http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__driver__wavefront.html



2009/5/11 Beowufl <alhabeju@...>

>
> Hello,
>
> I want to use VFH (and Wavefront) with my own code. So i searched the
> Player/Stage manual and the whole internet. I put all relevant driver into
> my .cfg so player and stage are loading.
>
> But i dont know what to put into my code. I cant find any examples which
> things to load and what commands there are i can use.
>
> F.e. in amcl i needed to include
>
>  playerc_localize_t *amcl;
>  playerc_position2d_t *position2d_amcl;
>
> into my main. So i think that there is sth like that for VFH (wavefront)
> too. But i cant find anything about that, so i wonder if someone here can
> helpt (and what commands like goto VFH have?).
>
> Thanks, and sorry for my bad english,
>
> Beowufl
>
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Hey,

so i added the following lines in my code

  playerc_position2d_t *position2d_vfh;
  playerc_planner_t *vfh;
  playerc_planner_t *wavefront;

But when i want to use PLAYER_POSITION2D_CMD_POS (1,1,1) or sth, i get

 undefined reference to `player_position2d_cmd_pos'

whats wrong? i dont understand the manual and where to put sth at all :(

thanks, Beo
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the command is playerc_position2d_set_cmd_pose(position2d_vfh, goalx,
goaly, goaltheta, 1);

Or for the planner devices:
playerc_planner_set_cmd_pose(wavefront, goalx, goaly, goaltheta);

This information comes from:
http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__playerc__proxies.html

The Client Libraries documentation is what you should look at when
writing a your own program as it gives the exact functions. The other
documentation is how things work inside player, like if you are
working on a driver.

On Thu, May 14, 2009 at 8:43 PM, Beowufl <alhabeju@...> wrote:
>
> Hey,
>
> so i added the following lines in my code
>
>  playerc_position2d_t *position2d_vfh;
>  playerc_planner_t *vfh;
>  playerc_planner_t *wavefront;
>
> But when i want to use PLAYER_POSITION2D_CMD_POS (1,1,1) or sth, i get
>
>  undefined reference to `player_position2d_cmd_pos'
>
> whats wrong? i dont understand the manual and where to put sth at all :(
>
> thanks, Beo
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>
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Thanks a lot, at least its compiling now.

I tried 

playerc_position2d_set_cmd_pose(position2d_vfh, -8,-4, 180, 1); 

and the same thing with the planner, but both of them give with the same
error:

playerc error   : skipping message to unknown:47109 with unsupported type
command:2

I am using this cfg file for player

driver
(
  name "stage"
  provides [ "simulation:0" ]
  plugin "libstageplugin"
  worldfile "roombaSTAGELASER.world"
)

driver
(
  name "stage"
  #provides ["position2d:0" "power:0" "bumper:0" "ir:0" "opaque:0"]
  provides ["odometry:::position2d:0" "laser:0"]
  model "roomba0"
)

driver
(
  name "mapfile"
  provides ["map:0"]
  resolution 0.0495
  filename "bitmaps/Real_welt_1000.ppm"
)

driver
(
  name "amcl"
  init_pose [-5.51 2.23 0 180]
  laser_max_beams [6]
  pf_max_samples [10000]
  enable_gui [0] 
  provides ["localize:0" "position2d:2"]
  requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
)



driver
(
 name "vfh"
 provides ["position2d:1"]
 requires ["position2d:0" "laser:0"]
 safety_dist 0.2
 distance_epsilon 0.3
  angle_epsilon 20
)



driver
(
        name "wavefront"
        provides ["planner:0"]
        requires ["output:::position2d:1" "input:::position2d:2""map:0"]
        safety_dist 0.2
        distance_epsilon 0.25
        angle_epsilon 20
)

What am i doing wrong? :)

greets


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I managed to add the following lines to my code:

  playerc_client_t *client;
  playerc_position2d_t *position2d;
  playerc_position2d_t *position2d_amcl;
  playerc_position2d_t *position2d_vfh;
  playerc_laser_t *laser; 
  playerc_localize_t *amcl;
  playerc_planner_t *vfh;
  playerc_planner_t *wavefront;

  position2d = playerc_position2d_create(client, 0);
  position2d_amcl = playerc_position2d_create(client, 2);
  position2d_vfh = playerc_position2d_create(client, 1);
  laser = playerc_laser_create(client, 0);
  amcl = playerc_localize_create(client,0);
  wavefront = playerc_planner_create(client,0);
  vfh =   playerc_planner_create(client,1);

If i now do playerc_position2d_set_cmd_pose(position2d_vfh, -8,-4, 180, 1);
i get the error:

warning : Unhandled message for driver device=16777343:6665:position2d:2
type=command subtype=2 len=52

in my playerterminal....i dont know what to try :(

thanks, Beo

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Stilt didnt get to work VFH fine with amcl. Any ideas?
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