[Java-player-users] Planner

[haradin <jr...@cs...>]

I'm having problems with a PeopleBot from ActivMedia.
I've remote controlled it in a closed off area while it takes down a log
file.
I put that log file through pmaptest and obtained a map of the environment
in .pgm format.
I then feed the map back to player through amcl and wavefront.

I use java-client to setup a planner interface and order it to go to a
coordinate which is within the map.
and here is the error: the robot turns 90 degrees on the spot then goes back
to the way it was.

Has anyone had this problem before?

Here is my config file:

# Desc: UNSW's Basic Pioneer2/3DX with laser and sony ptz

driver
(
	name "p2os"
	provides ["odometry:::position2d:0"
		"sonar:0"
		"aio:0"
		"dio:0"
		"gripper:0"
		"power:0"]
	port "/dev/ttyS0"
)


driver
(
	name "sicklms200"
	provides ["laser:0"]
	port "/dev/ttyS2"
	resolution 100
	range_res 10
	delay 60
)


driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  #safety_dist 0.1
  distance_epsilon 0.5
  angle_epsilon 10
)

driver
(
  name "amcl"
  provides ["position2d:2" "localize:0"]
  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
)

driver
(
  name "mapfile"
  provides ["map:0"]
  filename "map.pgm"
  resolution 0.0857
)

#driver
#(
#  name "mapcspace"
#  requires ["map:0"]
#  provides ["map:1"]
#  robot_shape "circle"
#  robot_radius 0.20
#)

driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.01
  angle_epsilon 5
)

######################################

And here is the java-client code (mixed with Radu's code)

/** Creates a new instance of PlannerTest */
  public PlannerTest(int port) 
  {
    

    try {
            robot = new PlayerClient                 ("lasseter", port);
            loci    = robot.requestInterfaceLocalize   (0,
PlayerConstants.PLAYER_OPEN_MODE);
            plni    = robot.requestInterfacePlanner    (0,
PlayerConstants.PLAYER_OPEN_MODE);
    } catch (PlayerException e) {
            System.err.println ("Javaclient test: > Error connecting to
Player: ");
            System.err.println ("    [ " + e.toString() + " ]");
            System.exit (1);
    }
  }
  
  
  public static void main(String[] args)
  {
    try
    {
      PlannerTest planner = new PlannerTest(6665);
      try{Thread.sleep(5000);}catch(Exception e){;}
      shutdown.setPC( PlannerTest.robot );

      // --[ Test Localize/Planner
      // initial values for the covariance matrix (c&p example from Player)
      //double cov[] = {
      //              250,
      //            250,
      //          (Math.PI / 6.0) * (Math.PI / 6.0) * 180 / Math.PI * 3600 *
180
      //                        / Math.PI * 3600 };
      double cov[] = {1,1,1}; // why does this work better than the matrix
above?
      // set the initial guessed pose for localization (AMCL)
      PlayerLocalizeSetPose plsp = new PlayerLocalizeSetPose ();
      // set the mean values to 0,0,0
      plsp.setMean (new PlayerPose ());
      plsp.setCov (cov);
      loci.setPose (plsp);

      while( true ) 
      {
        //get cmd line input
        String cmd = getInput("Enter a coord: x.xx y.yy");        
        if( cmd.equals("quit") ) break;        
        
        // set a new goal in the planner 
        String[] coord = cmd.split(" ");
        PlayerPose goal = new PlayerPose ();
        goal.setPx ( Float.parseFloat(coord[0]) );
        goal.setPy ( Float.parseFloat(coord[1]) );
        goal.setPa (0);
        plni.setGoal (goal);
        // --]
      }
    }catch(Exception e){ e.printStackTrace(); }    
  }

Any help would be great.
Thanks



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