Re: [Playerstage-users] LocalizeProxy::SetPose() problems.

[Eli H. <eli...@gm...>]

I hate to hound the mailing list here, but I'm at my wits end with this one.
I thought I'd bring it to life one more time and see if I got any hits. If
not, I'll let it die and post a solution if I can manage to find it.

Thanks,
Eli

On Wed, Jun 1, 2011 at 10:17 PM, Eli Hooten <eli...@gm...> wrote:

> Rich,
>
> First, thanks for your response. I used playerprint to try and get some
> output from the localize device, but I get no output. playerprint appears to
> work properly, but no output is generated. I also received the same error as
> my previous message when simulating using Stage on the same machine as the
> Player client, so I feel like it can't be a request timeout issue since I'm
> on the same machine, but perhaps I misunderstand. In any case, to remove any
> more confusion, I'm going to post my complete cfg file and the relevant
> section of code. Perhaps the error will be obvious to someone more
> experienced with Player than myself.
>
> cfg file contents:
>
> driver
> (
>   name "stage"
>   provides [ "simulation:0" ]
>   plugin "stageplugin"
>
>   # load the named file into the simulator
>   worldfile "stage.world"
> )
>
> # Create a Stage driver and attach position2d and laser interfaces
> # to the model "r0"
> driver
> (
>   name "stage"
>   provides [ "position2d:0" "laser:0" "speech:0" "graphics2d:0"
> "graphics3d:0"]
>   model "r0"
> )
>
> driver
> (
>   name "mapfile"
>   provides ["map:0"]
>   filename "FGH3rdFloorMapInvert.pgm"
>   resolution 0.05
>   negate 0
> )
>
> driver
> (
>   name "amcl"
>   provides ["odometry:::position2d:2" "localize:0"]
>   requires ["odometry:::position2d:1" "laser:0" "map:0"]
>   init_pose ["-12 22 0"]
> )
>
> driver
> (
>   name "wavefront"
>   provides ["planner:0"]
>   requires ["input:::position2d:2" "output:::position2d:1" "map:0"]
>
>   safety_dist 0.00
>   distance_epsilon 0.1
>   angle_epsilon 5
> )
>
> driver
> (
>   name "vfh"
>   requires ["position2d:0" "laser:0"]
>   provides ["position2d:1"]
>   safety_dist 0.00
>   distance_epsilon 0.1
>   angle_epsilon 5
> )
>
> relevant code:
>
> PlayerClient robot(m_HostName.toStdString(),m_PortNum);
>
> PlannerProxy planner(&robot,0);
>
>  Position2dProxy position(&robot,0);
>
> position.SetOdometry(-12,22,0);
>
>  //this is the position proxy from AMCL driver, not p20s
>
> Position2dProxy amclPosition(&robot,2);
>
> position.SetOdometry(-12,22,0);
>
>  LocalizeProxy localize(&robot,0);
>
> //set the pose hypothesis (this is the robot´s starting point)
>
> double xytheta[3] = {-12, 22, 0};
>
> double covariance[3] = {0.5*0.5, 0.5*0.5, (3.14159/6.0)*(3.14159/6.0)};
>
> localize.SetPose(xytheta,covariance);
>
>
> This code gives the following error in Player:
>
>
> playerc error   : timed out waiting for server reply to request
> localize:0:request:1
> playerc warning   : warning : warning : waiting for server repserver repest
> localize:0:request:0
>
> LocalizeProxy::SetPose()(-1) : error setting pose
>
> Any thoughts with this new information?
>
> Thanks,
> Eli
>
>
> On Tue, May 31, 2011 at 2:26 PM, Rich Mattes <jp...@gm...> wrote:
>
>> Hi,
>>
>> It looks like AMCL should be handling those messages.  How frequently do
>> you
>> see data messages being published (using playerprint to view the localize
>> device, for instance?)  Is it possible that the driver is running slow
>> enough that the request times out before the driver has a chance to
>> respond?
>>
>> Rich
>>
>> > -----Original Message-----
>> > From: Eli Hooten [mailto:eli...@gm...]
>> > Sent: Monday, May 30, 2011 3:55 PM
>> > To: pla...@li...
>> > Subject: [Playerstage-users] LocalizeProxy::SetPose() problems.
>> >
>> > All,
>> >
>> > I've been having issues with the LocalizeProxy in a c++ application I
>> > am developing. Pseudocode is as follows:
>> >
>> > The following is my C++ Code:
>> >
>> > /***Create PlayerClient***/
>> > /.../
>> >
>> > /***Create LocalizeProxy***/
>> > LocalizeProxy lp(&robot,0);
>> > double[3] xytheta = {...};
>> > double[3] cov = {...};
>> >
>> > //set the initial position to lp
>> > lp.SetPos(xytheta, cov);
>> >
>> > The following is in my config file:
>> >
>> > driver
>> > (
>> > name"p2os"
>> > provides["odometry:::position2d:0"]
>> > port"/dev/ttyS0"
>> > )
>> >
>> > # I've also setup laser (sicklms200), vfh, and wavefront drivers here
>> >
>> > driver
>> > (
>> >  name "amcl"
>> >  provides["odometry:::position2d:2" "localize:0"]
>> > requires["odometry::position2d:1" "laser:0"]  #provided by vfh and
>> > sicklms200 drivers respectively
>> >
>> >  #additional parameters, safety_dist, distance_epsilon, etc
>> > )
>> >
>> > Player starts up properly with no errors. But I get an error
>> > "LocalizeProxy::SetPose()(-1)" error when attempting to executing the
>> > LocalizeProxy::SetPose(...) portion of my code. I also get the
>> > following output "playerc error: timed out waiting for server to reply
>> > to request localize:0:request:1". Has anyone else encountered similar
>> > problems with LocalizeProxy::SetPose()?
>> >
>> > I'm using Player version 3.0.2.
>> >
>> > Thanks,
>> > Eli
>>
>>
>>
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>
>