[Java-player-users] OpaqueInterface

[Dustin Webb <dustinjwebb@ya...>]

We're attempting to use the OpaqueInterface         however the server doesn't 
appear to be receiving the data. Is         OpaqueInterface a known working 
interface?

TIA,
Dustin

Re: [Java-player-users] Toward Javaclient3...

[Jorge Santos Simón <jsantossimon@gm...>]

yes!  stupid me.....

My apologies to everyone

thank you, Dustin


2011/3/26 Dustin Webb <dustinjwebb@...>:
> Jorge:
>
> I have checked out a fresh copy of the source code. However I am unable to
> compile it. Eclipse reports "PlayerBbox2d cannot be resolved to a type." I
> appears as though neither PlayerBbox nor PlayerBbox2d are in the repository.
> Did you by chance forget to add PlayerBbox2d to the repository?
>
> Thanks in advance,
> Dustin Webb
>
> ________________________________
> From: Jorge Santos Simón <jsantossimon@...>
> To: java-player-users@...
> Sent: Wed, March 23, 2011 9:03:46 PM
> Subject: [Java-player-users] Toward Javaclient3...
>
> Hello all,
> I'm preparing to release the Javaclient3, and as a previous step I have
> tried to update all the interfaces,
> so I have made a massive commit (almost any file in javaclient3 branch), so
> please update your copies
> of javaclient as soon as possible.
> I have tagged all interfaces as version 3.0 - Player 3.0 supported (maybe
> very optimistically...)
> While reviewing the code, I have partially formatted it (tabs to spaces,
> trailing spaces removed, etc.), so
> don't worry about the huge number of changes, as most of them are irrelevant
> Probably the single change that will affect someone is that I have renamed
> PlayerPose and PlayerBbox
> as PlayerPose2d and PlayerBbox2d, to improve clarity and maintain coherence
> with playerc.
> Please report any error you find!
> I have realized that there are some interfaces still not implemented in
> javaclient, along with some requests
> missing in the implemented interfaces (all I founded are marked as TODOs):
>   - opaque A generic interface for user-defined messages
>   - imu Inertial Measurement Unit.
>   - vectormap Access and update geometric features in a map.
>   - blackboard Access properties stored in a central repository.
>   - stereo Stereo imagery (left-right channels, disparity and a 3-D stereo
> point cloud).
>   - audio            (its functionality is dispersed in SoundInterface
> AudioDSPInterface AudioMixerInterface
> and WaveformInterface)
>
> As I have not many time, I prefer to focus on those interfaces that people
> find more useful, so if you want
> one of the above mentioned interfaces, or a missing TODO to be implemented,
> please let me know.
> Regards,
> Jorge
> ------------------------------------------------------------------------------
> Enable your software for Intel(R) Active Management Technology to meet the
> growing manageability and security demands of your customers. Businesses
> are taking advantage of Intel(R) vPro (TM) technology - will your software
> be a part of the solution? Download the Intel(R) Manageability Checker
> today! http://p.sf.net/sfu/intel-dev2devmar
> _______________________________________________
> Java-player-users mailing list
> Java-player-users@...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
>
>

Re: [Java-player-users] Toward Javaclient3...

[Dustin Webb <dustinjwebb@ya...>]

Jorge:

I have checked out a fresh copy of the source code. However I am unable to 
compile it. Eclipse reports "PlayerBbox2d cannot be resolved to a type." I 
appears as though neither PlayerBbox nor PlayerBbox2d are in the repository. Did 
you by chance forget to add PlayerBbox2d to the repository?

Thanks in advance,
Dustin Webb




________________________________
From: Jorge Santos Simón <jsantossimon@...>
To: java-player-users@...
Sent: Wed, March 23, 2011 9:03:46 PM
Subject: [Java-player-users]  Toward Javaclient3...


Hello all,

I'm preparing to release the Javaclient3, and as a previous step I have tried to 
update all the interfaces,
so I have made a massive commit (almost any file in javaclient3 branch), so 
please update your copies
of javaclient as soon as possible.

I have tagged all interfaces as version 3.0 - Player 3.0 supported (maybe very 
optimistically...)

While reviewing the code, I have partially formatted it (tabs to spaces, 
trailing spaces removed, etc.), so
don't worry about the huge number of changes, as most of them are irrelevant

Probably the single change that will affect someone is that I have renamed 
PlayerPose and PlayerBbox
as PlayerPose2d and PlayerBbox2d, to improve clarity and maintain coherence with 
playerc.

Please report any error you find!

I have realized that there are some interfaces still not implemented in 
javaclient, along with some requests
missing in the implemented interfaces (all I founded are marked as TODOs):


  - opaqueA generic interface for user-defined messages
  - imuInertial Measurement Unit.
  - vectormapAccess and update geometric features in a map.
  - blackboardAccess properties stored in a central repository.
  - stereoStereo imagery (left-right channels, disparity and a 3-D stereo point 
cloud).
  - audio            (its functionality is dispersed in SoundInterface 
AudioDSPInterface AudioMixerInterface
and WaveformInterface)


As I have not many time, I prefer to focus on those interfaces that people find 
more useful, so if you want
one of the above mentioned interfaces, or a missing TODO to be implemented, 
please let me know.

Regards,
Jorge

Re: [Java-player-users] Toward Javaclient3...

[Sebastian Rockel <sebastianrockel@go...>]

Hi Jorge,

Thanks for the update and effort.
I'll update my repository soon and test.

I would be interested in the audio interface cleaned up and implemented (not urgent though).

Regards,
Sebastian

Am 24.03.2011 um 04:03 schrieb Jorge Santos Simón:

> Hello all,
> 
> I'm preparing to release the Javaclient3, and as a previous step I have tried to update all the interfaces,
> so I have made a massive commit (almost any file in javaclient3 branch), so please update your copies
> of javaclient as soon as possible.
> 
> I have tagged all interfaces as version 3.0 - Player 3.0 supported (maybe very optimistically...)
> 
> While reviewing the code, I have partially formatted it (tabs to spaces, trailing spaces removed, etc.), so
> don't worry about the huge number of changes, as most of them are irrelevant
> 
> Probably the single change that will affect someone is that I have renamed PlayerPose and PlayerBbox
> as PlayerPose2d and PlayerBbox2d, to improve clarity and maintain coherence with playerc.
> 
> Please report any error you find!
> 
> I have realized that there are some interfaces still not implemented in javaclient, along with some requests
> missing in the implemented interfaces (all I founded are marked as TODOs):
> 
>   - opaque		A generic interface for user-defined messages
>   - imu		Inertial Measurement Unit.
>   - vectormap	Access and update geometric features in a map.
>   - blackboard	Access properties stored in a central repository.
>   - stereo		Stereo imagery (left-right channels, disparity and a 3-D stereo point cloud).
>   - audio            (its functionality is dispersed in SoundInterface AudioDSPInterface AudioMixerInterface
> and WaveformInterface)
> 
> 
> As I have not many time, I prefer to focus on those interfaces that people find more useful, so if you want
> one of the above mentioned interfaces, or a missing TODO to be implemented, please let me know.
> 
> Regards,
> Jorge
> ------------------------------------------------------------------------------
> Enable your software for Intel(R) Active Management Technology to meet the
> growing manageability and security demands of your customers. Businesses
> are taking advantage of Intel(R) vPro (TM) technology - will your software 
> be a part of the solution? Download the Intel(R) Manageability Checker 
> today! http://p.sf.net/sfu/intel-dev2devmar_______________________________________________
> Java-player-users mailing list
> Java-player-users@...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

[Java-player-users] Toward Javaclient3...

[Jorge Santos Simón <jsantossimon@gm...>]

Hello all,

I'm preparing to release the Javaclient3, and as a previous step I have
tried to update all the interfaces,
so I have made a massive commit (almost any file in javaclient3 branch), so
please update your copies
of javaclient as soon as possible.

I have tagged all interfaces as version 3.0 - Player 3.0 supported (maybe
very optimistically...)

While reviewing the code, I have partially formatted it (tabs to spaces,
trailing spaces removed, etc.), so
don't worry about the huge number of changes, as most of them are irrelevant

Probably the single change that will affect someone is that I have renamed
PlayerPose and PlayerBbox
as PlayerPose2d and PlayerBbox2d, to improve clarity and maintain coherence
with playerc.

Please report any error you find!

I have realized that there are some interfaces still not implemented in
javaclient, along with some requests
missing in the implemented interfaces (all I founded are marked as TODOs):

  - opaque A generic interface for user-defined messages
  - imu Inertial Measurement Unit.
  - vectormap Access and update geometric features in a map.
  - blackboard Access properties stored in a central repository.
  - stereo Stereo imagery (left-right channels, disparity and a 3-D stereo
point cloud).
  - audio            (its functionality is dispersed in SoundInterface
AudioDSPInterface AudioMixerInterface
and WaveformInterface)


As I have not many time, I prefer to focus on those interfaces that people
find more useful, so if you want
one of the above mentioned interfaces, or a missing TODO to be implemented,
please let me know.

Regards,
Jorge

Re: [Java-player-users] JavaClient patches: Performance, Gripper [Update]

[Sebastian Rockel <sebastianrockel@go...>]

Hi Jorge,

Am 09.03.2011 um 20:05 schrieb Jorge Santos Simón:

> Great! Thank you a lot.
> 
> [0] commited

Cool and sorry for the patch right after the patch;)

> 
> [1] sorry for the duplicated effort: I have recently commited a similar patch

Not too bad, it wasn't that much.

> By the way, concerning your issues with PlannerInterface, I have
> failed to give you any insights because....I'm not able even to run
> properly player with wavefront!!!

I found that for the position hypothesis using the localize instead of the planner IF is faster.
So I use the planner IF only for giving it goals.

>  It seems to work, however, with the
> real robot, but on Stage it NEVER finds a path, I guest because the
> origin of the map are not well configured according to the robot
> position. As soon as I make it work, I'll try with javaclient.

I have the JavaClient working with the Wavefront planner, both in real world and Stage simulation.
There is no problem currently.

If you describe your configuration in more detail I can help maybe.

Sebastian

> 
> Best regards,
> Jorge

[Java-player-users] Fwd: JavaClient patches: Performance, Gripper [Update]

[Sebastian Rockel <sebastianrockel@go...>]

I just found a bug when the logger is 'null'.

The patch is attached.

Sebastian

Anfang der weitergeleiteten E-Mail:

> Von: Sebastian Rockel <sebastianrockel@...>
> 
> Hello Jorge,
> 
> I made some changes:
> 
> [0]
> Does a huge performance improvement when you have a Player server containing a lot of devices.
> E.g. Having a Stage simulation with 100 robots (each has at least one position and maybe a ranger device).
> 
> Formerly the PlayerClient just loops through all device for logging output only. Which takes on my config around 20 seconds (!) for connecting 1 PlayerClient (and minutes for 100 clients).
> With the patch the standard behaviour is not changed, i.e. when logging level == INFO.
> But when you set it to any higher value, e.g. SEVERE, it will benefit from the performance advantage. It will than take only about a second for one client.
> 
> [1]
> Adds the gripper commands to more convenient methods, e.g. open, close ...
> 
> Kind regards,
> Sebastian
> 
> 
> [0]

[Java-player-users] JavaClient patches: Performance, Gripper

[Sebastian Rockel <sebastianrockel@go...>]

Hello Jorge,

I made some changes:

[0]
Does a huge performance improvement when you have a Player server containing a lot of devices.
E.g. Having a Stage simulation with 100 robots (each has at least one position and maybe a ranger device).
 
Formerly the PlayerClient just loops through all device for logging output only. Which takes on my config around 20 seconds (!) for connecting 1 PlayerClient (and minutes for 100 clients).
With the patch the standard behaviour is not changed, i.e. when logging level == INFO.
But when you set it to any higher value, e.g. SEVERE, it will benefit from the performance advantage. It will than take only about a second for one client.

[1]
Adds the gripper commands to more convenient methods, e.g. open, close ...

Kind regards,
Sebastian


[0]

Re: [Java-player-users] [Playerstage-users] Problem commanding simulated robots

[Jorge Santos Simón <jsantossimon@gm...>]

The problem seems to be that I didn´t include the threads <int> parameter
in the world description. With threads 1 now all works as before.

Best regards


> Hello all,
>
> I'm experiencing problems on Stage simulations with libstageplugin
> after my last update to the git repository, about 20 days ago. After
> that moment, I'm unable to command robots with position2d, even in
> the simplest examples or with playerv. Is someone experiencing similar
> problems?
>
> Best regards

[Java-player-users] LocalizeInterface xdr buffer decoding failed --> Patch

[Sebastian Rockel <sebastianrockel@go...>]

Hello Jorge,

I found to bugs, both affecting the message buffer alignment in the Localize IF. I don't know if they are maybe fixed already so I post it here:

1) The COV-matrix elements count has to be increased from 3 to 6 (according to current player 3.1.x implementation)

2) the decoding of a localize get hypothesis message fails at moment due to a 4 byte misalignment at the buffer beginning.
The 1st 4 bytes are actually again the hypothesis count (see the patch for details). So the buffer starts with these four bytes followed by the mean position double values.

Attached is the patch. Further more I included also one example decoding of the buffer created when I was debugging (Localize buffer and Planner one, which doesn't fail, for comparison).

Kind regards,
Sebastian

Re: [Java-player-users] Enable PlayerClient debug

[Sebastian Rockel <sebastianrockel@go...>]

Am 04.02.2011 um 01:18 schrieb Jorge Santos Simón:

> Hello,
> 
> You should define the "PlayerClient.debug" property, for example in
> java command line:
> 
>  java   .......   -DPlayerClient.debug   ......   YourApp
> 
> The standard java log configuration just log INFO messages and above
> on console. To
> enable more log levels, you must write your own log configuration file
> or modify the level
> in the JRE file logging.properties.
> 
> Hope this help

Thanks, I got it running with Eclipse.
I wrote my own properties file for convenience.

Sebastian

Re: [Java-player-users] Enable PlayerClient debug

[Jorge Santos Simón <jsantossimon@gm...>]

Hello,

You should define the "PlayerClient.debug" property, for example in
java command line:

  java   .......   -DPlayerClient.debug   ......   YourApp

The standard java log configuration just log INFO messages and above
on console. To
enable more log levels, you must write your own log configuration file
or modify the level
in the JRE file logging.properties.

Hope this help


> Hi,
>
> how do I enable the whole debug output of the PlayerClient?
>
> I never got it output something.
>
> What are the steps to do?
>
> Thanks,
>
> Sebastian

[Java-player-users] Enable PlayerClient debug

[Sebastian Rockel <sebastianrockel@go...>]

Hi,

how do I enable the whole debug output of the PlayerClient?

I never got it output something.

What are the steps to do?

Thanks,

Sebastian

[Java-player-users] PlannerInterface never returns isDone

[Sebastian Rockel <sebastianrockel@go...>]

Hi,

I am testing a the PlannerInterface.

Setting a goal and driving there is okay (with Stage and Player wavefront driver).

But I never get acknowledged when the goal is done.
My code is as follows:

if (((javaclient3.PlannerInterface) device).isDataReady()) {
				// request recent planner data
				ppd = ((javaclient3.PlannerInterface) device).getData ();
				...
					// Check if goal is achieved
					if (ppd.getDone() == new Integer(1).byteValue())
						isDone = true; 	// <== IT NEVER REACHES HERE
					else
						isDone = false;
					}


What I see is that in the PlannerInterface needs to be called to update the planner data:

 public synchronized void readData (PlayerMsgHdr header) {
...
            switch (header.getSubtype ()) {
                case PLAYER_PLANNER_DATA_STATE: {
				
That does happen when the Planner Device is idle, i.e. no goal is set. But as soon as I set a goal
this function is called less and less again until no call at all is made and hence the isDone flag is never set.

I can set a Position in parallel (in the Playernav utility) though and the function comes back to life again.

I am using PlayerClient in PUSH mode.

Why is there no more planner data refresh after setting a goal?

Any suggestions?

Sebastian

[Java-player-users] Running PlayerClient in non-threaded mode question

[Sebastian Rockel <sebastianrockel@go...>]

Hi,

I am trying to run the client in non-threaded mode as I have set up an own thread for it anyway, but then I am facing some problems:

pull mode seems to be okay but push does not seem to have ever any valid data read (the robot does move without evaluating sensor reading in Stage 4.0.1).
So is there anything I miss in my client code (see below)?

What is actually the difference between PUSH and PULL, I mean for practical reasons. When I have devices with different refresh rates, e.g. 0.1 and 0.025 seconds, is there an advantage of PUSH over PULL?

Thanks for any clues.

Sebastian



// Client code:
playerClient  = new PlayerClient (host, port);
playerClient.setNotThreaded();
playerClient.requestDataDeliveryMode(PlayerConstants.PLAYER_DATAMODE_PUSH);

[...]

void onUpdate() {
	playerClient.requestData();
	playerClient.readAll();
}

Re: [Java-player-users] [Playerstage-users] player-stage in MS Windows?

[Jorge Santos Simón <jsantossimon@gm...>]

Hello Mircea,

Stage is not working on Windows by now. I don´t know if there plans to
port it in the near future, but I guest it wouldn´t be so easy.

By contrast, player works fine, and is no so hard to compile with
CMake 2.8 and Visual Studio 10 (or CMake 2.6 and Visual Studio 9)

What I do now is run player on windows with the real robot, but I run
simulations on Linux (I use javaclient, so I can run the client part
on both platforms)

Regards, Jorge


From: Mircea Agapie <mircea88@...> -	2010-11-22 23:58
Is it at all possible to run Player-Stage unde Windows? I see that the
latest version of the Player has a Windt ows installer, but I cannot
find anything equivalent for Stage.
Regards,
 Mircea
-------------------------------------------------------------------------
"All life feeds upon the random. Creativity is simply the haute cuisine."
                                                              Randy Read

[Java-player-users] Examples updated to javaclient 3

[Jorge Santos Simón <jsantossimon@gm...>]

Hello all, We have included Javaclient 3 examples to test javaclient3,
along with player 3.1 and the new Stage version 4.0. Please report any
problem or difficulty you find when trying them. Enjoy!

Re: [Java-player-users] [java-player-users] RangerInterface not working LaserInterface does?

[Sebastian Rockel <sebastianrockel@go...>]

Hello Jorge,

Sounds like really good news.

In order to verify your bugfixes I've found the following compile error:
Looks like the (new) PLAYER_POSITION2D_CMD_VEL_HEAD type is not yet defined (in PlayerConstants.java).
I checked out the latest revision (104) from svn repository.

Kind regards,
Sebastian


Am 05.12.2010 um 14:28 schrieb Jorge Santos Simón:

> Hello Sebastian,
> 
> Good news; after long struggling, I think I have solved the problem
> with the ranger interface:
> it is all about not reading the intensities that Stage 4 sends along
> with range measures;
> that seems to mangle all XDR communications from stage to javaclient.
> I´ll commit the changes in about two hours. Note that I have changed
> the interface, so your
> code will not work with the new version (sorry everyone). In fact, I
> can see that the new
> interface is quite horrible, but I have tried to be coherent with
> player interface definition.
> 
> Best of all is that this solves also some of the concerns you posted
> in the player stage users
> mailing list (I reproduce your post here, with my comments between ###  ###)
> 
> 
> Simulation:
> SimulationInterface simu = playerclient.requestInterfaceSimulation(0,
> PlayerConstants.PLAYER_OPEN_MODE);
> simu.get2DPose (key);
> if ( simu.isPose2DReady() ) { // Never reaches here
> 
> Although there is no problem with the set2DPose() method.
> 
> ### solved! ###
> 
> Ranger:
> RangerInterface las = host.requestInterfaceRanger (0,
> PlayerConstants.PLAYER_OPEN_MODE);
> while ( ! las.isDataReady() ) { // Never reaches here
> 
> The same code with LaserInterface works fine.		
> 
> ### solved! ###
> 
> 
> Gripper:
> Store ("4"), release ("5")  (and stop ?) command return unknown
> message type (on server site)
> Anyway this could also be a player issue.
> 
> ### do not tested, but seems a different problem ###
> 
> 
> 
> 
> From: Sebastian Rockel <sebastianrockel@...> -	2010-11-15 13:15
> 
> Attachments: PGP.sig
> Hello,
> 
> I am currently using Javaclient3 and porting my CPP code to Java.
> In one example I use sonar and ranger(laser).
> 
> I use basically following call order (e.g. for ranger but similar to
> sonar and laser):
> 
> ...
> requestInterfaceRanger (0, PlayerConstants.PLAYER_OPEN_MODE);
> ...
> runThreaded(-1,-1)
> ...
> readAll()
> ...
> isDataReady()
> ...
> getData().getRanges()
> ...
> 
> For sonar and laser it works fine but when I use ranger it looks like
> the call isDataReady() is blocking forever.
> Is there anything to be specifically considered for the ranger
> interface or does anyone has an idea?
> 
> Thanks in advance.
> 
> Sebastian
> 
> ------------------------------------------------------------------------------
> What happens now with your Lotus Notes apps - do you make another costly 
> upgrade, or settle for being marooned without product support? Time to move
> off Lotus Notes and onto the cloud with Force.com, apps are easier to build,
> use, and manage than apps on traditional platforms. Sign up for the Lotus 
> Notes Migration Kit to learn more. http://p.sf.net/sfu/salesforce-d2d
> _______________________________________________
> Java-player-users mailing list
> Java-player-users@...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

Re: [Java-player-users] [java-player-users] RangerInterface not working LaserInterface does?

[Jorge Santos Simón <jsantossimon@gm...>]

Hello Sebastian,

Good news; after long struggling, I think I have solved the problem
with the ranger interface:
it is all about not reading the intensities that Stage 4 sends along
with range measures;
that seems to mangle all XDR communications from stage to javaclient.
I´ll commit the changes in about two hours. Note that I have changed
the interface, so your
code will not work with the new version (sorry everyone). In fact, I
can see that the new
interface is quite horrible, but I have tried to be coherent with
player interface definition.

Best of all is that this solves also some of the concerns you posted
in the player stage users
mailing list (I reproduce your post here, with my comments between ###  ###)


Simulation:
SimulationInterface simu = playerclient.requestInterfaceSimulation(0,
PlayerConstants.PLAYER_OPEN_MODE);
simu.get2DPose (key);
if ( simu.isPose2DReady() ) { // Never reaches here

Although there is no problem with the set2DPose() method.

### solved! ###

Ranger:
RangerInterface las = host.requestInterfaceRanger (0,
PlayerConstants.PLAYER_OPEN_MODE);
while ( ! las.isDataReady() ) { // Never reaches here

The same code with LaserInterface works fine.		

### solved! ###


Gripper:
Store ("4"), release ("5")  (and stop ?) command return unknown
message type (on server site)
Anyway this could also be a player issue.

### do not tested, but seems a different problem ###




From: Sebastian Rockel <sebastianrockel@...> -	2010-11-15 13:15

Attachments: PGP.sig
Hello,

I am currently using Javaclient3 and porting my CPP code to Java.
In one example I use sonar and ranger(laser).

I use basically following call order (e.g. for ranger but similar to
sonar and laser):

...
requestInterfaceRanger (0, PlayerConstants.PLAYER_OPEN_MODE);
...
runThreaded(-1,-1)
...
readAll()
...
isDataReady()
...
getData().getRanges()
...

For sonar and laser it works fine but when I use ranger it looks like
the call isDataReady() is blocking forever.
Is there anything to be specifically considered for the ranger
interface or does anyone has an idea?

Thanks in advance.

Sebastian

Re: [Java-player-users] [Playerstage-users] Recent changes to localize interface?

[Sebastian Rockel <sebastianrockel@go...>]

Am 24.11.2010 um 16:40 schrieb Jorge Santos Simón:

> Hello Sebastian,
> 
> Sorry, I have problems to read your post. Can you send it again, pleas?
> 
> Thanks

Hello Jorge,

Sorry, it was in html format. I hope now it is okay.
I forward you the mail I sent:


> Hello Jorge,
> 
> here is a patch to use the localize interface in latest player svn trunk version.
> There the covariance matrix has been extended to 6 (former 3) double fields,
> which has to be considered in the message (header) of a PLAYER_LOCALIZE_REQ_SET_POSE.
> 
> I tested it with latest player 3.1.0svn and 3.0.2 release.
> Could you please upload this to svn repository?
> 
> Kind Regards,
> Sebastian

Re: [Java-player-users] [Playerstage-users] Recent changes to localize interface?

[Jorge Santos Simón <jsantossimon@gm...>]

Hello Sebastian,

Sorry, I have problems to read your post. Can you send it again, pleas?

Thanks

Re: [Java-player-users] Player/stage java

[Jorge Santos Simón <jsantossimon@gm...>]

Good morning.
Here you have a short "how to", courtesy of Elmer Alexis (thank you, Elmer!)
We will try to launch SpaceWandererExample example


The first step is to be installed:

Player 2.0.5
Stage 2.0

then you have to install version 2.0.1 of JavaClient, for this must
have JDK installed, in my case I have installed version 6.

I have not tested the javaclient examples with javaclient3. I´ll do that
on the following weeks, posting a new version of the examples on the
case there are incompatibilities. By the moment, it will be safer if you
use player/stage/javaclient 2

choose any stage configuration file (that launch player with simulator
Stage used as a plugin)

when trying to run the examples found several errors:

player: error while loading shared libraries: libplayerdrivers.so.2:
cannot open shared object file: No such file or directory

This first error is given by player, player needs to find the
libraries to execute, error is resolved with:

export LD_LIBRARY_PATH=/usr/local/lib

COMPILE EXAMPLES:
other error is to try to compile the program with javac:
by typing: $ javac SpaceWandererExample.java

The error is:

SpaceWandererExample.java:26: package javaclient2 does not exist
import javaclient2.PlayerClient;
                 ^
SpaceWandererExample.java:27: package javaclient2 does not exist
import javaclient2.PlayerException;
                 ^
SpaceWandererExample.java:28: package javaclient2 does not exist
import javaclient2.Position2DInterface;
                 ^
SpaceWandererExample.java:29: package javaclient2 does not exist
import javaclient2.SonarInterface;
                 ^
SpaceWandererExample.java:30: package javaclient2.structures does not exist
import javaclient2.structures.PlayerConstants;
                            ^
SpaceWandererExample.java:129: cannot find symbol
symbol  : class SonarInterface
location: class SpaceWandererExample
       public static String decodeSonars (SonarInterface soni) {
                                          ^
SpaceWandererExample.java:54: cannot find symbol
symbol  : class PlayerClient
location: class SpaceWandererExample
               PlayerClient        robot = null;
               ^
SpaceWandererExample.java:55: cannot find symbol
symbol  : class Position2DInterface
location: class SpaceWandererExample
               Position2DInterface posi  = null;
               ^
SpaceWandererExample.java:56: cannot find symbol
symbol  : class SonarInterface
location: class SpaceWandererExample
               SonarInterface      soni  = null;
               ^
SpaceWandererExample.java:60: cannot find symbol
symbol  : class PlayerClient
location: class SpaceWandererExample
                       robot  = new PlayerClient ("localhost", 6665);
                                    ^
SpaceWandererExample.java:61: cannot find symbol
symbol  : variable PlayerConstants
location: class SpaceWandererExample
                       posi = robot.requestInterfacePosition2D (0,
PlayerConstants.PLAYER_OPEN_MODE);
                                                                   ^
SpaceWandererExample.java:62: cannot find symbol
symbol  : variable PlayerConstants
location: class SpaceWandererExample
                       soni = robot.requestInterfaceSonar      (0,
PlayerConstants.PLAYER_OPEN_MODE);
                                                                   ^
SpaceWandererExample.java:63: cannot find symbol
symbol  : class PlayerException
location: class SpaceWandererExample
               } catch (PlayerException e) {
                        ^
13 errors

to resolve this, use the path where are stored the clasess of JavaClient:

$ export CLASSPATH=”$CLASSPATH:/home/elmerlab/Documentos/Javaclient2-2.0.1/classes:.”

This step solves the problem and generates the .class using the javac.
After trying to run the file with the command:

$ java SpaceWandererExample

appears a new error:

Exception in thread "main" java.lang.NoClassDefFoundError: SpaceWandererExample
Caused by: java.lang.ClassNotFoundException: SpaceWandererExample
       at java.net.URLClassLoader$1.run(URLClassLoader.java:217)
       at java.security.AccessController.doPrivileged(Native Method)
       at java.net.URLClassLoader.findClass(URLClassLoader.java:205)
       at java.lang.ClassLoader.loadClass(ClassLoader.java:321)
       at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:294)
       at java.lang.ClassLoader.loadClass(ClassLoader.java:266)
Could not find the main class: SpaceWandererExample. Program will exit.

This is why you need the files .jar, this is corrected using the following path:

export CLASSPATH=”$CLASSPATH:/home/elmerlab/Documentos/Javaclient2-2.0.1/jars/javaclient.jar:.”


I hope this help. Please tell me if you have further problems.


> Dear Developer,
> can you tell me after installing the Player/stage javaclient and the player
> also how to run the examples which are the main class to run a simulation
> and how and where to write world and configuration files?? there are 2 test
> examples on your web page but which class in the client is responsible to
> run them thanks in advance

> --
> Bests
> Khaluf

Re: [Java-player-users] [Playerstage-users] Recent changes to localize interface?

[Sebastian Rockel <sebastianrockel@go...>]

Sorry, wrong patch. This one is the correct one:

Re: [Java-player-users] [Playerstage-users] Recent changes to localize interface?

[Sebastian Rockel <sebastianrockel@go...>]

Hello Jorge,

here is a patch to use the localize interface in latest player svn trunk version.
There the covariance matrix has been extended to 6 (former 3) double fields,
which has to be considered in the message (header) of a PLAYER_LOCALIZE_REQ_SET_POSE.

I tested it with latest player 3.1.0svn and 3.0.2 release.
Could you please upload this to svn repository?

Kind Regards,
Sebastian

Re: [Java-player-users] [Playerstage-users] Recent changes to localize interface?

[Sebastian Rockel <sebastianrockel@go...>]

Hello,

Thanks Thimo.
Your patch worked fine  for playernav.
Since I am working with Javaclient, I had to make a patch there to get it working (attached if someone is interested and sorry for cross posting).

@Rich
So I believe the patch is correct.

Regards,
Sebastian