java-player-users — General discussions on how to use Javaclient

Re: [Java-player-users] More fiducial interface problems

[Radu B. R. <ru...@cs...>]

Shane Hoversten wrote:

> Hi Radu -

Hey Shane,

>> Yes, as far as I know it got supported in Stage 1.6. Any reason not 
>> to upgrade to 2.0a?
>
>
> Unfortunately, yes - my project requires pucks and grippers, some of 
> which aren't included in versions after 1.3.5.   After all the 
> problems I've had it's turning out that it might have been easier just 
> to implement them in 2.0.
>
> ...

I see. I remember reading something on playerstage-developers about 
Stage and grippers. Either Richard said that he will implement them 
soon, or someone else already did a quick patch for that. If I am wrong 
though, it shouldn't be too hard to "port" them from 1.3.5 to 2.0.


>> Did something happen to your message here? All i got are these 
>> truncated phrases.
>
>
> Yup, bad editing on my part.
>
> Thanks again for the responses.  I'm trying something different to get 
> around the crippled fiducials in 1.3.5, hopefully it will be a 
> smoother path.
>
> Shane

No problemos Shane. Anytime.

Radu.

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

Re: [Java-player-users] More fiducial interface problems

[Shane H. <sr...@ny...>]

Hi Radu -

> Yes, as far as I know it got supported in Stage 1.6. Any reason not to 
> upgrade to 2.0a?

Unfortunately, yes - my project requires pucks and grippers, some of 
which aren't included in versions after 1.3.5.   After all the problems 
I've had it's turning out that it might have been easier just to 
implement them in 2.0.

...

> Did something happen to your message here? All i got are these 
> truncated phrases.

Yup, bad editing on my part.

Thanks again for the responses.  I'm trying something different to get 
around the crippled fiducials in 1.3.5, hopefully it will be a smoother 
path.

Shane

Re: [Java-player-users] Javaclient 1.6.5 released

[Radu B. R. <ru...@cs...>]

A minute after I committed everything to SF, I realized that some of the 
bugs that got fixed recently in the FiducialInterface, were already 
suggested by Moshe Sayag in August. My apologies for not noticing this 
earlier.

Just as a side note, we are all developers here, and we should make use 
of the CVS features as much as possible. While the "official" releases 
are rather rare, the CVS changes/commits are quite frequent, so most of 
the bugs could already be already fixed in CVS (vs. the official release).

A short guide on how to use the CVS on SF is available at 
http://sourceforge.net/cvs/?group_id=135304.

Best regards,
Radu.

Radu Bogdan Rusu wrote:

> Hellos,
>
> Thanks to our users, Javaclient 1.6.5 is up at SF 
> (http://sourceforge.net/project/showfiles.php?group_id=135304). The 
> latest changes from the CVS repository have been integrated in the 
> package. Some of the most recent changes were:
> - A bug was fixed in the PlannerInterface (PlayerPlannerWaypointT was 
> created but not initialized);
> - Added getHypothCount () for LocalizeInterface;
> - Several bugs were fixed in FiducialInterface (thanks to Shane 
> Hoversten from NYU);
> - Added setAllowedError (int err) to HeadingControl and 
> PositionControl, as well as support for debugging mode.
>
> Because of the overwhelming requests for examples, I've put together a 
> couple of them (yesterday night and this morning) and uploaded them on 
> SourceForge.
> They should work fine with Javaclient 1.6.5, Player 1.6.5 and Stage 
> 2.0.0a. You can check them out at 
> http://java-player.sourceforge.net/examples.php. As usual, comments 
> are welcome :)
>
> Cheers,
> Radu.
>

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-users] Javaclient 1.6.5 released

[Radu B. R. <ru...@cs...>]

Hellos,

Thanks to our users, Javaclient 1.6.5 is up at SF 
(http://sourceforge.net/project/showfiles.php?group_id=135304). The 
latest changes from the CVS repository have been integrated in the 
package. Some of the most recent changes were:
- A bug was fixed in the PlannerInterface (PlayerPlannerWaypointT was 
created but not initialized);
- Added getHypothCount () for LocalizeInterface;
- Several bugs were fixed in FiducialInterface (thanks to Shane 
Hoversten from NYU);
- Added setAllowedError (int err) to HeadingControl and PositionControl, 
as well as support for debugging mode.

Because of the overwhelming requests for examples, I've put together a 
couple of them (yesterday night and this morning) and uploaded them on 
SourceForge.
They should work fine with Javaclient 1.6.5, Player 1.6.5 and Stage 
2.0.0a. You can check them out at 
http://java-player.sourceforge.net/examples.php. As usual, comments are 
welcome :)

Cheers,
Radu.

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

Re: [Java-player-users] More fiducial interface problems

[Radu B. R. <ru...@cs...>]

Hi Shane,

Shane Hoversten wrote:

> Hi Radu -
>
> Thanks for the quick and thorough response.

No problem. My pleasure.

>> The configuration request/reply mechanism in the Player server works 
>> like this:
>> - first you send a configuration request of type PLAYER_MSGTYPE_REQ 
>> (PLAYER_FIDUCIAL_GET_FOV in our case) to Player
>> - then Player will reply back with a message of type 
>> PLAYER_MSGTYPE_RESP_ACK (if everything went ok) or 
>> PLAYER_MSGTYPE_RESP_NACK otherwise
>
>
> It looks like the second case is what's happening - after I send the 
> PLAYER_FIDUCIAL_GET_FOV via getFOV() something apparently goes awry; 
> PlayerDevice .handleNARMessage() gets called.  So something is 
> apparently going wrong, but no real error msg gets printed, just "Need 
> to handle a NAR message."
> Output in my stage simulator gave me an error message, so I dug 
> through the stage source code and found that requests are processed in 
> fiducialfinderdevice.cc, in the UpdateConfig function.  It appears 
> that Stage 1.3.5 only handles the PLAYER_FIDUCIAL_GET_GEOM msg, not 
> the GET_FOV msg getFOV() is sending.
>
> I assume from this that the getFOV() sort of functionality is only 
> supported in editions of Stage later than 1.3.5?

Yes, as far as I know it got supported in Stage 1.6. Any reason not to 
upgrade to 2.0a?

>
> Shane
>
> I started digging through the player/stage code and found that it
>
> Do you know where I might be able to trace   gets some sort of
>
Did something happen to your message here? All i got are these truncated 
phrases.

Cheers,
Radu.

-- 
| Radu Bogdan Rusu
| http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

Re: [Java-player-users] More fiducial interface problems

[Shane H. <sr...@ny...>]

Hi Radu -

Thanks for the quick and thorough response.

> The configuration request/reply mechanism in the Player server works 
> like this:
> - first you send a configuration request of type PLAYER_MSGTYPE_REQ 
> (PLAYER_FIDUCIAL_GET_FOV in our case) to Player
> - then Player will reply back with a message of type 
> PLAYER_MSGTYPE_RESP_ACK (if everything went ok) or 
> PLAYER_MSGTYPE_RESP_NACK otherwise

It looks like the second case is what's happening - after I send the 
PLAYER_FIDUCIAL_GET_FOV via getFOV() something apparently goes awry; 
PlayerDevice .handleNARMessage() gets called.  So something is 
apparently going wrong, but no real error msg gets printed, just "Need 
to handle a NAR message." 

Output in my stage simulator gave me an error message, so I dug through 
the stage source code and found that requests are processed in 
fiducialfinderdevice.cc, in the UpdateConfig function.  It appears that 
Stage 1.3.5 only handles the PLAYER_FIDUCIAL_GET_GEOM msg, not the 
GET_FOV msg getFOV() is sending.

I assume from this that the getFOV() sort of functionality is only 
supported in editions of Stage later than 1.3.5?

Shane

I started digging through the player/stage code and found that it

Do you know where I might be able to trace   gets some sort of

>
> FiducialInterface.getFOV () sends a configuration request with 
> PLAYER_FIDUCIAL_GET_FOV. The reply of the Player server is caught by 
> PlayerClient.read (), which in turn will call 
> FiducialInterface.handleResponse () if the type of the messaged that 
> returned is ACK. FiducialInterface.handleResponse () checks to see if 
> the reply came back for the configuration request 
> PLAYER_FIDUCIAL_GET_FOV, and then it fills in those attributes with 
> their appropriate values.
>
> The order of operations for your program should be:
> - getFOV ();
> - check if isFOVReady () is true
> - if fovReady is true, then get the values you need using getMinRage 
> (), getMaxRange () and getViewAngle ().
>
> In case you send the request but you do not get any reply back, it 
> could be an internal Player problem. But it's okay, we can have a look 
> there as well, to see what the problem is.
>
> I hope this helps,
> Radu.
>
> Shane Hoversten wrote:
>
>> Hi everyone -
>>
>> Back to fiducials.  When I call FiducialInterface.getViewAngle() and 
>> getMax() and getMin() I'm always getting zeroes.  Looking at the code 
>> I see that all of these things start off as zero and are updated when 
>> handleResponse() gets the PLAYER_FIDUCIAL_GET_FOV msg.  This msg is 
>> presumably received in reponse to the PLAYER_FIDUCIAL_GET_FOV msg 
>> which is generated by the call to getFOV().  Right?  Or is this 
>> another cut and paste error?  Should these both be the same msg?
>>
>> To put it another way: I call getFOV() but the P_F_G_F msg is never 
>> received in response, and so javaclient never updates the values.  Am 
>> I doing something wrong, or is this a bug?
>>
>> Thanks for any help,
>>
>> Shane
>
>
>

Re: [Java-player-users] More fiducial interface problems

[Radu B. R. <ru...@cs...>]

Hi Shane,

The configuration request/reply mechanism in the Player server works 
like this:
- first you send a configuration request of type PLAYER_MSGTYPE_REQ 
(PLAYER_FIDUCIAL_GET_FOV in our case) to Player
- then Player will reply back with a message of type 
PLAYER_MSGTYPE_RESP_ACK (if everything went ok) or 
PLAYER_MSGTYPE_RESP_NACK otherwise

FiducialInterface.getFOV () sends a configuration request with 
PLAYER_FIDUCIAL_GET_FOV. The reply of the Player server is caught by 
PlayerClient.read (), which in turn will call 
FiducialInterface.handleResponse () if the type of the messaged that 
returned is ACK. FiducialInterface.handleResponse () checks to see if 
the reply came back for the configuration request 
PLAYER_FIDUCIAL_GET_FOV, and then it fills in those attributes with 
their appropriate values.

The order of operations for your program should be:
- getFOV ();
- check if isFOVReady () is true
- if fovReady is true, then get the values you need using getMinRage (), 
getMaxRange () and getViewAngle ().

In case you send the request but you do not get any reply back, it could 
be an internal Player problem. But it's okay, we can have a look there 
as well, to see what the problem is.

I hope this helps,
Radu.

Shane Hoversten wrote:

> Hi everyone -
>
> Back to fiducials.  When I call FiducialInterface.getViewAngle() and 
> getMax() and getMin() I'm always getting zeroes.  Looking at the code 
> I see that all of these things start off as zero and are updated when 
> handleResponse() gets the PLAYER_FIDUCIAL_GET_FOV msg.  This msg is 
> presumably received in reponse to the PLAYER_FIDUCIAL_GET_FOV msg 
> which is generated by the call to getFOV().  Right?  Or is this 
> another cut and paste error?  Should these both be the same msg?
>
> To put it another way: I call getFOV() but the P_F_G_F msg is never 
> received in response, and so javaclient never updates the values.  Am 
> I doing something wrong, or is this a bug?
>
> Thanks for any help,
>
> Shane


-- 
| Radu Bogdan Rusu
| http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-users] More fiducial interface problems

[Shane H. <sr...@ny...>]

Hi everyone -

Back to fiducials.  When I call FiducialInterface.getViewAngle() and 
getMax() and getMin() I'm always getting zeroes.  Looking at the code I 
see that all of these things start off as zero and are updated when 
handleResponse() gets the PLAYER_FIDUCIAL_GET_FOV msg.  This msg is 
presumably received in reponse to the PLAYER_FIDUCIAL_GET_FOV msg which 
is generated by the call to getFOV().  Right?  Or is this another cut 
and paste error?  Should these both be the same msg?

To put it another way: I call getFOV() but the P_F_G_F msg is never 
received in response, and so javaclient never updates the values.  Am I 
doing something wrong, or is this a bug?

Thanks for any help,

Shane

Re: [Java-player-users] Second bug in FiducialInterface.java in javaclient 1.6.4

[Radu B. R. <ru...@cs...>]

Hey Shane,

Wow, you were really fast at reporting, identifying and correcting the 
problem. :) Sorry, but I just managed to read my e-mail. I wish I could 
have done it sooner to help you out.

Anyway, it seems that you got that one sorted out. Can you please send 
me a diff file so I can commit it to the CVS repository ?

Yes, I totally agree that we should have more examples on how to use 
Player/Stage with or without Javaclient. I am willing to help anyone who 
wants to write some with technical aspects, but I just don't seem to 
have the time to sit down and do it myself :(

We could also use ideas and/or code contributions for the other parts of 
the client.

PS. I just realized that I have some old hacked code lying around on 
some of my web pages. Maybe it could be useful for any of you who are 
using Javaclient and want to get into neural networks as well (Joone). 
The source codes are really crappy because I had to move and didn't get 
around to fix them, but if somebody wants to actually clean them up, we 
could post them on the Javaclient examples web page (which is empty 
right now - I think). Anyway, the URL for the source codes (including a 
small tutorial) is 
http://www.robotux.info/ai/included/read.php?cat=neural&article=Radu%20Bogdan%20Rusu_On%20Data%20Fusion%20Methods%20Using%20Neural%20Networks,%20From%20a%20Practical%20Implementation%20POV


Thanks,
Radu.

Shane Hoversten wrote:

>
> Hi -
>
> I solved my problem.  There was a second bug in javaclient.  In the 
> constructor for FiducialInterface you have to add:
>
>    for (int i = 0; i < PLAYER_FIDUCIAL_MAX_SAMPLES; i++) {
>        fiducials[i] = new PlayerFiducialItem();
>    }
>
> The space for the array was being allocated, but the elements of the 
> array were not.
>
> Things seem to work now, by which I mean the robot will run without 
> javaclient crashing and the fiducials will output data.  Perhaps there 
> are more bugs.
>
> Shane
>
-- 
| Radu Bogdan Rusu
| http://rbrusu.com
| http://www9.cs.tum.edu/people/rusu
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-users] Second bug in FiducialInterface.java in javaclient 1.6.4

[Shane H. <sr...@ny...>]

Hi -

I solved my problem.  There was a second bug in javaclient.  In the 
constructor for FiducialInterface you have to add:

    for (int i = 0; i < PLAYER_FIDUCIAL_MAX_SAMPLES; i++) {
        fiducials[i] = new PlayerFiducialItem();
    }

The space for the array was being allocated, but the elements of the 
array were not.

Things seem to work now, by which I mean the robot will run without 
javaclient crashing and the fiducials will output data.  Perhaps there 
are more bugs.

Shane

[Java-player-users] Bug in FiducialInterface.java in javaclient 1.6.4

[Shane H. <sr...@ny...>]

Hi -

In trying to figure out why Fiducials don't seem to work, I discovered a 
series of copy and paste bugs in FiducialInterface.java in the 
readData() function.  None of the fields in the PlayerFiducialItem get 
set except Pos, and that gets set several times to the wrong values.

Take a look, you'll see what I mean.  The fix is trivial.  Sadly this 
doesn't solve my problem, which I described yesterday, but maybe it can 
help somebody else.

The fact that nobody's complained about this implies that nobody is 
actually using fiducials with javaclient 1.6.4?  Weird.

Shane

[Java-player-users] Fiducial problems

[Shane H. <sr...@ny...>]

Hi everyone -

I'm trying to get fiducials to work with stage 1.3.5, player 1.6.5, and 
the latest javaclient.  My worldfile seems to be ok, since on the stage 
GUI I can see the little numbers that come up when a fiducial comes in 
range of the laser finder, but just for reference here's a robot from 
the worldfile:

shane_pioneer( color "blue" name "robot1"
               port 6666 pose [3.753 7.901 -2.915 ]
          fiducial_id 88)


Here is the function that updates the fiducials:

    ///////////////////////////////////////////////   
    public void updateFid() {

        FiducialInterface fi = getFidInterface();
       
        int numFids = fi.getFiducialCount();
        boolean isReady = fi.isIDReady();
       
        pl("numFids is " + numFids + " isReady " + isReady);
       
        if (numFids > 0 && isReady == true) {
            PlayerFiducialItem[] fs = fi.getFiducials();
            for (PlayerFiducialItem fItem : fs) {
                if (fItem == null) {
                    pl("Null fi!");
                    break;
                } else {
                    pl (getName() + " fItem.id " + fItem.getID());
                }
            }
        }
    }

Here is an excerpt of what it outputs:

----
[Fiducial] : Error when reading payload: java.lang.NullPointerException
[Fiducial] : Error when reading payload: java.lang.NullPointerException
numFids is 2 isReady false
numFids is 2 isReady false
numFids is 2 isReady false
[Fiducial] : Error when reading payload: java.lang.NullPointerException
numFids is 2 isReady false
[Fiducial] : Error when reading payload: java.lang.NullPointerException
numFids is 2 isReady false
numFids is 2 isReady false
numFids is 2 isReady false
[Fiducial] : Error when reading payload: java.lang.NullPointerException
----

I'm at a loss for what's going on.  The numFids count is right - there 
are indeed two fiducial objects in range.  If I move the robot around 
and get it out of range - so that numFids is 0 - all these 
NullPointerExceptions go away.  (Note that these NullPointerException 
messages are coming in on stderr - it's javaclient generating them, not 
my code.)

It's weird that javaclient/player knows there are 2 fids, but none of 
them ever get returned, and isReady is always false.  (Note that if you 
take out the isReady == true test it prints out "Null fi!" every time - 
there's no fiducial info there.)

Does anyone have any clue about what's going on?  Advice of what I can 
try next?  Working code samples that show how to work with the fiducial 
interface?

Thanks a lot.

Shane

PS: In the interest of science, or karma, I'll donate all of my code to 
the javaclient project when I'm done with it, so newbies can have some 
working examples to look at.  It's been really frustrating that there's 
so little actual working code available that does anything, not just for 
javaclient but for player/stage in general.  I don't get it; this is 
open source, is it not?  We're all about sharing here?

Re: [Java-player-users] Re:Re:Some questions about how to use javaclient.

[Radu B. R. <ru...@cs...>]

Hello,

Sorry for answering this late. Here are some explanations on how to use
the Controllers in the javaclient.extra package, as well as how to use
the PlannerInterface:

1) Controllers
1.a) create a PositionInterface
static PositionInterface pi =3D robot.requestInterfacePosition (0, 'a');
1.b) create a HeadingControl and/or a PositionControl
static HeadingControl hc =3D new HeadingControl (pi);
static PositionControl pc =3D new PositionControl (pi);
1.c) use [HeadingControl].setDiffHeading (X) for differential heading
eg. hc.setDiffHeading (10);
1.c) ...or... use [HeadingControl].setHeading (X) for absolute heading
(0..360)
eg. hc.setDiffHeading (240);
1.c) ...or... use [PositionControl].moveRobot (X) for moving the robot
forward for a specified distance
eg. pc.moveRobot (1000);
1.d) additionally you can use the {P,PI,PD,PID}Controllers directly like
this:
PController pid =3D new PController (1);
pid.setGoal (90);

while (true) {
double now =3D pi.getYaw ();
if (now < 0)
now +=3D 360;
try {
Thread.sleep (100);
} catch (Exception e) {}

int command =3D (int)pid.getCommand (now);
pi.setSpeed (0, command);
System.out.println (now + " / " + command);
}

For any other information check the Java API documentation. Also please
note, that the above Java classes will only be available in the CVS. We
are planning to release a new version of Javaclient soon (Maxim has some
suggestion for upgrading some stuff), and then the next major release
will be done after Player 2.0 stabilizes.

2) Planning/Localization/VFH
2.a) create a Localization and a Planner interface
LocalizeInterface locali =3D robot.requestInterfaceLocalize (0, 'r');
PlannerInterface plani =3D robot.requestInterfacePlanner (0, 'a');
2.b) define and set an initial pose for the localization (values from
playernav)
long cov[][] =3D {{250, 0, 0},
{0, 250, 0},
{0, 0, new Double ((Math.PI/6.0)*(Math.PI/6.0) * 180 / Math.PI * 3600 *
180 / Math.PI * 3600).longValue()}};
int mean[] =3D { 0, 0, 0 };
locali.setPose (mean, cov);
2.c) set the goal on the PlannerInterface
plani.setGoal (2000, -2000, 0);
2.d) for fun, aditionally print the number of hypotheses, the
groundtruth location as well as the planner location in a loop
while (true) {
System.out.println (locali.getHypothCount ());
System.out.println ("Ground truth: is [ " +
posi.getX () + ", " +
posi.getY () + ", " +
posi.getYaw () + "]");

System.out.println ("Current location is: [" +
plani.getPx () + ", " +
plani.getPy () + ", " +
plani.getPa () + "]");
try { Thread.sleep (100); } catch (Exception e) { }
}

I hope this works.

Cheers,
Radu.


=C0=D7 =B1=F3 wrote:

> Dear,
> Radu.
> First,thanks for your help.Maybe I can provide some examples for
> beginners who never used javaclient of p/s/g. I have written some easy
> java programs which use postioninterface,sonarinterface or
> laserinterface .And all of them can work well with the
> player-1.6.4/stage-1.6.2 . But I don't know how to use the other
> interfaces or drivers now.Such as, PIDController,vfh,plannerinterface..=
.
> If you can help me ,I will try my best to write the (good) tutorial.
> :) Yours sincerely,
> Thunder
> 2005-11-10
> /* The Wuhan University of Technology,China */


--=20
| Radu Bogdan Rusu | http://www9.cs.tum.edu/people/rusu | http://rbrusu.c=
om
| Intelligent Autonomous Systems Group | Computer Science Department IX
| Technische Universitaet Muenchen | Munich, Bavaria, Germany

[Java-player-users] Re:Re:Some questions about how to use javaclient.

[<tig...@ho...>]

Dear,
Radu.
    First,thanks for your help.Maybe I can provide some examples for 
beginners who never used javaclient of p/s/g. I have written some easy java 
programs which use postioninterface,sonarinterface or laserinterface .And 
all of them can work well with the player-1.6.4/stage-1.6.2 . But I don't 
know how to use the other interfaces or drivers now.Such as, 
PIDController,vfh,plannerinterface...
    If you can help me ,I will try my best to write the (good) tutorial.   
:) 
                                                                   
                                                                       
Yours sincerely,
                                                                            
  Thunder
                                                                            
2005-11-10
                                          /* The Wuhan University of 
Technology,China */

_________________________________________________________________
享用世界上最大的电子邮件系统― MSN Hotmail。  http://www.hotmail.com  

Re: [Java-player-users] Some questions about how to use javaclient.

[Radu B. R. <ru...@cs...>]

Okay, I will send a mail later today with some minor instructions on how
to do it.

Unfortunately, I have very little time to write a (good) tutorial right
now. Any volunteers that want to step up and help? I can provide all the
necessary information in a bulk format, I just need somebody to make it
look nice. :)

Cheers,
Radu.


=C0=D7 =B1=F3 wrote:

> Dear,
> Radu.
> I'm a new user of javaclient of p/s/g .Maybe these questions had been
> asked by other users and you had answered them,but I think it's too
> difficult to find them in the mail list.Can you give me some examples(
> like in player)to demo how to use some common functions? Such as :
> 1.How to go to a specific position use PositionInterface and
> PIDController?
> 2.How to use VFH driver with javaclient?
> Maybe you can write a tutorial of javaclient named "Javaclient of
> P/S/G HOW_TO".I think it's very useful for the beginner of this project=
.
> Any way,thanks a lot for your profect work !
> Yours sincerely,
> Thunder
> 2005-11-09
> /* The Wuhan University of Technology,China */
>
> _________________________________________________________________
> =D3=EB=C1=AA=BB=FA=B5=C4=C5=F3=D3=D1=BD=F8=D0=D0=BD=BB=C1=F7=A3=AC=C7=EB=
=CA=B9=D3=C3 MSN Messenger: http://messenger.msn.com/cn
>
>
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--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen

[Java-player-users] Some questions about how to use javaclient.

[<tig...@ho...>]

Dear,
Radu.
   I'm a new user of javaclient of p/s/g .Maybe these questions had been 
asked by other users and you had answered them,but I think it's too 
difficult to find them in the mail list.Can you give me some examples( like 
in player)to demo how to use some common functions? Such as :
1.How to go to a specific position use PositionInterface and PIDController?
2.How to use VFH driver with javaclient?
   Maybe you can write a tutorial of javaclient named "Javaclient of P/S/G 
HOW_TO".I think it's very useful for the beginner of this project.
   Any way,thanks a lot for your profect work !
                                                                       
Yours sincerely,
                                                                            
  Thunder
                                                                            
2005-11-09
                                              /* The Wuhan University of 
Technology,China */

_________________________________________________________________
与联机的朋友进行交流，请使用 MSN Messenger:  http://messenger.msn.com/cn  

[Java-player-users] Some questions about how to use javaclient.

[<tig...@ho...>]

Dear,
Radu.
   I'm a new user of javaclient of p/s/g .Maybe these questions had been 
asked by other users and you had answered them,but I think it's too 
difficult to find them in the mail list.Can you give me some examples( like 
in player)to demo how to use some common functions? Such as :
1.How to go to a specific position use PositionInterface and PIDController?
2.How to use VFH driver with javaclient?
   Maybe you can write a tutorial of javaclient named "Javaclient of P/S/G 
HOW_TO".I think it's very useful for the beginner of this project.
   Any way,thanks a lot for your profect work !
                                                                       
Yours sincerely,
                                                                            
  Thunder
                                                                            
2005-11-09
                                              /* The Wuhan University of 
Technology,China */

_________________________________________________________________
与联机的朋友进行交流，请使用 MSN Messenger:  http://messenger.msn.com/cn  

[Java-player-users] (no subject)

[<tig...@ho...>]

Subscribing to Java-player-users

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Re: [Java-player-users] Weird sonar issue -

[Shane H. <sr...@ny...>]

Hi Nils -

> I guess its related to the way you poll your data from the sensor, try
>
>
> pc.runThreaded (-1, -1);
>
> in the initialization section end delete the si.readData() stuff. As 
> far as I see from my working code its not necessary this way.

You don't need the readData stuff?  Really?  If you don't put that in 
then I assume the sensor just reads at some default frequency?

I have not yet been able to try runThreaded(-1, -1) as you suggest, but 
what I have found is that there appears to be some race conditions.  If 
I sleep for 500 milliseconds after si.readData() then the readings are 
sanet.  I would have expected readData() to block until it put something 
sensible in the range data, but perhaps that's not done for a reason.  
I'll try your suggestion tonight to see if I can get rid of my hack.

Thanks for your response,

Shane

Re: [Java-player-users] Weird sonar issue -

[Nils O. T. <no...@gm...>]

Hi Shane,
I guess its related to the way you poll your data from the sensor, try


pc.runThreaded (-1, -1);

in the initialization section end delete the si.readData() stuff. As far 
as I see from my working code its not necessary this way.


Hope this helps

Ole

Shane Hoversten wrote:
> Hi -
> 
> I'm just starting work with playerclient using stage 1.3.5 and I'm 
> encountering some really bizarre sonar readings.  Here's a code snippet:
> 
> ----
>        ...
>        SonarInterface si = pc.requestInterfaceSonar(0, 'r');
>        ...
>        while (yes == 1) {
>            si.readData();
>            int [] r = si.getRanges();
>                      System.out.println(r[0] + " " + r[1] + " " + r[2] + 
> " " +
>                                            r[3] + " " + r[4] + " " + r[5]);
> 
>            try { Thread.sleep(1000); }
>            catch (InterruptedException e) {e.printStackTrace(); }
>        }
> ----
> 
> As you can see, all it's doing is reading sonar and printing out the 
> first six values.  The simulated robot that's executing this code is 
> completely stationary.  And yet, here's a chunk of the readings:
> 
> ----
> 5000 5000 5000 5000 5000 5000
> 5000 5000 5000 5000 5000 5000
> 34835 34835 34816 0 0 0
> 4115 34835 34835 34835 34835 34835
> 0 0 0 0 0 0
> 5000 5000 5000 5000 5000 5000
> 0 0 25 0 0 0
> 0 0 0 0 0 0
> 5000 5000 5000 5000 5000 5000
> 5000 5000 5000 5000 5000 5000
> 5000 5000 5000 5000 5000 5000
> 5000 5000 5000 5000 5000 5000
> 5000 5000 5000 5000 5000 5000
> ----
> 
> As you can see, I'm getting lots of weird bouncing around.  The robot is 
> stationary, so the readings shouldn't change (especially since this 
> example has the robot in the middle of empty space.)  When I execute the 
> same program with the same stage world using the C++ client the readings 
> are rock steady.
> 
> Does anyone know what's going on? Do I need to be checking the status of 
> the sonar and waiting for it to be ready or something?  (Since there are 
> virtually no examples available I'm doing this by looking at the c++ 
> code that comes with player and trying to backport it.  Some real 
> examples would be REALLY useful.)
> 
> Thanks,
> 
> Shane
> 
> 
> -------------------------------------------------------
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> 

[Java-player-users] Weird sonar issue -

[Shane H. <sr...@ny...>]

Hi -

I'm just starting work with playerclient using stage 1.3.5 and I'm 
encountering some really bizarre sonar readings.  Here's a code snippet:

----
        ...
        SonarInterface si = pc.requestInterfaceSonar(0, 'r');
        ...
        while (yes == 1) {
            si.readData();
            int [] r = si.getRanges();
           
            System.out.println(r[0] + " " + r[1] + " " + r[2] + " " +
                                            r[3] + " " + r[4] + " " + r[5]);

            try { Thread.sleep(1000); }
            catch (InterruptedException e) {e.printStackTrace(); }
        }
----

As you can see, all it's doing is reading sonar and printing out the 
first six values.  The simulated robot that's executing this code is 
completely stationary.  And yet, here's a chunk of the readings:

----
5000 5000 5000 5000 5000 5000
5000 5000 5000 5000 5000 5000
34835 34835 34816 0 0 0
4115 34835 34835 34835 34835 34835
0 0 0 0 0 0
5000 5000 5000 5000 5000 5000
0 0 25 0 0 0
0 0 0 0 0 0
5000 5000 5000 5000 5000 5000
5000 5000 5000 5000 5000 5000
5000 5000 5000 5000 5000 5000
5000 5000 5000 5000 5000 5000
5000 5000 5000 5000 5000 5000
----

As you can see, I'm getting lots of weird bouncing around.  The robot is 
stationary, so the readings shouldn't change (especially since this 
example has the robot in the middle of empty space.)  When I execute the 
same program with the same stage world using the C++ client the readings 
are rock steady.

Does anyone know what's going on? Do I need to be checking the status of 
the sonar and waiting for it to be ready or something?  (Since there are 
virtually no examples available I'm doing this by looking at the c++ 
code that comes with player and trying to backport it.  Some real 
examples would be REALLY useful.)

Thanks,

Shane

Re: [Java-player-users] camera problems

[Radu B. R. <ru...@cs...>]

I had the same problem while playing with the CMUcam2 some months ago. I 
had to go into the player driver and modify a lot of things in order to 
get stuff to work.

What player driver are you using? I have a hunch that is a player issue 
(since Javaclient worked just fine with the CMUcam2), but we could check 
Javaclient as well. :)

Cheers,
Radu.

Sunny wrote:

> I'm trying to get the CameraInterface working, but all I seem to get 
> betting back from player is gibberish. Here is a short listing of the 
> program I'm using:
>
>     public static void main(String args[]) {
>
>         System.out.println("testing...");
>
>         PlayerClient pc    = new PlayerClient("host", 6665);
>         CameraInterface ci = pc.requestInterfaceCamera(0, 'r');
>         pc.runThreaded(-1,-1);
>
>         if (ci != null) System.out.println("CameraInterface good");
>
>         while (true) {
>                 ci.readData();
>                 System.out.println("Width:  " + ci.getWidth());
>                 System.out.println("Height: " + ci.getHeight());
>                 if (ci.getCompression() == 
> CameraInterface.PLAYER_CAMERA_COMPRESS_RAW) {
>                     System.out.println("Compression: RAW");
>                 } else {
>                     System.out.println("Compression: JPEG");
>                 }
>                 System.out.println("Size: " + ci.getImageSize());
>                 System.out.println("--------------------------");
>                 sleep(1000);
>         }
>
> That is essentially the main part of the test program, it seems simply 
> enough, but I'm getting values like these back:
> Player v.1.6.4
> [PlayerClient] : Got response for device 40(camerav4l) with access: r
> CameraInterface good
> Width:  0
> Height: -16384
> Compression: RAW
> Size: 0
> --------------------------
> Width:  0
> Height: 0
> Compression: RAW
> Size: -1073741824
> --------------------------
> Width:  0
> Height: 0
> Compression: RAW
> Size: 0
> --------------------------
> Width:  0
> Height: 0
> Compression: RAW
> Size: -1073741824
> --------------------------
> Width:  0
> Height: -16384
> Compression: JPEG
> Size: 49152
> --------------------------
>
> I know the camera itself works since I can use it in other programs 
> (xawtv), so I'm assuming this is a playerstage/javaclient problem.
>
> Any pointers?
>
> thanks,
> Sunny
>
>
> -------------------------------------------------------
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-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen

[Java-player-users] camera problems

[Sunny <su...@op...>]

I'm trying to get the CameraInterface working, but all I seem to get 
betting back from player is gibberish. Here is a short listing of the 
program I'm using:

     public static void main(String args[]) {

         System.out.println("testing...");

         PlayerClient pc    = new PlayerClient("host", 6665);
         CameraInterface ci = pc.requestInterfaceCamera(0, 'r');
         pc.runThreaded(-1,-1);

         if (ci != null) System.out.println("CameraInterface good");

         while (true) {
                 ci.readData();
                 System.out.println("Width:  " + ci.getWidth());
                 System.out.println("Height: " + ci.getHeight());
                 if (ci.getCompression() == 
CameraInterface.PLAYER_CAMERA_COMPRESS_RAW) {
                     System.out.println("Compression: RAW");
                 } else {
                     System.out.println("Compression: JPEG");
                 }
                 System.out.println("Size: " + ci.getImageSize());
                 System.out.println("--------------------------");
                 sleep(1000);
         }

That is essentially the main part of the test program, it seems simply 
enough, but I'm getting values like these back:
Player v.1.6.4
[PlayerClient] : Got response for device 40(camerav4l) with access: r
CameraInterface good
Width:  0
Height: -16384
Compression: RAW
Size: 0
--------------------------
Width:  0
Height: 0
Compression: RAW
Size: -1073741824
--------------------------
Width:  0
Height: 0
Compression: RAW
Size: 0
--------------------------
Width:  0
Height: 0
Compression: RAW
Size: -1073741824
--------------------------
Width:  0
Height: -16384
Compression: JPEG
Size: 49152
--------------------------

I know the camera itself works since I can use it in other programs 
(xawtv), so I'm assuming this is a playerstage/javaclient problem.

Any pointers?

thanks,
Sunny

Re: [Java-player-users] VFH

[Radu B. R. <ru...@in...>]

Hellos,

Steffen, I just commited a patched PlayerClient.java to the CVS SF
repository. Please download/CVS it and see if it solves your (or anyone
else's) problem with the interface index.

Now calls like requestInterface... (X , 'a'); should work (X=1..10).

Sorry it took so long.

Cheers,
Radu.

Radu Bogdan Rusu wrote:

>Hello Steffen,
>
>On Tue, Aug 30, 2005 at 07:40:38AM +0200, Steffen Jaensch wrote:
>  
>
>>In order to get access to the position device at index 0 I simply do: 
>>ppd     = playerClient.requestInterfacePosition(0, 'a');
>>
>>To get access to vfh which runs at index 3, however, it does not suffice to
>>request the PositionInterface at index 3, but I have to do the request three
>>times. The first call returns position:1 (which does not exist), the second
>>returns position:2 and finally the third call returns the desired
>>PositionInterface for vfh. This is independend of what indices I speficy in
>>the request method.
>> 
>>vfh     = playerClient.requestInterfacePosition(3, 'a'); 
>>vfh     = playerClient.requestInterfacePosition(3, 'a');
>>vfh     = playerClient.requestInterfacePosition(3, 'a');
>>
>>Is it a bug or do I do something wrong?
>>    
>>
>
>Unfortunately, it is a bug. It has been on my "to fix" list for too long
>now. I will do it asap.
>
>  
>
>>Many thanks,
>>Steffen.
>>    
>>
>
>Cheers,
>Radu.
>--
>| Radu Bogdan Rusu | http://www.rbrusu.com
>| Intelligent Autonomous Systems Group
>| Technische Universitaet Muenchen
>
>  
>

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen

Re: [Java-player-users] increase bumper sensitivity

[<fy...@dr...>]

Hi

sorry for the long reply.

Actually I was trying to program the bumper interface. However, only 
sometimes the robot will react to the code. I've tested the codes quite 
alot of times and I found that the robot must bump some object for 
around 2 to 3 seconds before it will react to the code. 

If the robot were to bump and "bounce" back and repeatedly bump and 
bounce, the codes will not work. So just wondering is it the hardware 
problem or software problem. I'm using a pioneer 3 robot. 

Jeremy


> 
> Hello Jeremy,
> 
> Can you please rephrase your question? :) I'm not sure I got it right.
> Thanks.
> 
> Cheers,
> Radu.
> 
> On Wed, Aug 31, 2005 at 11:17:32AM +0800, fy...@dr... wrote:
> > 
> > Hi
> > 
> > I've done some programming related to the bumper device. However, 
the
> > bump must hold for a short period of time because it is deemed as
> > bumped. If the robot bumps the obstacle and "rebounds" back it will 
not
> > be deemed as a bump and carries on bumping the obstacle. 
> > 
> > I'm not sure if this is the right group to send to as I'm not sure 
which
> > part is this problem related to (Player, java program or with the
> > Pioneer robot hardware). 
> > 
> > Jeremy 
> 
> --
> | Radu Bogdan Rusu | http://www.rbrusu.com
> | Intelligent Autonomous Systems Group
> | Technische Universitaet Muenchen
> 
> 
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