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From: <ge...@df...> - 2005-09-02 07:17:59
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i don't have an answer to this question, but i'd rather like to follow it= up with a few more :-) namely: i'm using an activmedia peoplebot. how do i specify in the player configu= ration file that the robot has an infrared device? where can i get drivers, shou= ld i need any? i've only found infrared device specifications for other robots= , not for the pioneers. cheers, geert-jan > ------=3D_NextPart_000_000B_01C5AEDD.59767CB0 > Content-Type: text/plain; > charset=3D"windows-1255" > Content-Transfer-Encoding: quoted-printable > > Hello,=3D20 > I am new to the Java Clinnt for Player, so maybe the question is a bit = =3D > silly. > I am trying to run function of class IRIntterface=3D20 > queryPose > public void queryPose()Configuration request: Query pose.=3D20 > > See the player_ir_pose structure from player.h > 1 - This is a specific question: I do not undarstand how I should get =3D > the reply for queryPose() from the player server for this Configuration= =3D > request? > > 2 - Is there an axmple of how reading Reply Configurations from Player?= =3D > I guess it has something to do with all the 'handle*' functions in =3D > PlayerDevice and 'is' 'os' members, but i am not sure? > > I haven't found examples for this by myself,=3D20 > if someone can help I will be grateful . > > Thank You > Alex > ------=3D_NextPart_000_000B_01C5AEDD.59767CB0 > Content-Type: text/html; > charset=3D"windows-1255" > Content-Transfer-Encoding: quoted-printable > > <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> > <HTML><HEAD> > <META http-equiv=3D3DContent-Type content=3D3D"text/html; =3D > charset=3D3Dwindows-1255"> > <META content=3D3D"MSHTML 6.00.2900.2722" name=3D3DGENERATOR> > <STYLE></STYLE> > </HEAD> > <BODY bgColor=3D3D#ffffff> > <DIV><FONT face=3D3DArial size=3D3D2>Hello, </FONT></DIV> > <DIV><FONT face=3D3DArial size=3D3D2>I am new to the Java Clinnt for Pl= ayer, =3D > so maybe=3D20 > the question is a bit silly.</FONT></DIV> > <DIV><FONT face=3D3DArial size=3D3D2>I am trying to run function = of =3D > class=3D20 > IRIntterface<!--StartFragment --><FONT size=3D3D3> </FONT></DIV> > <H3>queryPose</H3><PRE>public void <B>queryPose</B>()</PRE> > <DL> > <DD>Configuration request: Query pose. <BR><BR>See the player_ir_pose= =3D20 > structure from player.h</DD></DL> > <DIV>1 - This is a specific question: I do not undarstand how I =3D > should get=3D20 > the reply for <STRONG>queryPose()</STRONG> from the player server = =3D > for this=3D20 > Configuration request?</DIV> > <DIV> </DIV> > <DIV>2 - Is there an axmple of how reading Reply Configurations =3D > from=3D20 > Player? I guess it has something to do with all the 'handle*' functions= =3D > in=3D20 > PlayerDevice and 'is' 'os' members, but i am not sure?</DIV> > <DIV> </DIV> > <DIV>I haven't found examples for this by myself, </DIV> > <DIV>if someone can help I will be <SPAN>grateful .</SPAN></DIV> > <DIV><SPAN></SPAN> </DIV> > <DIV><SPAN>Thank You</SPAN></DIV> > <DIV><SPAN>Alex</SPAN></DIV></FONT></BODY></HTML> > > ------=3D_NextPart_000_000B_01C5AEDD.59767CB0-- > > > > > --__--__-- > > _______________________________________________ > Java-player-users mailing list > Jav...@li... > https://lists.sourceforge.net/lists/listinfo/java-player-users > > > End of Java-player-users Digest > > |
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From: Alex F. <ale...@be...> - 2005-09-01 07:10:32
|
Hello,=20 I am new to the Java Clinnt for Player, so maybe the question is a bit = silly. I am trying to run function of class IRIntterface=20 queryPose public void queryPose()Configuration request: Query pose.=20 See the player_ir_pose structure from player.h 1 - This is a specific question: I do not undarstand how I should get = the reply for queryPose() from the player server for this Configuration = request? 2 - Is there an axmple of how reading Reply Configurations from Player? = I guess it has something to do with all the 'handle*' functions in = PlayerDevice and 'is' 'os' members, but i am not sure? I haven't found examples for this by myself,=20 if someone can help I will be grateful . Thank You Alex |
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From: Matthew J. <mjo...@ih...> - 2005-08-31 17:42:04
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Radu, I look at javaclient 1.6.4 and see the same problem. The position2D interface does not seem consistent with the player position2D interface. There is no Goto(x, y). Instead there is a setPosition(x,y,th). Also it uses ints instead of doubles. Is there another version in cvs somewhere? I could not find it. I know you are working on VFH, which is what I am interested in getting working, so if you test it and it works, just let me know. Matt -----Original Message----- From: jav...@li... [mailto:jav...@li...] On Behalf Of Radu Bogdan Rusu Sent: Friday, August 26, 2005 3:22 PM To: jav...@li... Subject: Re: [Java-player-users] PlayerPositionDevice Hi Matthew, Can you please try the CVS version first? In case that fails too, I'd be glad to have a look at it. In fact, I've been planning a VFH example for our users, so I will check it in detail soon. Cheers, Radu. On Fri, Aug 26, 2005 at 02:08:06PM -0500, Matthew Johnson wrote: > I am trying to use the VFH through the java client and it does not seem > to work. I noticed that the Java PositionPlayer device Goto method > takes int while the position interface takes doubles. Is this an > oversight? I am using JavaClient 1.6.2 and Player 1.6.2. > > > > MJ > -- Yours sincerely, Radu Bogdan Rusu -- | Radu Bogdan Rusu | http://www.rbrusu.com | Intelligent Autonomous Systems Group | Technische Universitaet Muenchen ------------------------------------------------------- SF.Net email is Sponsored by the Better Software Conference & EXPO September 19-22, 2005 * San Francisco, CA * Development Lifecycle Practices Agile & Plan-Driven Development * Managing Projects & Teams * Testing & QA Security * Process Improvement & Measurement * http://www.sqe.com/bsce5sf _______________________________________________ Java-player-users mailing list Jav...@li... https://lists.sourceforge.net/lists/listinfo/java-player-users |
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From: Radu B. R. <ru...@in...> - 2005-08-31 06:33:50
|
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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From: Radu B. R. <ru...@in...> - 2005-08-31 06:31:06
|
Hello Steffen, On Tue, Aug 30, 2005 at 07:40:38AM +0200, Steffen Jaensch wrote: > Hi, > > Problem 1: > > I'm using the vfh driver with the PositionInterface. How do I determine when > the robot has reached its goal? > > I've already tried to use getXSpeed and getYSpeed of the PositionInterface > and to do busy waiting until the robot stops. However, this doesn't work > satisfactorily, because it needs a very long delay (around one second) > before I can use the speed information without taking the risk that it is > not updated. Furthermore, busy waiting blocks my system unnecessarily. One second sounds a bit too much. Are you using the threaded mode? > 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 |
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From: <fy...@dr...> - 2005-08-31 03:17:54
|
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 |
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From: Steffen J. <Ste...@gm...> - 2005-08-30 05:40:51
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Hi, Problem 1: I'm using the vfh driver with the PositionInterface. How do I determine when the robot has reached its goal? I've already tried to use getXSpeed and getYSpeed of the PositionInterface and to do busy waiting until the robot stops. However, this doesn't work satisfactorily, because it needs a very long delay (around one second) before I can use the speed information without taking the risk that it is not updated. Furthermore, busy waiting blocks my system unnecessarily. Problem 2: My player config file defines two position devices: driver ( name "vfh" provides ["position:3"] requires ["position:0" "laser:0"] max_speed 0.15 max_turnrate 40 safety_dist 0.10 distance_epsilon 0.2 angle_epsilon 360 free_space_cutoff 100000000.0 ) driver ( name "stage" provides ["position:0" "laser:0"] samples 181 model "robot" ) 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? Many thanks, Steffen. -- Lust, ein paar Euro nebenbei zu verdienen? Ohne Kosten, ohne Risiko! Satte Provisionen für GMX Partner: http://www.gmx.net/de/go/partner |
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From: Radu B. R. <ru...@in...> - 2005-08-26 20:22:03
|
Hi Matthew, Can you please try the CVS version first? In case that fails too, I'd be glad to have a look at it. In fact, I've been planning a VFH example for our users, so I will check it in detail soon. Cheers, Radu. On Fri, Aug 26, 2005 at 02:08:06PM -0500, Matthew Johnson wrote: > I am trying to use the VFH through the java client and it does not seem > to work. I noticed that the Java PositionPlayer device Goto method > takes int while the position interface takes doubles. Is this an > oversight? I am using JavaClient 1.6.2 and Player 1.6.2. > > > > MJ > -- Yours sincerely, Radu Bogdan Rusu -- | Radu Bogdan Rusu | http://www.rbrusu.com | Intelligent Autonomous Systems Group | Technische Universitaet Muenchen |
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From: Matthew J. <mjo...@ih...> - 2005-08-26 19:08:47
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I am trying to use the VFH through the java client and it does not seem to work. I noticed that the Java PositionPlayer device Goto method takes int while the position interface takes doubles. Is this an oversight? I am using JavaClient 1.6.2 and Player 1.6.2. MJ |
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From: Radu B. R. <ru...@in...> - 2005-08-26 16:44:36
|
Hallo, I've added two big jpeg files to the documentation page of Javaclient (http://java-player.sourceforge.net/documentation.php). One of them is an attempt to build a UML class architectural scheme of the project, and the other is just a list of the Javaclient users (I built it using information from this mailing list and Google). I would appreciate any help for updating the users list. A short e-mail with the research group/institution where you work, university/company and country should suffice. Thanks a lot! Yours sincerely, Radu Bogdan Rusu -- | Radu Bogdan Rusu | http://www.rbrusu.com | Intelligent Autonomous Systems Group | Technische Universitaet Muenchen |
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From: Radu B. R. <ru...@in...> - 2005-08-22 09:34:27
|
fly roadto wrote:
> Hi Radu Bogdan Rusu,
> this time i encounter three problems:
> 1. i updated my stage to 2.0, and i can reset the robot's position
> with set2DPose now. however, when i reset the robot's position, it
> couldn't move any more (robot not beyond the bound, not meeting the
> obstacles). how can i solve this problem? it didn't happen in the last
> version of stage.
No idea yet, I must have a look at what's changed in 2.0. So far,
Javaclient 1.6.4 should be compatible with Player/Stage 1.6.5/1.6.2.
If you make it work before we do, please don't hesitate to submit
patches to the SF system.
> 2. and then i test the MapInterface again, and the server still shut
> down at that moment. i thought it might be the problem of my own
> config file or world file, so this time i tested it with simple.cfg,
> which came from stage/worlds. the code is below:
> PlayerClient player = new PlayerClient("localhost",6665);
> PositionInterface post = player.requestInterfacePosition(0, 'r');
> SimulationInterface simulation =
> player.requestInterfaceSimulation(0, 'r');
> MapInterface map = player.requestInterfaceMap(0, 'r');
> the result is:
> [PlayerClient] : Got response for device 4(stage) with access: r
> [PlayerClient] : Got response for device 31(stage) with access: r
> [PlayerClient] : Got response for device 42() with access: e
> [PlayerClient] : Error was replied from the server!
> and the information in Terminal is:
> warning : not allowing subscription to unknown device "6665:map:0"
> Shutting stage driver down
> stage driver has been shutdown
> ** Player [port 6665] killing client on socket 10 **
> ** Player [port 6665] quitting **
> Shutting stage driver down
> stage driver has been shutdown
> any idea?
No idea why it shuts down. It must be a Player bug. Btw, in order to use
the Map interface, you need a driver such as mapfile/mapcspace/mapscale
in your Player configuration file. Have a look at the mapfile.cfg
example from share/player.
> 3. my task is to write an algorithm of path planning using
> probabilistic roadmap method. so i need to make the robot move in the
> stage along nodes which have been choosen. so i have to get the
> position data of the robot in order to judge if the robot getting the
> sub-goal point and make it go to the next sub-goal. so i test the
> get2DPose again, with the code below:
> simulation.set2DPose("robot1", 3000, 4000, 0);
> simulation.get2DPose("robot1");
> System.out.println("begin");
> while(!simulation.isPose2DReady());
> System.out.println("ready");
> PlayerSimulationPose2D pose = simulation.getSimulationPose2D();
> System.out.println("x= " + pose.getX()+",
> "+"y="+pose.getY()+","+"yaw="+pose.getTheta());
> and the config and world file are the simple.cfg and simple.world.
> it seems the isPose2DReady() never return true.
> the information in Terminal is:
> Player [port 6665] client accepted from 127.0.0.1 on socket 10 **
> got simulation request
> Stage: received request to move object "robot1" to (3.00,4.00,0.00)
> got simulation request
> warn: Stage simulation doesn't implement config code 1.
> (stg_driver.cc HandleConfigSimulation)
> and after waiting about 3 mins, the information in Terminal gave out:
> warning : 21 bytes leftover on write() to client
> do you know how can i solve this problem?
>
Let's see... config code 1 should be PLAYER_SIMULATION_GET_POSE2D. Hmm,
it seems that Stage 2.0a might not have that implemented yet. Can you
please try it with 1.6.2 and see if it works there?
If you want a more effective way to make your robot go to a specified
point you can use our custom classes at
javaclient.extra.PositionControl. You can search in the mail archives
how to use that. Basically we use PIDs to move the robot around, and
that should work with just about any robot, while direct position
control doesn't.
> thank you very much
You are welcome.
> Jun
Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen
|
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From: Radu B. R. <ru...@in...> - 2005-08-22 09:24:56
|
Oh okay. Well, that sounds rather interesting. Please report back if you manage to get it compiled and running with J2ME. If you need any help with internal Javaclient structures, I'd be more than happy to help. Good luck! Cheers, Radu. Jeremy wrote: >oh, basically I just want to be able to control the robot from a mobile >device like a PDA instead of from a desktop PC. Therefore, I need to code my >program using J2ME. > >Jeremy > > >----- Original Message ----- >From: "Radu Bogdan Rusu" <ru...@in...> >To: <jav...@li...> >Sent: Saturday, August 20, 2005 12:51 AM >Subject: Re: [Java-player-users] javaclient with j2me > > > > >>On Sat, Aug 20, 2005 at 12:33:15AM +0800, fy...@dr... wrote: >> >> >>>hi! >>> >>>just want to ask is javaclient workable with J2ME ? has anyone tried it >>>before ? >>> >>> >>I haven't tested it yet. It might need minor modifications. What are you >>trying to do exactly? >> >>Radu. >> >> >>>jeremy >>> >>> >>-- >>| Radu Bogdan Rusu | http://www.rbrusu.com >>| Intelligent Autonomous Systems Group >>| Technische Universitaet Muenchen >> >> >>------------------------------------------------------- >>SF.Net email is Sponsored by the Better Software Conference & EXPO >>September 19-22, 2005 * San Francisco, CA * Development Lifecycle >> >> >Practices > > >>Agile & Plan-Driven Development * Managing Projects & Teams * Testing & QA >>Security * Process Improvement & Measurement * http://www.sqe.com/bsce5sf >>_______________________________________________ >>Java-player-users mailing list >>Jav...@li... >>https://lists.sourceforge.net/lists/listinfo/java-player-users >> >> >> >> > > > >------------------------------------------------------- >SF.Net email is Sponsored by the Better Software Conference & EXPO >September 19-22, 2005 * San Francisco, CA * Development Lifecycle Practices >Agile & Plan-Driven Development * Managing Projects & Teams * Testing & QA >Security * Process Improvement & Measurement * http://www.sqe.com/bsce5sf >_______________________________________________ >Java-player-users mailing list >Jav...@li... >https://lists.sourceforge.net/lists/listinfo/java-player-users > > -- Yours sincerely, Radu Bogdan Rusu -- | Radu Bogdan Rusu | http://www.rbrusu.com | Intelligent Autonomous Systems Group | Technische Universitaet Muenchen |
|
From: fly r. <roa...@ho...> - 2005-08-22 05:49:13
|
Hi Radu Bogdan Rusu,
this time i encounter three problems:
1. i updated my stage to 2.0, and i can reset the robot's position with
set2DPose now. however, when i reset the robot's position, it couldn't move
any more (robot not beyond the bound, not meeting the obstacles). how can i
solve this problem? it didn't happen in the last version of stage.
2. and then i test the MapInterface again, and the server still shut down
at that moment. i thought it might be the problem of my own config file or
world file, so this time i tested it with simple.cfg, which came from
stage/worlds. the code is below:
PlayerClient player = new PlayerClient("localhost",6665);
PositionInterface post = player.requestInterfacePosition(0, 'r');
SimulationInterface simulation =
player.requestInterfaceSimulation(0, 'r');
MapInterface map = player.requestInterfaceMap(0, 'r');
the result is:
[PlayerClient] : Got response for device 4(stage) with access: r
[PlayerClient] : Got response for device 31(stage) with access: r
[PlayerClient] : Got response for device 42() with access: e
[PlayerClient] : Error was replied from the server!
and the information in Terminal is:
warning : not allowing subscription to unknown device "6665:map:0"
Shutting stage driver down
stage driver has been shutdown
** Player [port 6665] killing client on socket 10 **
** Player [port 6665] quitting **
Shutting stage driver down
stage driver has been shutdown
any idea?
3. my task is to write an algorithm of path planning using probabilistic
roadmap method. so i need to make the robot move in the stage along nodes
which have been choosen. so i have to get the position data of the robot in
order to judge if the robot getting the sub-goal point and make it go to the
next sub-goal. so i test the get2DPose again, with the code below:
simulation.set2DPose("robot1", 3000, 4000, 0);
simulation.get2DPose("robot1");
System.out.println("begin");
while(!simulation.isPose2DReady());
System.out.println("ready");
PlayerSimulationPose2D pose = simulation.getSimulationPose2D();
System.out.println("x= " + pose.getX()+",
"+"y="+pose.getY()+","+"yaw="+pose.getTheta());
and the config and world file are the simple.cfg and simple.world.
it seems the isPose2DReady() never return true.
the information in Terminal is:
Player [port 6665] client accepted from 127.0.0.1 on socket 10 **
got simulation request
Stage: received request to move object "robot1" to (3.00,4.00,0.00)
got simulation request
warn: Stage simulation doesn't implement config code 1.
(stg_driver.cc HandleConfigSimulation)
and after waiting about 3 mins, the information in Terminal gave out:
warning : 21 bytes leftover on write() to client
do you know how can i solve this problem?
thank you very much
Jun
_________________________________________________________________
Use MSN Messenger to send music and pics to your friends
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|
|
From: Jeremy <fy...@dr...> - 2005-08-21 22:09:21
|
oh, basically I just want to be able to control the robot from a mobile device like a PDA instead of from a desktop PC. Therefore, I need to code my program using J2ME. Jeremy ----- Original Message ----- From: "Radu Bogdan Rusu" <ru...@in...> To: <jav...@li...> Sent: Saturday, August 20, 2005 12:51 AM Subject: Re: [Java-player-users] javaclient with j2me > On Sat, Aug 20, 2005 at 12:33:15AM +0800, fy...@dr... wrote: > > hi! > > > > just want to ask is javaclient workable with J2ME ? has anyone tried it > > before ? > > I haven't tested it yet. It might need minor modifications. What are you > trying to do exactly? > > Radu. > > > > jeremy > -- > | Radu Bogdan Rusu | http://www.rbrusu.com > | Intelligent Autonomous Systems Group > | Technische Universitaet Muenchen > > > ------------------------------------------------------- > SF.Net email is Sponsored by the Better Software Conference & EXPO > September 19-22, 2005 * San Francisco, CA * Development Lifecycle Practices > Agile & Plan-Driven Development * Managing Projects & Teams * Testing & QA > Security * Process Improvement & Measurement * http://www.sqe.com/bsce5sf > _______________________________________________ > Java-player-users mailing list > Jav...@li... > https://lists.sourceforge.net/lists/listinfo/java-player-users > > |
|
From: Radu B. R. <ru...@in...> - 2005-08-20 09:54:14
|
On Fri, Aug 19, 2005 at 10:08:58PM +0100, fly roadto wrote:
> Hi,
> I tried "isPose2DReady ()", and it returned false. so there wasn't data
> come from Stage to the SimulationInterface. how can i get the data from the
> Stage?
You need to wait for it until it becomes ready. In order for it to be ready
though, you need to call get2DPose () first. Okay, I know, it's a bit
complicated, but this is the way the Player server really works. First you
send a request, then wait for the reply and then get the data. Example:
get2DPose (); // send a PLAYER_SIMULATION_GET_POSE2D request
while (!isPose2DReady()); // wait until you get a reply
// and get the actual pose
PlayerSimulationPose2D pose = getSimulationPose2D();
Remember that you need to add the object's name in front of the above
methods.
> another problem is like this:
> set2DPose("pioneer", 1000, 1000, 0);
> .......
> set2DPose("pioneer", 2000, 2000, 0);
> the first set method works, but the second one doesn't. how can i make it
> work?
I cannot test it right now, but that sounds weird. Are you executing them
one after another? Is 2000 somewhat outside your map?
> Another problem is about the mapInterface
> when i ran the code:
> PositionInterface post = player.requestInterfacePosition(0, 'r');
> SimulationInterface simulation =
> player.requestInterfaceSimulation(0, 'r');
> MapInterface map = player.requestInterfaceMap(0, 'e');
> i got error:
> [PlayerClient] : Got response for device 4(stage) with access: r
> [PlayerClient] : Got response for device 31(stage) with access: r
> [PlayerClient] : Got response for device 42() with access: e
> [PlayerClient] : Error was replied from the server!
You need to change 'e' into 'r'. 'e' stands for error, 'r' for read.
Example:
MapInterface map = player.requestInterfaceMap(0, 'r');
> thank you very much
No problem mate. Cheers!
> Jun
Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen
|
|
From: fly r. <roa...@ho...> - 2005-08-19 21:09:06
|
Hi,
I tried "isPose2DReady ()", and it returned false. so there wasn't data
come from Stage to the SimulationInterface. how can i get the data from the
Stage?
another problem is like this:
set2DPose("pioneer", 1000, 1000, 0);
.......
set2DPose("pioneer", 2000, 2000, 0);
the first set method works, but the second one doesn't. how can i make it
work?
Another problem is about the mapInterface
when i ran the code:
PositionInterface post = player.requestInterfacePosition(0, 'r');
SimulationInterface simulation =
player.requestInterfaceSimulation(0, 'r');
MapInterface map = player.requestInterfaceMap(0, 'e');
with the .cfg file like this;
driver
(
name "stage"
provides ["simulation:0"]
plugin "libstage"
worldfile "Test1.world"
)
# robot 0
driver( name "stage" provides ["6665:position:0"] model "p0" )
driver( name "stage" provides ["6665:sonar:0"] model "p0" )
driver( name "stage" provides ["6665:laser:0"] model "p0" )
driver( name "stage" provides ["6665:blobfinder:0"] model "p0" )
driver( name "stage" provides ["6665:fiducial:0"] model "p0" )
and the world file like this:
map(
size [15 15]
bitmap "bitmaps/cave.png"
bitmap_resolution 0.05
boundary 3
)
i got error:
[PlayerClient] : Got response for device 4(stage) with access: r
[PlayerClient] : Got response for device 31(stage) with access: r
[PlayerClient] : Got response for device 42() with access: e
[PlayerClient] : Error was replied from the server!
i think maybe i didn't write the right .cfg file. could you tell me if the
.cfg file is correct, and if wrong, what can i do?
thank you very much
Jun
_________________________________________________________________
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|
From: Radu B. R. <ru...@in...> - 2005-08-19 16:51:19
|
On Sat, Aug 20, 2005 at 12:33:15AM +0800, fy...@dr... wrote: > hi! > > just want to ask is javaclient workable with J2ME ? has anyone tried it > before ? I haven't tested it yet. It might need minor modifications. What are you trying to do exactly? Radu. > > jeremy -- | Radu Bogdan Rusu | http://www.rbrusu.com | Intelligent Autonomous Systems Group | Technische Universitaet Muenchen |
|
From: <fy...@dr...> - 2005-08-19 16:33:26
|
hi! just want to ask is javaclient workable with J2ME ? has anyone tried it before ? jeremy |
|
From: Radu B. R. <ru...@in...> - 2005-08-19 08:27:01
|
Hellos,
fly roadto wrote:
> Hi all,
> I am sorry to send two more repearted messages to the server (e.g.
> "questions about using java code with simulator" and "how to use the
> simulator with java code"). Becasue i sent this thread the day before
> yesterday, but couldn't see any new one from the mailing list. So im
> so fool to send two more. Could the administrator cancel the two more
> ones please?
> and i have one more question. when i ran the code as follow:
> PlayerClient player = new PlayerClient("localhost",6665);
> PositionInterface post = player.requestInterfacePosition(0,
> 'r'); //a, r or w
> SimulationInterface simulation =
> player.requestInterfaceSimulation(0, 'r');
> player.runThreaded(-1, -1);
> //now loop this stuff...
> player.readAll();
You don't need to call player.readAll() if you run the Javaclient in
threaded mode.
> //update the global data so every behaviour can access it
>
> simulation.set2DPose("pioneer", 1000, 1000, 0);
> simulation.get2DPose("pioneer");
>
> int currentX = simulation.getSimulationPose2D().getX();
> int currentY = simulation.getSimulationPose2D().getY();
> int currentYaw = simulation.getSimulationPose2D().getTheta();
>
> System.out.println("Position (" + currentX + "/"+ currentY +
> ") Angle " +
> "is " + currentYaw + " ");
> and the result is like this:
> [PlayerClient] : Got response for device 4(stage) with access: r
> [PlayerClient] : Got response for device 31(stage) with access: r
> Exception in thread "main" java.lang.NullPointerException
> at robotsimulation.Test1.main(Test1.java:36)
> [Simulation] : Handling NAR of size = 0
>
> it seems the currentX, Y, Yaw don't get any return value from
> getSimulationPose2D(). but i want to get the value of pose of the
> robot in the simulator. any one get ideas?
You need to check isPose2DReady() in a loop before reading the new pose
with getSimulationPose2D(). Example:
while (!isPose2DReady ());
PlayerSimulationPose2D pose = getSimulationPose2D ();
System.out.println ("Position (" + pose.getX () + "/"+ pose.getY ()
+ ") Angle is " + pose.getTheta () + " ");
> thanks very much
You're welcome. Don't hesitate to send your questions here in case you
encounter more problems.
>
> Jun
>
Cheers,
Radu.
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen
|
|
From: Radu B. R. <ru...@in...> - 2005-08-19 08:18:48
|
Hellos,
Please read my reply bellow.
fly roadto wrote:
> Hi all,
> I just finished a java code and now want to run it with P/S. But i
> have go some confusions about it. My target is to move the a robot to
> a specific point in a map.
> my code is like this:
> //constructor
> PlayerClient robot = new PlayerClient("localhost", 6665);
> PositionInterface position =
> robot.requestInterfacePosition(0, 'p');
> SimulationInterface simulation =
> robot.requestInterfaceSimulation(0, 's');
> MapInterface map = robot.requestInterfaceMap(0, 'm');
>
> PlayerSimulationPose2D simulationPosition.setName(NAME);
> position.setSpeed(100, 30);
> position.setPosition(x, y, yaw);
>
> //run loop
> robot.readAll();
> simulation.set2DPose(NAME, start.getX(), start.getY(),
> start.getYaw());
> searchAlgorithm();
> Questions are these:
> 1. i don't understand where the map comes from and how the
> PlayerClient gets the data of map. does it come from World file? if
> yes, how the MapInterface gets the data? do i need to write the code
> for reading the data from World file?
Player manual says: "The |map| interface provides acces to an occupancy
grid map. This interface returns no data and accepts no commands. The
map is delivered in tiles, via a sequence of configuration requests."
Basically the map interface gets the data from the world/bitmap file.
You can use it for:
- getting the size of the map (X, Y in pixels)
- getting the scale of the map
- receiving information about the cell occupancy
The code should already be implemented. Have a look at getMapData() and
getTileData(). In case you find any errors, we would be more than happy
if you could submit some patches.
> 2. what is the difference between PositionInterface and
> PlayerSimulationPose2D? since from the API, i think i can use
> PositionInterface and PlannerInterface to move the robot to a specific
> point, why PlayerSimulationPose2D?
Simulation is a new interface used with Stage. PositionInterface and
PlannerInterface are the ones you need to use for a general case.
> I am a beginner to the robot simulation. So there are such naive
> questions. Any one get some idea?
> thanks alot
We all are. Uh oh, except the japanese people probably. :)
>
> Jun
Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen
|
|
From: fly r. <roa...@ho...> - 2005-08-18 23:47:04
|
Hi all,
I am sorry to send two more repearted messages to the server (e.g.
"questions about using java code with simulator" and "how to use the
simulator with java code"). Becasue i sent this thread the day before
yesterday, but couldn't see any new one from the mailing list. So im so fool
to send two more. Could the administrator cancel the two more ones please?
and i have one more question. when i ran the code as follow:
PlayerClient player = new PlayerClient("localhost",6665);
PositionInterface post = player.requestInterfacePosition(0,
'r'); //a, r or w
SimulationInterface simulation =
player.requestInterfaceSimulation(0, 'r');
player.runThreaded(-1, -1);
//now loop this stuff...
player.readAll();
//update the global data so every behaviour can access it
simulation.set2DPose("pioneer", 1000, 1000, 0);
simulation.get2DPose("pioneer");
int currentX = simulation.getSimulationPose2D().getX();
int currentY = simulation.getSimulationPose2D().getY();
int currentYaw = simulation.getSimulationPose2D().getTheta();
System.out.println("Position (" + currentX + "/"+ currentY + ")
Angle " +
"is " + currentYaw + " ");
and the result is like this:
[PlayerClient] : Got response for device 4(stage) with access: r
[PlayerClient] : Got response for device 31(stage) with access: r
Exception in thread "main" java.lang.NullPointerException
at robotsimulation.Test1.main(Test1.java:36)
[Simulation] : Handling NAR of size = 0
it seems the currentX, Y, Yaw don't get any return value from
getSimulationPose2D(). but i want to get the value of pose of the robot in
the simulator. any one get ideas?
thanks very much
Jun
_________________________________________________________________
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|
|
From: fly r. <roa...@ho...> - 2005-08-18 19:13:24
|
Hi all,
I just finished a java code and now want to run it with P/S. But i have
go some confusions about it. My target is to move the a robot to a specific
point in a map.
my code is like this:
//constructor
PlayerClient robot = new PlayerClient("localhost", 6665);
PositionInterface position = robot.requestInterfacePosition(0,
'p');
SimulationInterface simulation =
robot.requestInterfaceSimulation(0, 's');
MapInterface map = robot.requestInterfaceMap(0, 'm');
PlayerSimulationPose2D simulationPosition.setName(NAME);
position.setSpeed(100, 30);
position.setPosition(x, y, yaw);
//run loop
robot.readAll();
simulation.set2DPose(NAME, start.getX(), start.getY(),
start.getYaw());
searchAlgorithm();
Questions are these:
1. i don't understand where the map comes from and how the PlayerClient gets
the data of map. does it come from World file? if yes, how the MapInterface
gets the data? do i need to write the code for reading the data from World
file?
2. what is the difference between PositionInterface and
PlayerSimulationPose2D? since from the API, i think i can use
PositionInterface and PlannerInterface to move the robot to a specific
point, why PlayerSimulationPose2D?
I am a beginner to the robot simulation. So there are such naive questions.
Any one get some idea?
thanks alot
Jun
_________________________________________________________________
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|
From: fly r. <roa...@ho...> - 2005-08-18 18:51:54
|
Hi all,
I just finished a java code and now want to run it with P/S. But i have
go some confusions about it. My target is to move the a robot to a specific
point in a map.
my code is like this:
//constructor
PlayerClient robot = new PlayerClient("localhost", 6665);
PositionInterface position = robot.requestInterfacePosition(0,
'p');
SimulationInterface simulation =
robot.requestInterfaceSimulation(0, 's');
MapInterface map = robot.requestInterfaceMap(0, 'm');
PlayerSimulationPose2D simulationPosition.setName(NAME);
position.setSpeed(100, 30);
position.setPosition(x, y, yaw);
//run loop
robot.readAll();
simulation.set2DPose(NAME, start.getX(), start.getY(),
start.getYaw());
searchAlgorithm();
Questions are these:
1. i don't understand where the map comes from and how the PlayerClient gets
the data of map. does it come from World file? if yes, how the MapInterface
gets the data? do i need to write the code for reading the data from World
file?
2. what is the difference between PositionInterface and
PlayerSimulationPose2D? since from the API, i think i can use
PositionInterface and PlannerInterface to move the robot to a specific
point, why PlayerSimulationPose2D?
I am a beginner to the robot simulation. So there are such naive questions.
Any one get some idea?
thanks alot
Jun
_________________________________________________________________
Use MSN Messenger to send music and pics to your friends
http://messenger.msn.co.uk
|
|
From: fly r. <roa...@ho...> - 2005-08-18 18:26:29
|
Hi all,
I just finished a java code and now want to run it with P/S. But i have
go some confusions about it. My target is to move the a robot to a specific
point in a map.
my code is like this:
//constructor
PlayerClient robot = new PlayerClient("localhost", 6665);
PositionInterface position = robot.requestInterfacePosition(0,
'p');
SimulationInterface simulation =
robot.requestInterfaceSimulation(0, 's');
MapInterface map = robot.requestInterfaceMap(0, 'm');
PlayerSimulationPose2D simulationPosition.setName(NAME);
position.setSpeed(100, 30);
position.setPosition(x, y, yaw);
//run loop
robot.readAll();
simulation.set2DPose(NAME, start.getX(), start.getY(),
start.getYaw());
searchAlgorithm();
Questions are these:
1. i don't understand where the map comes from and how the PlayerClient gets
the data of map. does it come from World file? if yes, how the MapInterface
gets the data? do i need to write the code for reading the data from World
file?
2. what is the difference between PositionInterface and
PlayerSimulationPose2D? since from the API, i think i can use
PositionInterface and PlannerInterface to move the robot to a specific
point, why PlayerSimulationPose2D?
I am a beginner to the robot simulation. So there are such naive questions.
Any one get some idea?
thanks alot
Jun
_________________________________________________________________
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|
|
From: Radu B. R. <ru...@in...> - 2005-08-16 06:40:43
|
Hello, The Player server manual describes instructions on how to compile programs writen for the C++ Player client library. In your case, they are irrelevant. You can easily compile your programs using javac (command line) and run then using java. Example: $ javac Simple.java $ java Simple Good luck! Cheers, Radu. On Mon, Aug 15, 2005 at 12:50:11AM +0100, fly roadto wrote: > Hi all, > I have finished a java program about path planning, now I need to compile > it with gcc and output it. In Player Server Manual, I found these sentences > as follow: > > This example can be built using the commands: > $ gcc -c simple.c -o simple.o > $ gcc -lm -lplayerc simple.o -o simple > > I tried to follow this, and as the first sentence, I success to get an *.o > file. But the second one failed. I think it's for c language, but not java > client. Any one could tell me what the command should be for java client? > > Cheers, > Jun > > _________________________________________________________________ > Winks & nudges are here - download MSN Messenger 7.0 today! > http://messenger.msn.co.uk > > > > ------------------------------------------------------- > SF.Net email is Sponsored by the Better Software Conference & EXPO > September 19-22, 2005 * San Francisco, CA * Development Lifecycle Practices > Agile & Plan-Driven Development * Managing Projects & Teams * Testing & QA > Security * Process Improvement & Measurement * http://www.sqe.com/bsce5sf > _______________________________________________ > Java-player-users mailing list > Jav...@li... > https://lists.sourceforge.net/lists/listinfo/java-player-users -- Yours sincerely, Radu Bogdan Rusu -- | Radu Bogdan Rusu | http://www.rbrusu.com | Intelligent Autonomous Systems Group | Technische Universitaet Muenchen |
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