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

Re: [Java-player-users] Wheel control...

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

Matthew,

I forgot to tell you that I commited the changes for some basic controllers
to the CVS. I wrote a mail to java-player-developers@ about it yesterday.

In theory, I will work with Brad sometime later next month to develop the
controllers as player drivers instead of java classes.

Cheers,
Radu.

On Fri, May 20, 2005 at 10:27:33AM -0500, Matthew Johnson wrote:
> Radu,
> 
> Please keep me informed on your progress.  I am also willing to discuss
> ideas as you develop things.
> 
> Matt
> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of Radu
> Bogdan Rusu
> Sent: Thursday, May 12, 2005 3:52 PM
> To: jav...@li...
> Subject: Re: [Java-player-users] Wheel control...
> 
> 
> You are perfectly right Matthew, and I stand by you 100%. That is one of
> the
> main reasons why I started the PID chat on playerstage-developers today.
> 
> I'm actually thinking if we should have a whole new interface (abstract
> +
> implementations) just for controllers. It would be best to do it at the
> player level, but I wouldn't mind coding some Java classes for it too.
> 
> (btw, we have java-player-developers too. maybe we can use that one  for
> this kind of talks. they might provide ideas which we could then take to
> playerstage-developers for further development :).
> 
> Cheers,
> Radu.
> 
> On Thu, May 12, 2005 at 03:43:51PM -0500, Matthew Johnson wrote:
> > Radu,
> > 
> > First, I apologize to those on the java list who are not interested in
> > this, but since it came up...
> > 
> > I was referring to the Player level.  Specifically what I mean is the
> > position interface includes:
> > 
> > Goto (x, y, yaw)
> > setPID(p, I, d)
> > 
> > These are not supported by all platforms, so I feel they should be
> > separate interface, for example:
> > 
> > Position interface = Goto(x, y,yaw)
> > PID interface = setPID(p, I, d)
> > 
> > This is just one example.  I have a lot of other issues with the
> Player
> > interfaces, but one of the biggest is that implementations should not
> > implement only a portion of the interface or you lose some of the
> > advantages to using an interface (platform abstraction).   Typically
> > implementations have to do this because the interface definition is
> not
> > well organized.
> > 
> > Matt
> > 
> > -----Original Message-----
> > From: jav...@li...
> > [mailto:jav...@li...] On Behalf Of
> Radu
> > Bogdan Rusu
> > Sent: Thursday, May 12, 2005 2:40 PM
> > To: jav...@li...
> > Subject: Re: [Java-player-users] Wheel control...
> > 
> > On Thu, May 12, 2005 at 08:10:54AM -0500, Matthew Johnson wrote:
> > > Radu,
> > > 
> > > It seems that this functionality should be divided into separate
> > > interfaces.  Has there been any talk about doing this?
> > > 
> > > Matt
> > 
> > Not that I know of. What do you mean by separate interfaces though?
> > Player
> > level or Javaclient level? We could easily split it up I guess, but I
> am
> > also thinking about the heading and PID stuff too, since they're all
> > somewhat related. :)
> > 
> > Cheers,
> > Radu.
> > 
> > > 
> > > -----Original Message-----
> > > From: jav...@li...
> > > [mailto:jav...@li...] On Behalf Of
> > Radu
> > > Bogdan Rusu
> > > Sent: Thursday, May 12, 2005 5:45 AM
> > > To: jav...@li...
> > > Subject: Re: [Java-player-users] Wheel control...
> > > 
> > > 
> > > Hello Hugo,
> > > 
> > > In theory it should be achievable using setVelocityControl ().
> > However,
> > > not
> > > every robot supports it, and it seems that Stage also doesn't.
> Here's
> > > the
> > > snippet from Player's manual:
> > > "
> > > Configuration request: Change velocity control.
> > > ...
> > > The p2os driver offers two modes of velocity control: separate
> > > translational
> > > and rotational control and direct wheel control. When in the
> separate
> > > mode,
> > > the robot's microcontroller internally computes left and right wheel
> > > velocities based on the currently commanded translational and
> > rotational
> > > velocities and then attenuates these values to match a nice
> predefined
> > > acceleration profile. When in the direct mode, the microcontroller
> > > simply
> > > passes on the current left and right wheel velocities. Essentially,
> > the
> > > separate mode offers smoother but slower (lower acceleration)
> control,
> > > and
> > > the direct mode offers faster but jerkier (higher acceleration)
> > control.
> > > Player's default is to use the direct mode. Set mode to zero for
> > direct
> > > control and non-zero for separate control.
> > > ...
> > > "
> > > 
> > > Sorry for replying so late,
> > > Radu.
> > > 
> > > On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques
> wrote:
> > > > 
> > > > Hi...
> > > > 
> > > > I have tried to go through the java client source code to check
> for
> > a
> > > way to
> > > > control the wheels independently instead of using the higher level
> > > methods
> > > > and I didn't find it... Can someone please give me an hint of how
> to
> > > do this
> > > > and how to get the amount of movement actually performed by each
> > > wheel?
> > > > 
> > > > Thanks...
> > > > Hugo
> > > > 
> > > > 
> > > > 
> > > > 
> > > > -------------------------------------------------------
> > > > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > > > Want to be the first software developer in space?
> > > > Enter now for the Oracle Space Sweepstakes!
> > > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > > > _______________________________________________
> > > > Java-player-users mailing list
> > > > Jav...@li...
> > > > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > > 
> > > -- 
> > > 
> > > Yours sincerely,
> > > Radu Bogdan Rusu
> > > --
> > > | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> > > | PhD student/teaching assistant
> > > | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> > > 
> > > 
> > > -------------------------------------------------------
> > > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > > Want to be the first software developer in space?
> > > Enter now for the Oracle Space Sweepstakes!
> > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > > _______________________________________________
> > > Java-player-users mailing list
> > > Jav...@li...
> > > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > > 
> > > 
> > > 
> > > -------------------------------------------------------
> > > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > > Want to be the first software developer in space?
> > > Enter now for the Oracle Space Sweepstakes!
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> > > _______________________________________________
> > > Java-player-users mailing list
> > > Jav...@li...
> > > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > 
> > -- 
> > 
> > Yours sincerely,
> > Radu Bogdan Rusu
> > --
> > | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> > | PhD student/teaching assistant
> > | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > 
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
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> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> -- 
> 
> Yours sincerely,
> Radu Bogdan Rusu
> --
> | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> | PhD student/teaching assistant
> | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
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> _______________________________________________
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> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> 
> 
> -------------------------------------------------------
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> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
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> _______________________________________________
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> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

Re: [Java-player-users] Deprecated functionality issues

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

Hello Paul,

Thanks for the kind words. Really appreciated :)

1) done. changed the getTimeForDataSent() from protected to public. I was
going to inherit them to the actual interfaces, but it seems that I forgot
to actually do it. I'm committing the changes to the SF CVS right now. (I
still have a few things to fix before releasing 1.6.3.2)

2) also fixed.  Thanks a lot for the head-up! 

You can get the latest updates using the SF CVS. I could really use some
feedback on them, since Maxim is still busy. Also, let me know if you'd like
1.6.3.2 to come out, in case the CVS doesn't suit your needs.

Cheers,
Radu.

On Wed, May 25, 2005 at 02:16:17PM -0400, R. Paul Wiegand wrote:
> Greetings,
> 
> First, let me say "thanks" to Radu Bogdan Rusu for picking up the  
> Java client for Player/Stage.  It's work, and it's appreciated.
> 
> In the 1.6.x versions of the Java client, there has been some code  
> restructuring.  In that restructuring, several features seem to have  
> been deprecated or removed.  For at least two of these, we've had to  
> put them back in our local copies in order to avoid making fairly  
> radical code changes to our existing software.  I wanted to write to  
> the list in order to:  1.) Inform others of these changes so they can  
> avoid spending time stumbling to find them, and 2.) Try to convince  
> the developers to return the functionality.
> 
> The two items critical to our work are as follows:
> 
> The getTimeForDataSent() method in PlayerDevice was changed from  
> public to protected.  We actually use this for a variety of purposes  
> (including debugging P/S timing problems, etc.) ... so we've had to  
> return this method to the public scope.  Is there a reason it is  
> protected?
> 
> The FiducialInterface class used to have an exposed accessor method  
> to get the array of what are now called  
> "PlayerFiducialItems" (formerly "Fiducials").  This method has been  
> entirely removed.  I believe I understand why (it exposes internal  
> information and weakens the integrity of the class); however, we  
> actually use this array for our own purposes.
> 
> 
> There are more protective ways to provide this kind of information,  
> if data integrity is the problem.  If that is not the issue, why have  
> these features been removed?  And can the developers be convinced to  
> add them back in the general distribution?
> 
> Thanks,
> Paul.
> 
> 
> =============================
> R. Paul Wiegand
> 
> Naval Research Laboratory
> 4555 Overlook Ave. SW
> Washington, DC
> =============================

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

[Java-player-users] Deprecated functionality issues

[R. P. W. <pa...@te...>]

Greetings,

First, let me say "thanks" to Radu Bogdan Rusu for picking up the  
Java client for Player/Stage.  It's work, and it's appreciated.

In the 1.6.x versions of the Java client, there has been some code  
restructuring.  In that restructuring, several features seem to have  
been deprecated or removed.  For at least two of these, we've had to  
put them back in our local copies in order to avoid making fairly  
radical code changes to our existing software.  I wanted to write to  
the list in order to:  1.) Inform others of these changes so they can  
avoid spending time stumbling to find them, and 2.) Try to convince  
the developers to return the functionality.

The two items critical to our work are as follows:

The getTimeForDataSent() method in PlayerDevice was changed from  
public to protected.  We actually use this for a variety of purposes  
(including debugging P/S timing problems, etc.) ... so we've had to  
return this method to the public scope.  Is there a reason it is  
protected?

The FiducialInterface class used to have an exposed accessor method  
to get the array of what are now called  
"PlayerFiducialItems" (formerly "Fiducials").  This method has been  
entirely removed.  I believe I understand why (it exposes internal  
information and weakens the integrity of the class); however, we  
actually use this array for our own purposes.


There are more protective ways to provide this kind of information,  
if data integrity is the problem.  If that is not the issue, why have  
these features been removed?  And can the developers be convinced to  
add them back in the general distribution?

Thanks,
Paul.


=============================
R. Paul Wiegand

Naval Research Laboratory
4555 Overlook Ave. SW
Washington, DC
=============================

RE: [Java-player-users] Wheel control...

[Matthew J. <mjo...@ih...>]

Radu,

Please keep me informed on your progress.  I am also willing to discuss
ideas as you develop things.

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Thursday, May 12, 2005 3:52 PM
To: jav...@li...
Subject: Re: [Java-player-users] Wheel control...


You are perfectly right Matthew, and I stand by you 100%. That is one of
the
main reasons why I started the PID chat on playerstage-developers today.

I'm actually thinking if we should have a whole new interface (abstract
+
implementations) just for controllers. It would be best to do it at the
player level, but I wouldn't mind coding some Java classes for it too.

(btw, we have java-player-developers too. maybe we can use that one  for
this kind of talks. they might provide ideas which we could then take to
playerstage-developers for further development :).

Cheers,
Radu.

On Thu, May 12, 2005 at 03:43:51PM -0500, Matthew Johnson wrote:
> Radu,
> 
> First, I apologize to those on the java list who are not interested in
> this, but since it came up...
> 
> I was referring to the Player level.  Specifically what I mean is the
> position interface includes:
> 
> Goto (x, y, yaw)
> setPID(p, I, d)
> 
> These are not supported by all platforms, so I feel they should be
> separate interface, for example:
> 
> Position interface = Goto(x, y,yaw)
> PID interface = setPID(p, I, d)
> 
> This is just one example.  I have a lot of other issues with the
Player
> interfaces, but one of the biggest is that implementations should not
> implement only a portion of the interface or you lose some of the
> advantages to using an interface (platform abstraction).   Typically
> implementations have to do this because the interface definition is
not
> well organized.
> 
> Matt
> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of
Radu
> Bogdan Rusu
> Sent: Thursday, May 12, 2005 2:40 PM
> To: jav...@li...
> Subject: Re: [Java-player-users] Wheel control...
> 
> On Thu, May 12, 2005 at 08:10:54AM -0500, Matthew Johnson wrote:
> > Radu,
> > 
> > It seems that this functionality should be divided into separate
> > interfaces.  Has there been any talk about doing this?
> > 
> > Matt
> 
> Not that I know of. What do you mean by separate interfaces though?
> Player
> level or Javaclient level? We could easily split it up I guess, but I
am
> also thinking about the heading and PID stuff too, since they're all
> somewhat related. :)
> 
> Cheers,
> Radu.
> 
> > 
> > -----Original Message-----
> > From: jav...@li...
> > [mailto:jav...@li...] On Behalf Of
> Radu
> > Bogdan Rusu
> > Sent: Thursday, May 12, 2005 5:45 AM
> > To: jav...@li...
> > Subject: Re: [Java-player-users] Wheel control...
> > 
> > 
> > Hello Hugo,
> > 
> > In theory it should be achievable using setVelocityControl ().
> However,
> > not
> > every robot supports it, and it seems that Stage also doesn't.
Here's
> > the
> > snippet from Player's manual:
> > "
> > Configuration request: Change velocity control.
> > ...
> > The p2os driver offers two modes of velocity control: separate
> > translational
> > and rotational control and direct wheel control. When in the
separate
> > mode,
> > the robot's microcontroller internally computes left and right wheel
> > velocities based on the currently commanded translational and
> rotational
> > velocities and then attenuates these values to match a nice
predefined
> > acceleration profile. When in the direct mode, the microcontroller
> > simply
> > passes on the current left and right wheel velocities. Essentially,
> the
> > separate mode offers smoother but slower (lower acceleration)
control,
> > and
> > the direct mode offers faster but jerkier (higher acceleration)
> control.
> > Player's default is to use the direct mode. Set mode to zero for
> direct
> > control and non-zero for separate control.
> > ...
> > "
> > 
> > Sorry for replying so late,
> > Radu.
> > 
> > On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques
wrote:
> > > 
> > > Hi...
> > > 
> > > I have tried to go through the java client source code to check
for
> a
> > way to
> > > control the wheels independently instead of using the higher level
> > methods
> > > and I didn't find it... Can someone please give me an hint of how
to
> > do this
> > > and how to get the amount of movement actually performed by each
> > wheel?
> > > 
> > > Thanks...
> > > Hugo
> > > 
> > > 
> > > 
> > > 
> > > -------------------------------------------------------
> > > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > > Want to be the first software developer in space?
> > > Enter now for the Oracle Space Sweepstakes!
> > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > > _______________________________________________
> > > Java-player-users mailing list
> > > Jav...@li...
> > > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > 
> > -- 
> > 
> > Yours sincerely,
> > Radu Bogdan Rusu
> > --
> > | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> > | PhD student/teaching assistant
> > | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > 
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> -- 
> 
> Yours sincerely,
> Radu Bogdan Rusu
> --
> | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> | PhD student/teaching assistant
> | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
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> _______________________________________________
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> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]


-------------------------------------------------------
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Want to be the first software developer in space?
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Re: [Java-player-users] MComInterface

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

On Mon, May 16, 2005 at 03:30:45PM -0400, Joseph Blumenthal wrote:
> I am trying to use the MComInterface for a LIFOCOM device to broadcast 
> position between simulated Pioneer 3AT's  for some simple multi-agent EC 
> learning experiments. I appreciate any help you can provide with your 
> busy schedule.
> 
> Joseph Blumenthal

Okay, let's see what we got. I just commited the changes to MComInterface to
the SF CVS repository.

Basically, I added the following methods:
- Push() -> PLAYER_MCOM_PUSH_REQ
- Pop() -> PLAYER_MCOM_POP_REQ
- Read() -> PLAYER_MCOM_READ_REQ
- Clear() -> PLAYER_MCOM_CLEAR_REQ
- setCapacity() -> PLAYER_MCOM_SET_CAPACITY_REQ

While looking at test_mcom.cc, it seems that a proper test should look like:
- first subscribe to the interface using requestInterfaceMCom()
- use Push() to send some data (eg. Push (1, "test", data), where data is a
char array and "test" is the channel name)
- use Read() or Pop() (they look the same to me) to read data from a channel
(eg. Pop (1, "test"))
- check if the data has been read using isDataReady() and if true, use the
get* methods to get the desired data (getRData(), getDataType(), etc)

Unfortunately, I don't have any access to a Lifecom device, so I can't test
this properly.

If you have any troubles retreiving the code from CVS (use
http://sourceforge.net/cvs/?group_id=135304, Anonymous CVS Access section
for details) please let me know, and I'll build 1.6.3.2 and upload it
tomorrow.

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

Re: [Java-player-users] MComInterface

[Joseph B. <blu...@ai...>]

Radu Bogdan Rusu wrote:

>Hello Joseph,
>
>I haven't tested it yet. I will look at it and write some examples sometime
>next week. I'm kind of busy right now with some final university projects,
>but that will end soon :)
>
>What are you trying to use it for?
>
>On Fri, May 13, 2005 at 02:28:44PM -0400, Joseph Blumenthal wrote:
>  
>
>>I have been experimenting with the MComm interface and I have not had 
>>much luck. The java doc says " This interface returns no data and 
>>accepts no commands." The documentation also says that the Pop method is 
>>defined however it doesn't seem to be written as part of the 
>>MComInterface.java. What can be done with the current communication 
>>interface? Has anyone had any success using the interface? I appreciate 
>>any advice you can lend.
>>
>>Joseph Blumenthal
>>    
>>
>
>Yours sincerely,
>Radu Bogdan Rusu
>--
>| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
>| PhD student/teaching assistant
>| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
>
>
>-------------------------------------------------------
>This SF.Net email is sponsored by Oracle Space Sweepstakes
>Want to be the first software developer in space?
>Enter now for the Oracle Space Sweepstakes!
>http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
>_______________________________________________
>Java-player-users mailing list
>Jav...@li...
>https://lists.sourceforge.net/lists/listinfo/java-player-users
>  
>
I am trying to use the MComInterface for a LIFOCOM device to broadcast 
position between simulated Pioneer 3AT's  for some simple multi-agent EC 
learning experiments. I appreciate any help you can provide with your 
busy schedule.

Joseph Blumenthal

Re: [Java-player-users] Position and Laser interfaces conflict?

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

Hello Hugo,

I just commited the changes and uploaded 1.6.3.1 to SF. I finally realized
that you were right, and that we had a nasty bug which prevented Laser and
Position working together (or Laser and ANY other interface for that matter
:( ). So thanks again for the head up!

Cheers,
Radu.

On Mon, May 09, 2005 at 11:22:18PM +0100, Marques, Hugo G wrote:
>  
> Hi...
>  
> I made the changes suggested but i still have the same problem when the laserinterface line is uncommented... The robot moves but the position printed from the System.out.println doesn't change.
>  
> I'm just using the simple.world that comes originally with stage.
>  
> Any other suggestion?
>  
> import javaclient.*;
> 
> public class Hugo {
>     public static void main(String[] args) {
>         String hostToConnect = args[0];
>         int portToConnect    = Integer.parseInt(args[1]);
> 
>         System.out.println(" Host: "+hostToConnect+"  Port: "+portToConnect);
>         PlayerClient         robot = new PlayerClient(hostToConnect,portToConnect);
>         PositionInterface ppd   = robot.requestInterfacePosition(0, 'a');
> 
>  //       LaserInterface    lpd   = robot.requestInterfaceLaser(0, 'a');
>         robot.runThreaded(-1, -1);
>     
>         for(int i = 0; ; i++) {   
>             robot.readAll();       
> 
>            for(int j = 0; j < 100000000; j++){}    
> 
>            ppd.setSpeed(100, 0);
>            System.out.println(ppd.getX() +  " " + ppd.getY());
>      }
>   }
> }
> 
>  
>  
> ----------------------------------------------------
> Hugo Gravato Marques, University of Essex, PhD Student
> PHONE: +44 (0)7854917241, England or +351 962482416, Portugal
> ADDRESS: University of Essex, Department of Computer Science,
> Wivenhoe Park, Colchester Essex, CO4 3SQ, UK
> WEB: http://privatewww.essex.ac.uk/~hgmarq/
>  
>  
> 
>  
> <http://privatewww.essex.ac.uk/~hgmarq/> 
> 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

Re: [Java-player-users] MComInterface

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

Hello Joseph,

I haven't tested it yet. I will look at it and write some examples sometime
next week. I'm kind of busy right now with some final university projects,
but that will end soon :)

What are you trying to use it for?

On Fri, May 13, 2005 at 02:28:44PM -0400, Joseph Blumenthal wrote:
> I have been experimenting with the MComm interface and I have not had 
> much luck. The java doc says " This interface returns no data and 
> accepts no commands." The documentation also says that the Pop method is 
> defined however it doesn't seem to be written as part of the 
> MComInterface.java. What can be done with the current communication 
> interface? Has anyone had any success using the interface? I appreciate 
> any advice you can lend.
> 
> Joseph Blumenthal

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

[Java-player-users] MComInterface

[Joseph B. <blu...@ai...>]

I have been experimenting with the MComm interface and I have not had 
much luck. The java doc says " This interface returns no data and 
accepts no commands." The documentation also says that the Pop method is 
defined however it doesn't seem to be written as part of the 
MComInterface.java. What can be done with the current communication 
interface? Has anyone had any success using the interface? I appreciate 
any advice you can lend.

Joseph Blumenthal

Re: [Java-player-users] Wheel control...

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

You are perfectly right Matthew, and I stand by you 100%. That is one of the
main reasons why I started the PID chat on playerstage-developers today.

I'm actually thinking if we should have a whole new interface (abstract +
implementations) just for controllers. It would be best to do it at the
player level, but I wouldn't mind coding some Java classes for it too.

(btw, we have java-player-developers too. maybe we can use that one  for
this kind of talks. they might provide ideas which we could then take to
playerstage-developers for further development :).

Cheers,
Radu.

On Thu, May 12, 2005 at 03:43:51PM -0500, Matthew Johnson wrote:
> Radu,
> 
> First, I apologize to those on the java list who are not interested in
> this, but since it came up...
> 
> I was referring to the Player level.  Specifically what I mean is the
> position interface includes:
> 
> Goto (x, y, yaw)
> setPID(p, I, d)
> 
> These are not supported by all platforms, so I feel they should be
> separate interface, for example:
> 
> Position interface = Goto(x, y,yaw)
> PID interface = setPID(p, I, d)
> 
> This is just one example.  I have a lot of other issues with the Player
> interfaces, but one of the biggest is that implementations should not
> implement only a portion of the interface or you lose some of the
> advantages to using an interface (platform abstraction).   Typically
> implementations have to do this because the interface definition is not
> well organized.
> 
> Matt
> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of Radu
> Bogdan Rusu
> Sent: Thursday, May 12, 2005 2:40 PM
> To: jav...@li...
> Subject: Re: [Java-player-users] Wheel control...
> 
> On Thu, May 12, 2005 at 08:10:54AM -0500, Matthew Johnson wrote:
> > Radu,
> > 
> > It seems that this functionality should be divided into separate
> > interfaces.  Has there been any talk about doing this?
> > 
> > Matt
> 
> Not that I know of. What do you mean by separate interfaces though?
> Player
> level or Javaclient level? We could easily split it up I guess, but I am
> also thinking about the heading and PID stuff too, since they're all
> somewhat related. :)
> 
> Cheers,
> Radu.
> 
> > 
> > -----Original Message-----
> > From: jav...@li...
> > [mailto:jav...@li...] On Behalf Of
> Radu
> > Bogdan Rusu
> > Sent: Thursday, May 12, 2005 5:45 AM
> > To: jav...@li...
> > Subject: Re: [Java-player-users] Wheel control...
> > 
> > 
> > Hello Hugo,
> > 
> > In theory it should be achievable using setVelocityControl ().
> However,
> > not
> > every robot supports it, and it seems that Stage also doesn't. Here's
> > the
> > snippet from Player's manual:
> > "
> > Configuration request: Change velocity control.
> > ...
> > The p2os driver offers two modes of velocity control: separate
> > translational
> > and rotational control and direct wheel control. When in the separate
> > mode,
> > the robot's microcontroller internally computes left and right wheel
> > velocities based on the currently commanded translational and
> rotational
> > velocities and then attenuates these values to match a nice predefined
> > acceleration profile. When in the direct mode, the microcontroller
> > simply
> > passes on the current left and right wheel velocities. Essentially,
> the
> > separate mode offers smoother but slower (lower acceleration) control,
> > and
> > the direct mode offers faster but jerkier (higher acceleration)
> control.
> > Player's default is to use the direct mode. Set mode to zero for
> direct
> > control and non-zero for separate control.
> > ...
> > "
> > 
> > Sorry for replying so late,
> > Radu.
> > 
> > On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques wrote:
> > > 
> > > Hi...
> > > 
> > > I have tried to go through the java client source code to check for
> a
> > way to
> > > control the wheels independently instead of using the higher level
> > methods
> > > and I didn't find it... Can someone please give me an hint of how to
> > do this
> > > and how to get the amount of movement actually performed by each
> > wheel?
> > > 
> > > Thanks...
> > > Hugo
> > > 
> > > 
> > > 
> > > 
> > > -------------------------------------------------------
> > > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > > Want to be the first software developer in space?
> > > Enter now for the Oracle Space Sweepstakes!
> > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > > _______________________________________________
> > > Java-player-users mailing list
> > > Jav...@li...
> > > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > 
> > -- 
> > 
> > Yours sincerely,
> > Radu Bogdan Rusu
> > --
> > | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> > | PhD student/teaching assistant
> > | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> > 
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> -- 
> 
> Yours sincerely,
> Radu Bogdan Rusu
> --
> | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> | PhD student/teaching assistant
> | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
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> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

RE: [Java-player-users] Wheel control...

[Matthew J. <mjo...@ih...>]

Radu,

First, I apologize to those on the java list who are not interested in
this, but since it came up...

I was referring to the Player level.  Specifically what I mean is the
position interface includes:

Goto (x, y, yaw)
setPID(p, I, d)

These are not supported by all platforms, so I feel they should be
separate interface, for example:

Position interface = Goto(x, y,yaw)
PID interface = setPID(p, I, d)

This is just one example.  I have a lot of other issues with the Player
interfaces, but one of the biggest is that implementations should not
implement only a portion of the interface or you lose some of the
advantages to using an interface (platform abstraction).   Typically
implementations have to do this because the interface definition is not
well organized.

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Thursday, May 12, 2005 2:40 PM
To: jav...@li...
Subject: Re: [Java-player-users] Wheel control...

On Thu, May 12, 2005 at 08:10:54AM -0500, Matthew Johnson wrote:
> Radu,
> 
> It seems that this functionality should be divided into separate
> interfaces.  Has there been any talk about doing this?
> 
> Matt

Not that I know of. What do you mean by separate interfaces though?
Player
level or Javaclient level? We could easily split it up I guess, but I am
also thinking about the heading and PID stuff too, since they're all
somewhat related. :)

Cheers,
Radu.

> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of
Radu
> Bogdan Rusu
> Sent: Thursday, May 12, 2005 5:45 AM
> To: jav...@li...
> Subject: Re: [Java-player-users] Wheel control...
> 
> 
> Hello Hugo,
> 
> In theory it should be achievable using setVelocityControl ().
However,
> not
> every robot supports it, and it seems that Stage also doesn't. Here's
> the
> snippet from Player's manual:
> "
> Configuration request: Change velocity control.
> ...
> The p2os driver offers two modes of velocity control: separate
> translational
> and rotational control and direct wheel control. When in the separate
> mode,
> the robot's microcontroller internally computes left and right wheel
> velocities based on the currently commanded translational and
rotational
> velocities and then attenuates these values to match a nice predefined
> acceleration profile. When in the direct mode, the microcontroller
> simply
> passes on the current left and right wheel velocities. Essentially,
the
> separate mode offers smoother but slower (lower acceleration) control,
> and
> the direct mode offers faster but jerkier (higher acceleration)
control.
> Player's default is to use the direct mode. Set mode to zero for
direct
> control and non-zero for separate control.
> ...
> "
> 
> Sorry for replying so late,
> Radu.
> 
> On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques wrote:
> > 
> > Hi...
> > 
> > I have tried to go through the java client source code to check for
a
> way to
> > control the wheels independently instead of using the higher level
> methods
> > and I didn't find it... Can someone please give me an hint of how to
> do this
> > and how to get the amount of movement actually performed by each
> wheel?
> > 
> > Thanks...
> > Hugo
> > 
> > 
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> -- 
> 
> Yours sincerely,
> Radu Bogdan Rusu
> --
> | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> | PhD student/teaching assistant
> | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]


-------------------------------------------------------
This SF.Net email is sponsored by Oracle Space Sweepstakes
Want to be the first software developer in space?
Enter now for the Oracle Space Sweepstakes!
http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
_______________________________________________
Java-player-users mailing list
Jav...@li...
https://lists.sourceforge.net/lists/listinfo/java-player-users

Re: [Java-player-users] Wheel control...

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

On Thu, May 12, 2005 at 08:10:54AM -0500, Matthew Johnson wrote:
> Radu,
> 
> It seems that this functionality should be divided into separate
> interfaces.  Has there been any talk about doing this?
> 
> Matt

Not that I know of. What do you mean by separate interfaces though? Player
level or Javaclient level? We could easily split it up I guess, but I am
also thinking about the heading and PID stuff too, since they're all
somewhat related. :)

Cheers,
Radu.

> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of Radu
> Bogdan Rusu
> Sent: Thursday, May 12, 2005 5:45 AM
> To: jav...@li...
> Subject: Re: [Java-player-users] Wheel control...
> 
> 
> Hello Hugo,
> 
> In theory it should be achievable using setVelocityControl (). However,
> not
> every robot supports it, and it seems that Stage also doesn't. Here's
> the
> snippet from Player's manual:
> "
> Configuration request: Change velocity control.
> ...
> The p2os driver offers two modes of velocity control: separate
> translational
> and rotational control and direct wheel control. When in the separate
> mode,
> the robot's microcontroller internally computes left and right wheel
> velocities based on the currently commanded translational and rotational
> velocities and then attenuates these values to match a nice predefined
> acceleration profile. When in the direct mode, the microcontroller
> simply
> passes on the current left and right wheel velocities. Essentially, the
> separate mode offers smoother but slower (lower acceleration) control,
> and
> the direct mode offers faster but jerkier (higher acceleration) control.
> Player's default is to use the direct mode. Set mode to zero for direct
> control and non-zero for separate control.
> ...
> "
> 
> Sorry for replying so late,
> Radu.
> 
> On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques wrote:
> > 
> > Hi...
> > 
> > I have tried to go through the java client source code to check for a
> way to
> > control the wheels independently instead of using the higher level
> methods
> > and I didn't find it... Can someone please give me an hint of how to
> do this
> > and how to get the amount of movement actually performed by each
> wheel?
> > 
> > Thanks...
> > Hugo
> > 
> > 
> > 
> > 
> > -------------------------------------------------------
> > This SF.Net email is sponsored by Oracle Space Sweepstakes
> > Want to be the first software developer in space?
> > Enter now for the Oracle Space Sweepstakes!
> > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> > _______________________________________________
> > Java-player-users mailing list
> > Jav...@li...
> > https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> -- 
> 
> Yours sincerely,
> Radu Bogdan Rusu
> --
> | Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> | PhD student/teaching assistant
> | Robotics Research Group, Technical University of Cluj-Napoca[.ro]
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
> 
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

Re: [Java-player-users] General Error

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

Hello DL,

You have a small typo error, the name of the directory and package should be
"javaclient" and not "Javaclient". Rename that, and you should be fine.

Also it seems that your test.java is perhaps outdated? We do not support the
old Javaclient/src/ structure for quite some time now.

If you still don't manage to fix it, send us the code snippet and we'll help
you.

Cheers,
Radu.

On Thu, May 12, 2005 at 01:38:44PM -0400, DL Lawrence wrote:
> Hi, I just started using Javaclient 1.6.3 and I have encountered a problem 
> that hopefully someone can help me with. Here's the error I am getting:
> [lawr1511@wsheng-xp Javaclient-1.6.3]$ javac test.java
> ./Javaclient/src/PlayerClient.java:30: cannot access 
> Javaclient.structures.PlayerDeviceDriverInfo
> bad class file: ./Javaclient/structures/PlayerDeviceDriverInfo.java
> file does not contain class Javaclient.structures.PlayerDeviceDriverInfo
> Please remove or make sure it appears in the correct subdirectory of the 
> classpath.
> import Javaclient.structures.PlayerDeviceDriverInfo;
> ^
> 1 error
> 
> Hopefully someone can shed some light on this. My email is 
> law...@ke... Thank you very much
> 
> _________________________________________________________________
> Is your PC infected? Get a FREE online computer virus scan from McAfee? 
> Security. http://clinic.mcafee.com/clinic/ibuy/campaign.asp?cid=3963
> 
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

[Java-player-users] General Error

[DL L. <dl_...@ho...>]

Hi, I just started using Javaclient 1.6.3 and I have encountered a problem 
that hopefully someone can help me with. Here's the error I am getting:
[lawr1511@wsheng-xp Javaclient-1.6.3]$ javac test.java
./Javaclient/src/PlayerClient.java:30: cannot access 
Javaclient.structures.PlayerDeviceDriverInfo
bad class file: ./Javaclient/structures/PlayerDeviceDriverInfo.java
file does not contain class Javaclient.structures.PlayerDeviceDriverInfo
Please remove or make sure it appears in the correct subdirectory of the 
classpath.
import Javaclient.structures.PlayerDeviceDriverInfo;
^
1 error

Hopefully someone can shed some light on this. My email is 
law...@ke... Thank you very much

_________________________________________________________________
Is your PC infected? Get a FREE online computer virus scan from McAfee® 
Security. http://clinic.mcafee.com/clinic/ibuy/campaign.asp?cid=3963

[Java-player-users] General Javaclient Error

[DL L. <dl_...@ho...>]

Hi, I just started using Javaclient 1.6.3 and I have encountered a problem 
that hopefully someone can help me with. Here's the error I am getting:
[lawr1511@wsheng-xp Javaclient-1.6.3]$ javac test.java
./Javaclient/src/PlayerClient.java:30: cannot access 
Javaclient.structures.PlayerDeviceDriverInfo
bad class file: ./Javaclient/structures/PlayerDeviceDriverInfo.java
file does not contain class Javaclient.structures.PlayerDeviceDriverInfo
Please remove or make sure it appears in the correct subdirectory of the 
classpath.
import Javaclient.structures.PlayerDeviceDriverInfo;
^
1 error

Hopefully someone can shed some light on this. My email is 
dl_...@ho... Thank you very much

DL

_________________________________________________________________
On the road to retirement? Check out MSN Life Events for advice on how to 
get there! http://lifeevents.msn.com/category.aspx?cid=Retirement

RE: [Java-player-users] Wheel control...

[Matthew J. <mjo...@ih...>]

Radu,

It seems that this functionality should be divided into separate
interfaces.  Has there been any talk about doing this?

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Thursday, May 12, 2005 5:45 AM
To: jav...@li...
Subject: Re: [Java-player-users] Wheel control...


Hello Hugo,

In theory it should be achievable using setVelocityControl (). However,
not
every robot supports it, and it seems that Stage also doesn't. Here's
the
snippet from Player's manual:
"
Configuration request: Change velocity control.
...
The p2os driver offers two modes of velocity control: separate
translational
and rotational control and direct wheel control. When in the separate
mode,
the robot's microcontroller internally computes left and right wheel
velocities based on the currently commanded translational and rotational
velocities and then attenuates these values to match a nice predefined
acceleration profile. When in the direct mode, the microcontroller
simply
passes on the current left and right wheel velocities. Essentially, the
separate mode offers smoother but slower (lower acceleration) control,
and
the direct mode offers faster but jerkier (higher acceleration) control.
Player's default is to use the direct mode. Set mode to zero for direct
control and non-zero for separate control.
...
"

Sorry for replying so late,
Radu.

On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques wrote:
> 
> Hi...
> 
> I have tried to go through the java client source code to check for a
way to
> control the wheels independently instead of using the higher level
methods
> and I didn't find it... Can someone please give me an hint of how to
do this
> and how to get the amount of movement actually performed by each
wheel?
> 
> Thanks...
> Hugo
> 
> 
> 
> 
> -------------------------------------------------------
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-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]


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Re: [Java-player-users] Wheel control...

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

Hello Hugo,

In theory it should be achievable using setVelocityControl (). However, not
every robot supports it, and it seems that Stage also doesn't. Here's the
snippet from Player's manual:
"
Configuration request: Change velocity control.
...
The p2os driver offers two modes of velocity control: separate translational
and rotational control and direct wheel control. When in the separate mode,
the robot's microcontroller internally computes left and right wheel
velocities based on the currently commanded translational and rotational
velocities and then attenuates these values to match a nice predefined
acceleration profile. When in the direct mode, the microcontroller simply
passes on the current left and right wheel velocities. Essentially, the
separate mode offers smoother but slower (lower acceleration) control, and
the direct mode offers faster but jerkier (higher acceleration) control.
Player's default is to use the direct mode. Set mode to zero for direct
control and non-zero for separate control.
...
"

Sorry for replying so late,
Radu.

On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques wrote:
> 
> Hi...
> 
> I have tried to go through the java client source code to check for a way to
> control the wheels independently instead of using the higher level methods
> and I didn't find it... Can someone please give me an hint of how to do this
> and how to get the amount of movement actually performed by each wheel?
> 
> Thanks...
> Hugo
> 
> 
> 
> 
> -------------------------------------------------------
> This SF.Net email is sponsored by Oracle Space Sweepstakes
> Want to be the first software developer in space?
> Enter now for the Oracle Space Sweepstakes!
> http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

[Java-player-users] Wheel control...

[Hugo G. M. <hg...@es...>]

Hi...

I have tried to go through the java client source code to check for a way to
control the wheels independently instead of using the higher level methods
and I didn't find it... Can someone please give me an hint of how to do this
and how to get the amount of movement actually performed by each wheel?

Thanks...
Hugo

[Java-player-users] Javaclient 1.6.3 released

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

Javaclient 1.6.3 is *finally* up at SF. :)

Changes:
- added full support for the following interfaces: fiducial, mcom, motor,
position2d and position3d; (***)
- fixed "a lot" (TM) of bugs on the PositionInterface; (Please upgrade!)
- GoTo() from PositionInterface (which was not working btw) has changed to
setPosition();
- minor cosmetic changes on some other interfaces.

*** = Finally, we support all the interfaces from Player's manual 1.6.3. :)
Here's the list: 
 * player             - PlayerClient.java
 * power              - PowerInterface.java
 * gripper            - GripperInterface.java
 * motor              - MotorInterface.java
 * position           - PositionInterface.java
 * position2d         - Position2DInterface.java
 * position3d         - Position3DInterface.java
 * sonar              - SonarInterface.java
 * laser              - LaserInterface.java
 * blobfinder         - BlobfinderInterface.java
 * ptz                - PtzInterface.java
 * camera             - CameraInterface.java
 * audio              - AudioInterface.java
 * audiodsp           - AudioDSPInterface.java
 * audiomixer         - AudioMixerInterface.java
 * waveform           - WaveformInterface.java
 * blinkenlight       - BlinkenlightInterface.java
 * fiducial           - FiducialInterface.java
 * speech             - SpeechInterface.java
 * gps                - GPSInterface.java
 * bumper             - BumperInterface.java
 * truth              - TruthInterface.java
 * simulation         - SimulationInterface.java
 * dio                - DIOInterface.java
 * aio                - AIOInterface.java
 * joystick           - JoystickInterface.java
 * wifi               - WiFiInterface.java
 * ir                 - IRInterface.java
 * localize           - LocalizeInterface.java
 * map                - MapInterface.java
 * mcom               - MComInterface.java
 * nomad              - NomadInterface.java
 * sound              - SoundInterface.java
 * energy             - EnergyInterface.java
 * planner            - PlannerInterface.java
 * log                - LogInterface.java
 * speech_recognition - SpeechRecognitionInterface.java

The CVS has been updated a few moments ago too.

From now on, most of my "javaclient time" will be dedicated to write
examples on how to use each of these interfaces. Again, any help is more
than welcome. :)

PS. Javaclient 1.6.3 also contains the jar, classes and documentation
already built, just in case some people don't know how to use Ant yet.

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]

RE: [Java-player-users] Position and Laser interfaces conflict?

[Marques, H. G <hg...@es...>]

=20
Hi...
=20
I made the changes suggested but i still have the same problem when the =
laserinterface line is uncommented... The robot moves but the position =
printed from the System.out.println doesn't change.
=20
I'm just using the simple.world that comes originally with stage.
=20
Any other suggestion?
=20
import javaclient.*;

public class Hugo {
    public static void main(String[] args) {
        String hostToConnect =3D args[0];
        int portToConnect    =3D Integer.parseInt(args[1]);

        System.out.println(" Host: "+hostToConnect+"  Port: =
"+portToConnect);
        PlayerClient         robot =3D new =
PlayerClient(hostToConnect,portToConnect);
        PositionInterface ppd   =3D robot.requestInterfacePosition(0, =
'a');

 //       LaserInterface    lpd   =3D robot.requestInterfaceLaser(0, =
'a');
        robot.runThreaded(-1, -1);
   =20
        for(int i =3D 0; ; i++) {  =20
            robot.readAll();      =20

           for(int j =3D 0; j < 100000000; j++){}   =20

           ppd.setSpeed(100, 0);
           System.out.println(ppd.getX() +  " " + ppd.getY());
     }
  }
}

=20
=20
----------------------------------------------------
Hugo Gravato Marques, University of Essex, PhD Student
PHONE: +44 (0)7854917241, England or +351 962482416, Portugal
ADDRESS: University of Essex, Department of Computer Science,
Wivenhoe Park, Colchester Essex, CO4 3SQ, UK
WEB: http://privatewww.essex.ac.uk/~hgmarq/
=20
=20

=20
<http://privatewww.essex.ac.uk/~hgmarq/>=20

________________________________

From: jav...@li... on behalf of Radu =
Bogdan Rusu
Sent: Sat 07/05/2005 18:08
To: jav...@li...
Subject: Re: [Java-player-users] Position and Laser interfaces conflict?





I'm not quite sure what you're experiencing here. The exact same code =
works
with Javaclient 1.6.2e just fine. By the way, one small note:

- try to use the javaclient.jar file or the classes subdirectory and use
"import javaclient.*;" instead of building your code inside the =
javaclient
sources (hence, the need for "package javaclient;"). I now realize the =
need
for some simple examples for our users... We provided the ANT makefile =
and
shell scripts which should build the classes, the jar and the =
documentation,
but we forgot to explain that to our users. :(

So your code works fine with player and stage (CVSed) and Javaclient =
1.6.2e.

What version of player/stage are you using, and how does your =
config/world
file looks like? I'm quite sure this should work with any version, but =
who
knows... nobody is perfect :)

Cheers,
Radu.

On Sat, May 07, 2005 at 05:11:26PM +0100, Hugo Gravato Marques wrote:
>
>
> Hello...
>
> I've tried to make a small java class in order to understand the way =
the
> interaction between the java client, the player and stage works.
> So far I manage to get information about some sensors and move the =
robot
> around... However I found a problem that I don't understand why it
> happens... When I run the code below I have the information about the
> position of the robot updated every step... And that is OK... But when =
I
> uncomment the (apparently innocent) LaserInterface line I stop having =
that
> information updated and it prints always the same position. Can =
someone help
> me please...
>
> Thanks...
> hugo
>
>
> *******************************  CODE  **********************
>
> package javaclient;
>
> public class Test {
>  =20
>    public static void main(String[] args) {
>    =20
>      String hostToConnect =3D args[0];
>      int portToConnect    =3D Integer.parseInt(args[1]);
>
>      System.out.println(" Host: "+hostToConnect+"  Port: =
"+portToConnect);
>    =20
>      PlayerClient robot =3D new PlayerClient (hostToConnect, =
portToConnect);
>      PositionInterface ppd   =3D robot.requestInterfacePosition(0, =
'a');
>    =20
> //     LaserInterface    lpd   =3D robot.requestInterfaceLaser(0, =
'a');
>      robot.runThreaded(-1, -1);
>    =20
>      for(int i =3D 0; ; i++) {
>         robot.readAll();
>=20
>         for(int j =3D 0; j < 100000000; j++){}
>        =20
>         ppd.setSpeed(100, 0);
>         System.out.println(ppd.getX() +  " " + ppd.getY());
>
>      }
>   }
> }
>
>
>
> ----------------------------------------------------
> Hugo Gravato Marques, University of Essex, PhD Student
> PHONE: +44 (0)7854917241, England or +351 962482416, Portugal
> ADDRESS: University of Essex, Department of Computer Science,
> Wivenhoe Park, Colchester Essex, CO4 3SQ, UK
> WEB: http://privatewww.essex.ac.uk/~hgmarq/
>

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.


-------------------------------------------------------
This SF.Net email is sponsored by: NEC IT Guy Games.
Get your fingers limbered up and give it your best shot. 4 great events, =
4
opportunities to win big! Highest score wins.NEC IT Guy Games. Play to
win an NEC 61 plasma display. Visit http://www.necitguy.com/?r=3D20
_______________________________________________
Java-player-users mailing list
Jav...@li...
https://lists.sourceforge.net/lists/listinfo/java-player-users

[Java-player-users] [Java+P/S]

[Geert-Jan M.K. <gj...@df...>]

hi hugo,

> I've tried to make a small java class in order to understand the way 
> the
> interaction between the java client, the player and stage works.
> So far I manage to get information about some sensors and move the 
> robot
> around... However I found a problem that I don't understand why it
> happens... When I run the code below I have the information about the
> position of the robot updated every step... And that is OK... But when 
> I
> uncomment the (apparently innocent) LaserInterface line I stop having 
> that
> information updated and it prints always the same position. Can 
> someone help
> me please...
>

>      PlayerClient robot = new PlayerClient (hostToConnect, 
> portToConnect);
>      PositionInterface ppd   = robot.requestInterfacePosition(0, 'a');
>
> //     LaserInterface    lpd   = robot.requestInterfaceLaser(0, 'a');

suggestion: make sure that you use unique identifiers when requesting 
interfaces. what if you try

LaserInterface    lpd   = robot.requestInterfaceLaser(1, 'a');

do you still have a problem then?

best, geert-jan

=====================================================
Dr. ir. Geert-Jan M. Kruijff

Language Technology Lab
German Research Center for Artificial Intelligence (DFKI)
Saarbrucken, Germany

Email:	gj...@df..., gj...@ac...
Phone: 	+49.681.302.5153
Fax: 		+49.681.302.5338

RE: [Java-player-users] geometry

[Matthew J. <mjo...@ih...>]

Radu,

I have been working with the Pioneer3AT without Player and been using
the Activmedia getSonarReading method.  As I try to work with Player, I
would like the same functionality, which not only provides a range of
the contact, but also the associated x-y position of the sonar contact
based on the sensor geometry and the robot's current location.  It is
simple geometry, but a nice feature when you are mapping objects on the
robots environment.  I hope this explains my needs clearly.  I could not
find this capability in the current Player interfaces, so I am adding it
myself.  I just wanted to make sure I was not missing anything or
re-inventing the wheel.

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Saturday, May 07, 2005 11:58 AM
To: jav...@li...
Subject: Re: [Java-player-users] geometry


On Mon, May 02, 2005 at 09:31:58AM -0500, Matthew Johnson wrote:
> Thanks, I'll update to 1.6.2d and try it. 

Sounds great. Btw, I just released 1.6.2e.

> I am trying to obtain the (X,Y) position of a sonar contact based on
the
> geometry of the sensor and the range in order to map out objects in
the
> environment.  I did not see this functionality in the current Player
> sonar interface or java client, but stop me if it already exists.

I still do not really understand what you are trying to achieve. The
geometry of a sonar sensor is already defined in the .inc/.cfg files, if
we're talking about a simulated robot. On a real robot, the implemented
driver might have that information stored. In both cases,
sonar.queryGeometry() followed by isPGSTReady and getPGST (btw, I think
there's a small bug , the name of the method is getPLCT instead of
getPGST,
and it should be isPSGTReady instead of isPGSTReady - I'll fix both of
them
in the CVS and 1.6.3) should give you what you need.

My head is spinning, guess I'm just tired from the plane. :) If you can,
please explain again (in more words) what are you trying to do exactly
and
I'm sure that we can eventually find a solution for it. :)

Cheers,
Radu.

> 
> Matt
> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of
Radu
> Bogdan Rusu
> Sent: Sunday, May 01, 2005 3:56 AM
> To: jav...@li...
> Subject: Re: [Java-player-users] geometry
> 
> 
> On Fri, Apr 29, 2005 at 09:46:14AM -0500, Matthew Johnson wrote:
> > I am using your JavaClient 1.6.2a for Player 1.6.2 with a Pioneer in
> > gazebo 0.5.1.  I can get the ranges, but not the geometry.  There is
a
> > queryGeometry method, but when I handle the response, it is always
> zero.
> > Has this worked for anybody?  If so, what am I missing?
> 
> Hello Matt,
> 
> Sorry for replying so late. I'm away in a short vacation in Germany,
so
> reading mails has to go to level 2 priority. :)
> 
> About your problem... In order to get the sonar geometry you should
> query it
> first with queryGeometry (), then check in a loop if the geometry has
> been
> read from the Player server using isPGSTReady (). If isPGSTReady
returns
> true you should be able to get it using getPLCT () as a
PlayerSonarGeomT
> object (don't forget to import javaclient.structures.* !).
> 
> That said, it would be best to upgrade to JavaClient 1.6.2d, since I'm
> fixing bugs on a daily basis nowadays. The CVS has been left behind,
but
> I
> will upgrade it as soon as I get back to the campus, sometime at the
end
> of
> next week.
> 
> Cheers,
> Radu.
> 
> > 
> >  
> > 
> > Matt
> > 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.


-------------------------------------------------------
This SF.Net email is sponsored by: NEC IT Guy Games.
Get your fingers limbered up and give it your best shot. 4 great events,
4
opportunities to win big! Highest score wins.NEC IT Guy Games. Play to
win an NEC 61 plasma display. Visit http://www.necitguy.com/?r=20
_______________________________________________
Java-player-users mailing list
Jav...@li...
https://lists.sourceforge.net/lists/listinfo/java-player-users

Re: [Java-player-users] Position and Laser interfaces conflict?

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

I'm not quite sure what you're experiencing here. The exact same code works
with Javaclient 1.6.2e just fine. By the way, one small note:

- try to use the javaclient.jar file or the classes subdirectory and use
"import javaclient.*;" instead of building your code inside the javaclient
sources (hence, the need for "package javaclient;"). I now realize the need
for some simple examples for our users... We provided the ANT makefile and
shell scripts which should build the classes, the jar and the documentation,
but we forgot to explain that to our users. :(

So your code works fine with player and stage (CVSed) and Javaclient 1.6.2e. 

What version of player/stage are you using, and how does your config/world
file looks like? I'm quite sure this should work with any version, but who
knows... nobody is perfect :)

Cheers,
Radu.

On Sat, May 07, 2005 at 05:11:26PM +0100, Hugo Gravato Marques wrote:
> 
> 
> Hello...
> 
> I've tried to make a small java class in order to understand the way the
> interaction between the java client, the player and stage works.
> So far I manage to get information about some sensors and move the robot
> around... However I found a problem that I don't understand why it
> happens... When I run the code below I have the information about the
> position of the robot updated every step... And that is OK... But when I
> uncomment the (apparently innocent) LaserInterface line I stop having that
> information updated and it prints always the same position. Can someone help
> me please...
> 
> Thanks...
> hugo
> 
> 
> *******************************  CODE  **********************
> 
> package javaclient;
> 
> public class Test {
>    
>    public static void main(String[] args) {
>      
>      String hostToConnect = args[0];
>      int portToConnect    = Integer.parseInt(args[1]);
> 
>      System.out.println(" Host: "+hostToConnect+"  Port: "+portToConnect);
>      
>      PlayerClient robot = new PlayerClient (hostToConnect, portToConnect);
>      PositionInterface ppd   = robot.requestInterfacePosition(0, 'a');
>      
> //     LaserInterface    lpd   = robot.requestInterfaceLaser(0, 'a');
>      robot.runThreaded(-1, -1);
>      
>      for(int i = 0; ; i++) { 
>         robot.readAll(); 
>  
>         for(int j = 0; j < 100000000; j++){} 
>          
>         ppd.setSpeed(100, 0);
>         System.out.println(ppd.getX() +  " " + ppd.getY());
> 
>      }
>   }
> }
> 
> 
> 
> ----------------------------------------------------
> Hugo Gravato Marques, University of Essex, PhD Student
> PHONE: +44 (0)7854917241, England or +351 962482416, Portugal
> ADDRESS: University of Essex, Department of Computer Science,
> Wivenhoe Park, Colchester Essex, CO4 3SQ, UK
> WEB: http://privatewww.essex.ac.uk/~hgmarq/
> 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.

Re: [Java-player-users] geometry

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

On Mon, May 02, 2005 at 09:31:58AM -0500, Matthew Johnson wrote:
> Thanks, I'll update to 1.6.2d and try it. 

Sounds great. Btw, I just released 1.6.2e.

> I am trying to obtain the (X,Y) position of a sonar contact based on the
> geometry of the sensor and the range in order to map out objects in the
> environment.  I did not see this functionality in the current Player
> sonar interface or java client, but stop me if it already exists.

I still do not really understand what you are trying to achieve. The
geometry of a sonar sensor is already defined in the .inc/.cfg files, if
we're talking about a simulated robot. On a real robot, the implemented
driver might have that information stored. In both cases,
sonar.queryGeometry() followed by isPGSTReady and getPGST (btw, I think
there's a small bug , the name of the method is getPLCT instead of getPGST,
and it should be isPSGTReady instead of isPGSTReady - I'll fix both of them
in the CVS and 1.6.3) should give you what you need.

My head is spinning, guess I'm just tired from the plane. :) If you can,
please explain again (in more words) what are you trying to do exactly and
I'm sure that we can eventually find a solution for it. :)

Cheers,
Radu.

> 
> Matt
> 
> -----Original Message-----
> From: jav...@li...
> [mailto:jav...@li...] On Behalf Of Radu
> Bogdan Rusu
> Sent: Sunday, May 01, 2005 3:56 AM
> To: jav...@li...
> Subject: Re: [Java-player-users] geometry
> 
> 
> On Fri, Apr 29, 2005 at 09:46:14AM -0500, Matthew Johnson wrote:
> > I am using your JavaClient 1.6.2a for Player 1.6.2 with a Pioneer in
> > gazebo 0.5.1.  I can get the ranges, but not the geometry.  There is a
> > queryGeometry method, but when I handle the response, it is always
> zero.
> > Has this worked for anybody?  If so, what am I missing?
> 
> Hello Matt,
> 
> Sorry for replying so late. I'm away in a short vacation in Germany, so
> reading mails has to go to level 2 priority. :)
> 
> About your problem... In order to get the sonar geometry you should
> query it
> first with queryGeometry (), then check in a loop if the geometry has
> been
> read from the Player server using isPGSTReady (). If isPGSTReady returns
> true you should be able to get it using getPLCT () as a PlayerSonarGeomT
> object (don't forget to import javaclient.structures.* !).
> 
> That said, it would be best to upgrade to JavaClient 1.6.2d, since I'm
> fixing bugs on a daily basis nowadays. The CVS has been left behind, but
> I
> will upgrade it as soon as I get back to the campus, sometime at the end
> of
> next week.
> 
> Cheers,
> Radu.
> 
> > 
> >  
> > 
> > Matt
> > 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.

[Java-player-users] Javaclient 1.6.2e released

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

Javaclient 1.6.2e is up at SF. Changes:
- added full support for the following interfaces: audiodsp, audiomixer,
blinkenlight, camera, energy, joystick, nomad, speech_recognition and
waveform;
- added preliminary support for the following interfaces: fiducial and mcom;
- fixed several other bugs.

Version 1.6.3 will be released when all the rest of the interfaces (motor,
position2D, position3D plus fiducial and mcom) will be fully supported and
tested.

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.