Re: [Java-player-users] geometry

[Radu Bogdan Rusu <veedee@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: java-player-users-admin@...
> [mailto:java-player-users-admin@...] On Behalf Of Radu
> Bogdan Rusu
> Sent: Sunday, May 01, 2005 3:56 AM
> To: java-player-users@...
> 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 Bogdan Rusu <veedee@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.

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

[Hugo Gravato Marques <hgmarq@es...>]

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/

Re: [Java-player-users] FW: Test

[Radu Bogdan Rusu <veedee@in...>]

Hello Hugo,

I will try to create a repository with simple examples within the next few
days. Please watch the mailing list for announcements.

Thanks,
Radu.

On Thu, May 05, 2005 at 05:36:27PM +0100, Hugo Gravato Marques wrote:
> 
> Hi... 
> 
> I've just installed the latest version of the JavaClient... And I was
> wondering if there is any test client which can be run and that shows how to
> interact with the classes provided.
> 
> Thanks,
> Hugo

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] FW: Test

[Hugo Gravato Marques <hgmarq@es...>]

Hi... 

I've just installed the latest version of the JavaClient... And I was
wondering if there is any test client which can be run and that shows how to
interact with the classes provided.

Thanks,
Hugo

[Java-player-users] Test

[Hugo Gravato Marques <hgmarq@es...>]

Hi... 

I've just installed the latest version of the JavaClient... And I was
wondering if there is any test client which can be run and that shows how to
interact with the classes provided.

Thanks,
Hugo

RE: [Java-player-users] geometry

[Matthew Johnson <mjohnson@ih...>]

Thanks, I'll update to 1.6.2d and try it. 

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.

Matt

-----Original Message-----
From: java-player-users-admin@...
[mailto:java-player-users-admin@...] On Behalf Of Radu
Bogdan Rusu
Sent: Sunday, May 01, 2005 3:56 AM
To: java-player-users@...
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.


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Re: [Java-player-users] geometry

[Radu Bogdan Rusu <veedee@in...>]

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] geometry

[Matthew Johnson <mjohnson@ih...>]

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?

 

Matt

[Java-player-users] Javaclient 1.6.2d released

[Radu Bogdan Rusu <veedee@in...>]

Javaclient 1.6.2d is up at SF. Changes:
- added support for the Map, Planner and Log interfaces;
- added a PlayerClient.stopOnEOFException property
(use SetProperty before you create the PlayerClient object to set it)
which will stop the Javaclient if the Player server is stopped, thus an
EOFException occurs;
- some bugfixes.

There is a bug in player 1.6.2 and player-head (as of 29.04.05), so you
won't be able to use the Map interface properly unless you patch it
yourself. I already sent the small fix to playerstage-developers@ and
hopefully it will be merged into HEAD. The fix consists in adding a
"memcpy(&info, request, len); " call in the "HandleGetMapInfo(void *client,
void *request, int len)" function from the three *.cc files (mapcspace.cc,
mapfile.cc and mapscale.cc) in the server/drivers/map subdirectory. You need
to add that call somewhere around the following lines:
...
  // convert to pixels / kilometer
  info.scale = htonl((uint32_t)rint(1e3 / this->resolution));

  info.width = htonl((uint32_t) (this->size_x));
  info.height = htonl((uint32_t) (this->size_y));
...

After that issue a "make" call in the same subdirectory, and then another
"make" call in the server/ directory to rebuild the player binary. Or you
can just wait for Brian or someone else to merge the fix and then just CVS
:) Your choice.

The CVS repository has not been updated since 1.6.2c, so please do not use
it until later next week when hopefully I will be able to update it. Thanks
for understanding.

PS. Does anyone feel like writing a few examples for each interface we
support? I'd do it, but my time is sort of limited until June. Thanks.

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Faculty of Automation & Computer Science @ UTCluj , Romania
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.

[Java-player-users] Re: [Playerstage-users] replying?

[Radu Bogdan Rusu <veedee@in...>]

Get Javaclient 1.6.2c. I added the Hypothesis as a different class in
javaclient.structures.*

With 1.6.2.c you shuld have get/set methods for everything.

On Fri, Apr 29, 2005 at 01:10:35AM +1000, Steffen Jaensch wrote:
> Thank you very much, Radu :-)

No problem. Anytime :)

Cheers,
Radu.

> 
> I also tried to use the LocalizeInterface, but I couldn't find a way to
> access the hypotheses as all the fields of LocalizeInterface are private. I
> just added a Get-Method that returns the Hypothesis array.
> 
> Steffen (who will use the Java mailing list from now on).
> 
> ----- Original Message ----- 
> From: "Radu Bogdan Rusu" <veedee@...>
> To: <playerstage-users@...>
> Sent: Thursday, April 28, 2005 8:14 PM
> Subject: Re: [Playerstage-users] replying?
> 
> 
> >On Wed, Apr 27, 2005 at 07:43:58AM +0200, Steffen Jaensch wrote:
> >>Hi all,
> >>
> >>how can I reply to a message in this forum and how can I subscribe to the
> >>java-client mailing list?
> >
> >You can subscribe to java-player-users@..., the same way
> >you subscribed to playerstage-users@... An easier way
> >would be to go to
> >http://lists.sourceforge.net/lists/listinfo/java-player-users and fill in
> >the "Subscribing to Java-player-users" form.
> >
> >>Will there be a PlannerInterface in the next version of the Java-Client
> >>Library? That would be really cool.
> >
> >Okay, I'll get right on it. Expect it sometime later this week.
> >
> >>Many thanks,
> >>Steffen
> >>
> >
> >Yours sincerely,
> >Radu Bogdan Rusu
> >--
> >| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
> >| Javaclient for P/S/G      | http://java-player.sf.net
> >| The optimist sees a task in every problem.
> >| The pessimist sees a problem in every task.
> >
> >
> >-------------------------------------------------------
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> 
> 
> 
> -------------------------------------------------------
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-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Faculty of Automation & Computer Science @ UTCluj , Romania
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.

[Java-player-users] Javaclient 1.6.2c released

[Radu Bogdan Rusu <veedee@in...>]

Javaclient 1.6.2c is up at SF. Changes:
- added support for the Simulation interface;
- more bugfixes.

I also commited the changes to the CVS repository. The name of the new
module should be javaclient.

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Faculty of Automation & Computer Science @ UTCluj , Romania
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.

[Java-player-users] Javaclient 1.6.2b released

[Radu Bogdan Rusu <veedee@in...>]

Javaclient 1.6.2.beta is up at SF. Changes:
- added the javaclient.structure.* classes (were missing from the alpha version);
- several bugfixes.

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Faculty of Automation & Computer Science @ UTCluj , Romania
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.