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

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

[Hugo G. M. <hg...@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 B. R. <ve...@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 G. M. <hg...@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 G. M. <hg...@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 J. <mjo...@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: 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.


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Re: [Java-player-users] geometry

[Radu B. R. <ve...@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 J. <mjo...@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 B. R. <ve...@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 B. R. <ve...@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" <ve...@in...>
> To: <pla...@li...>
> 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 jav...@li..., the same way
> >you subscribed to pla...@li.... 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 B. R. <ve...@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 B. R. <ve...@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.