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

Re: [Java-player-users] Camera compress data never ready

[<gt...@ma...>]

I don't know about the compress data part of this question.. but I had a 
similar issue where isDataReady is only true when the camera interface 
is first created.  It was always false in subsequent reads. 

The code below is an infinite loop for i >1

for i=1:2
    while ~cami.isDataReady
        robot.readAll;
    end
end

Yes.. I am using matlab... but this is only an issue with the camera 
interface, I didn't notice any bad behavior with sonar or laser interfaces.

I tried to trace the code and this is as far as I was able to to get.

- cami.isDataReady is only true if readyPcdata is true

- readyPcdata is true only if cami.readData(someheader) method is called.

- client.readAll calls read() which calls client.read (0, 0) which calls 
client.readDataDevice (header) which calls ((PlayerDevice)deviceList.get 
(i)).readData (header)...

so readDataDevice is calling readData every time readAll is invoked, 
isDataReady should be reset.... unless the client does not consider the 
camera as a device or something.


To put a bandaid over things.. I close the robot connection and reopen 
it and the needed interfaces every time I get an image... yes... 
every... single... time... sigh.   it just seems wrong to do it that way 
though.


*Re: [Java-player-users] Camera compress data never ready 
<http://sourceforge.net/mailarchive/message.php?msg_name=9f3b4c660710010857s7c01cd3fve38e443a1eb56aac%40mail.gmail.com>*
From: <marcela22@gm...> - 2007-10-01 15:57

*Attachments:* Message as HTML 
<http://sourceforge.net/mailarchive/attachment.php?list_name=java-player-users&message_id=9f3b4c660710010857s7c01cd3fve38e443a1eb56aac%40mail.gmail.com&counter=1> 
    
I tried with your option but I didn't get anything, I also tried with the
runThreaded but is always the same, there is no data ready. I don't know wh=
y
with the camera device (no compress) works fine if I'm using the same
routine but the camera compress just read once.

Thanks
Marcela

---------- Forwarded message ----------
From: John Oliver <john.d.oliver@gm...>
Date: 01/10/2007 08:19
Subject: Re: [Java-player-users] Camera compress data never ready
To: java-player-users@li...


I think the problem is that you set PlayerClient to run not threaded, then
after the initial client.readAll(); you then enter the infinate loop:

while (!cami.isDataReady ());

and since there is no reading inside the loop to check for new data from
player once this loop starts it will never end. I think something like:

while (!cami.isDataReady ())client.readAll();

may work.

thanks

John

[Java-player-users] Recent SVN changes

[Sawyer <sou...@to...>]

Today 2 patches have been applied to the svn Player javaclient library.

1) The list of available interfaces is now checked before attempting to 
connect to a given interface on the server. This prevents bad things if the 
interface is not available.

2) The ability to request the timestamp of the current sample has been added 
to all currently supported interfaces. New interfaces should add this 
assignment in the readData() function.

Sawyer

[Java-player-users] regarding setSpeed function of position2d

[H. S. F. <hsf...@gm...>]

Hi all,

 I have a problem with setSpeed function of position2d interface. I am using
it with Stage and my robot is defined as a car like robot in my Stage word
file.
 Considering the definition of

public void *setSpeed*(int speed,
                     int turnrate)

 from basic kinematics we have speed=TurningRadius * turnrate

 So if we put speed and turnrate as equal numbers the turning radius
must be alway 1m, which is not the case here.

 I came to the conclusion maybe here  another definition for turnrate is used.

 I appreciate if anyone helps me with this.

 Regards,
 Nathan

Re: [Java-player-users] Camera compress data never ready

[<mar...@gm...>]

I tried with your option but I didn't get anything, I also tried with the
runThreaded but is always the same, there is no data ready. I don't know wh=
y
with the camera device (no compress) works fine if I'm using the same
routine but the camera compress just read once.

Thanks
Marcela

---------- Forwarded message ----------
From: John Oliver <joh...@gm...>
Date: 01/10/2007 08:19
Subject: Re: [Java-player-users] Camera compress data never ready
To: jav...@li...


I think the problem is that you set PlayerClient to run not threaded, then
after the initial client.readAll(); you then enter the infinate loop:

while (!cami.isDataReady ());

and since there is no reading inside the loop to check for new data from
player once this loop starts it will never end.  I think something like:

while (!cami.isDataReady ())client.readAll();

may work.

thanks

John


Marcela G=F3mez wrote:
>
> Hello,
> I'm having a strange problem with the data from the camera compress devic=
e

> (device index =3D 1), it is not ready, except for the first time it runs,=
 so
> I
> can only see one image in the application and after that the while loop
> goes
> forever. When I use the camera device it works fine, there is always data
> ready, but I don't know how to show that kind of data as an image.
> Sometimes when the program is in the while loop I get this message:
>
> 28/09/2007 01:15:41 PM javaclient2.PlayerClient read
> WARNING: [PlayerClient]: Unknown message subtype received in read ()
>
> I also know Player is working fine, I have probed it with playercam. So
> here
> is my code:
>
> import java.awt.*;
> import java.awt.image.*;
> import javax.swing.*;
> import java.awt.Graphics;
> import java.io.*;
> import javax.imageio.*;
> import javaclient2.CameraInterface;
> import javaclient2.structures.camera.PlayerCameraData;
> import javaclient2.PlayerClient;
> import javaclient2.PlayerException;
> import javaclient2.structures.PlayerConstants;
>
>
> public class CameraJPEG extends JFrame{
>
>     PlayerClient client =3D null;
>     CameraInterface cami =3D null;
>     PlayerCameraData camera =3D null;
>
>     BufferedImage image =3D null;
>     static byte[] img;
>     InputStream stream;
>
>
>     public CameraJPEG() {
>
>         super("CameraJPEG");
>
>     Container container =3D getContentPane();
>     container.setLayout(null);
>     container.setBackground (new Color(201, 199, 192));
>
>     setBounds(0,0,500,400);
>     setVisible(true);
>
>         try{
>             client =3D new PlayerClient("192.168.1.101 ", 6665);
>         cami =3D client.requestInterfaceCamera(1,
> PlayerConstants.PLAYER_OPEN_MODE);
>     }
>     catch(PlayerException e)
>     {
>             e.printStackTrace();
>     }
>
>         client.setNotThreaded();
>         camera =3D new PlayerCameraData();
>
>         try {
>             Thread.sleep (1000);
>         }
>         catch (Exception e) {}
>
>         while (true)
>         {
>             repaint();
>             client.requestDataDeliveryMode(
> PlayerConstants.PLAYER_DATAMODE_PULL);
>             client.readAll();
>             client.requestAddReplaceRule (-1, -1,
> PlayerConstants.PLAYER_MSGTYPE_DATA, -1, 1);
>             client.readAll();
>             while (!cami.isDataReady ());
>             camera =3D cami.getData();
>             img =3D camera.getImage();
>             stream =3D new ByteArrayInputStream(img,0, camera.getImage_co=
unt
> ());
>
>             try{
>                 image =3D ImageIO.read(stream);
>             }
>             catch(Exception e)
>             {
>                 e.printStackTrace();
>             }
>
>             try{
>             stream.close();
>             }
>             catch(IOException e)
>             {
>                 e.printStackTrace();
>             }
>         }
>
>     }
>
>     public void paint(Graphics g)
>     {
>         if (image !=3D null)
>         {
>             g.drawImage(image, 0, 0, null);
>         }
>         else
>         {
>             g.clearRect(0, 0, getWidth(), getHeight());
>             g.drawString("Please Wait", 50, 100);
>         }
>     }
>
>     public static void main(String[] args)
>     {
>         CameraJPEG aplication =3D new CameraJPEG();
>         aplication.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
>
>     }
>
> }
>
> So, if anyone can help me i would really appreciate it.
> Thanks.
> Marcela
>
> -------------------------------------------------------------------------
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>
>

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Re: [Java-player-users] Camera compress data never ready

[John O. <joh...@gm...>]

I think the problem is that you set PlayerClient to run not threaded, then
after the initial client.readAll(); you then enter the infinate loop:

while (!cami.isDataReady ());

and since there is no reading inside the loop to check for new data from
player once this loop starts it will never end.  I think something like:

while (!cami.isDataReady ())client.readAll();

may work.

thanks

John


Marcela G=C3=B3mez wrote:
>=20
> Hello,
> I'm having a strange problem with the data from the camera compress devic=
e
> (device index =3D 1), it is not ready, except for the first time it runs,=
 so
> I
> can only see one image in the application and after that the while loop
> goes
> forever. When I use the camera device it works fine, there is always data
> ready, but I don't know how to show that kind of data as an image.
> Sometimes when the program is in the while loop I get this message:
>=20
> 28/09/2007 01:15:41 PM javaclient2.PlayerClient read
> WARNING: [PlayerClient]: Unknown message subtype received in read ()
>=20
> I also know Player is working fine, I have probed it with playercam. So
> here
> is my code:
>=20
> import java.awt.*;
> import java.awt.image.*;
> import javax.swing.*;
> import java.awt.Graphics;
> import java.io.*;
> import javax.imageio.*;
> import javaclient2.CameraInterface;
> import javaclient2.structures.camera.PlayerCameraData;
> import javaclient2.PlayerClient;
> import javaclient2.PlayerException;
> import javaclient2.structures.PlayerConstants;
>=20
>=20
> public class CameraJPEG extends JFrame{
>=20
>     PlayerClient client =3D null;
>     CameraInterface cami =3D null;
>     PlayerCameraData camera =3D null;
>=20
>     BufferedImage image =3D null;
>     static byte[] img;
>     InputStream stream;
>=20
>=20
>     public CameraJPEG() {
>=20
>         super("CameraJPEG");
>=20
>     Container container =3D getContentPane();
>     container.setLayout(null);
>     container.setBackground(new Color(201, 199, 192));
>=20
>     setBounds(0,0,500,400);
>     setVisible(true);
>=20
>         try{
>             client =3D new PlayerClient("192.168.1.101", 6665);
>         cami =3D client.requestInterfaceCamera(1,
> PlayerConstants.PLAYER_OPEN_MODE);
>     }
>     catch(PlayerException e)
>     {
>             e.printStackTrace();
>     }
>=20
>         client.setNotThreaded();
>         camera =3D new PlayerCameraData();
>=20
>         try {
>             Thread.sleep (1000);
>         }
>         catch (Exception e) {}
>=20
>         while (true)
>         {
>             repaint();
>             client.requestDataDeliveryMode(
> PlayerConstants.PLAYER_DATAMODE_PULL);
>             client.readAll();
>             client.requestAddReplaceRule (-1, -1,
> PlayerConstants.PLAYER_MSGTYPE_DATA, -1, 1);
>             client.readAll();
>             while (!cami.isDataReady ());
>             camera =3D cami.getData();
>             img =3D camera.getImage();
>             stream =3D new ByteArrayInputStream(img,0, camera.getImage_co=
unt
> ());
>=20
>             try{
>                 image =3D ImageIO.read(stream);
>             }
>             catch(Exception e)
>             {
>                 e.printStackTrace();
>             }
>=20
>             try{
>             stream.close();
>             }
>             catch(IOException e)
>             {
>                 e.printStackTrace();
>             }
>         }
>=20
>     }
>=20
>     public void paint(Graphics g)
>     {
>         if (image !=3D null)
>         {
>             g.drawImage(image, 0, 0, null);
>         }
>         else
>         {
>             g.clearRect(0, 0, getWidth(), getHeight());
>             g.drawString("Please Wait", 50, 100);
>         }
>     }
>=20
>     public static void main(String[] args)
>     {
>         CameraJPEG aplication =3D new CameraJPEG();
>         aplication.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
>=20
>     }
>=20
> }
>=20
> So, if anyone can help me i would really appreciate it.
> Thanks.
> Marcela
>=20
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2005.
> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
>=20
>=20

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[Java-player-users] Camera compress data never ready

[<mar...@gm...>]

Hello,
I'm having a strange problem with the data from the camera compress device
(device index = 1), it is not ready, except for the first time it runs, so I
can only see one image in the application and after that the while loop goes
forever. When I use the camera device it works fine, there is always data
ready, but I don't know how to show that kind of data as an image.
Sometimes when the program is in the while loop I get this message:

28/09/2007 01:15:41 PM javaclient2.PlayerClient read
WARNING: [PlayerClient]: Unknown message subtype received in read ()

I also know Player is working fine, I have probed it with playercam. So here
is my code:

import java.awt.*;
import java.awt.image.*;
import javax.swing.*;
import java.awt.Graphics;
import java.io.*;
import javax.imageio.*;
import javaclient2.CameraInterface;
import javaclient2.structures.camera.PlayerCameraData;
import javaclient2.PlayerClient;
import javaclient2.PlayerException;
import javaclient2.structures.PlayerConstants;


public class CameraJPEG extends JFrame{

    PlayerClient client = null;
    CameraInterface cami = null;
    PlayerCameraData camera = null;

    BufferedImage image = null;
    static byte[] img;
    InputStream stream;


    public CameraJPEG() {

        super("CameraJPEG");

    Container container = getContentPane();
    container.setLayout(null);
    container.setBackground(new Color(201, 199, 192));

    setBounds(0,0,500,400);
    setVisible(true);

        try{
            client = new PlayerClient("192.168.1.101", 6665);
        cami = client.requestInterfaceCamera(1,
PlayerConstants.PLAYER_OPEN_MODE);
    }
    catch(PlayerException e)
    {
            e.printStackTrace();
    }

        client.setNotThreaded();
        camera = new PlayerCameraData();

        try {
            Thread.sleep (1000);
        }
        catch (Exception e) {}

        while (true)
        {
            repaint();
            client.requestDataDeliveryMode(
PlayerConstants.PLAYER_DATAMODE_PULL);
            client.readAll();
            client.requestAddReplaceRule (-1, -1,
PlayerConstants.PLAYER_MSGTYPE_DATA, -1, 1);
            client.readAll();
            while (!cami.isDataReady ());
            camera = cami.getData();
            img = camera.getImage();
            stream = new ByteArrayInputStream(img,0, camera.getImage_count
());

            try{
                image = ImageIO.read(stream);
            }
            catch(Exception e)
            {
                e.printStackTrace();
            }

            try{
            stream.close();
            }
            catch(IOException e)
            {
                e.printStackTrace();
            }
        }

    }

    public void paint(Graphics g)
    {
        if (image != null)
        {
            g.drawImage(image, 0, 0, null);
        }
        else
        {
            g.clearRect(0, 0, getWidth(), getHeight());
            g.drawString("Please Wait", 50, 100);
        }
    }

    public static void main(String[] args)
    {
        CameraJPEG aplication = new CameraJPEG();
        aplication.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);

    }

}

So, if anyone can help me i would really appreciate it.
Thanks.
Marcela

Re: [Java-player-users] simulation clock

[John O. <joh...@gm...>]

sorry it took awhile but been busy.  Here it is(
http://www.nabble.com/file/p12634944/timestampPatch timestampPatch ), you
should be able to apply it by:

patch -p0 < timestampPatch

from the directory above the javaclient2 directory.

thanks

John




Radu Bogdan Rusu-2 wrote:
> 
> Thanks John. Could you generate a patch against SVN ? I could commit it to
> the official 
> repository afterwards.
> 
> Cheers,
> Radu.
> 
> John Oliver wrote:
>> I did something similar not long ago:
>> 
>> Each header does come with a time stamp since the start of the
>> simulation,
>> my solution was to simply record the most recent time stamp.  The best
>> position to do this seems to be in "read (int interf, int index)" in
>> PlayerClient.java, after the line:
>> 
>>     header = readHeader ();
>> 
>> you could add something like:
>> 
>>     if(header.getTimestamp()>currentTime)
>>     {
>>         currentTime = header.getTimestamp();
>>     }
>> 
>> then a getter method on currentTime in PlayerClient would allow you to
>> get
>> the latest time.
>> 
>> I have attached my version of 
>> http://www.nabble.com/file/p12410309/PlayerClient.java PlayerClient.java
>> . 
>> Its not exactly the most eligent way of doing this since PlayerClient
>> shouldnt realy be storing this type of information but it works.
>> 
>> Let me know if you have any problems
>> 
>> Thanks
>> 
>> John
>> 
>> 
>> 
>> 
>> sarahb-2 wrote:
>>>
>>>
>>> I am developing a simulation using Stage and have run into a problem. 
>>> With
>>> the old C++ client, it was very easy to get the simulation time. 
>>> However,
>>> I
>>> can't seem to find a way to get the time since start of simulation using
>>> the
>>> JavaClient.	
>>>
>>> If there is a way, does anyone know what it is?  If not, can anyone
>>> point
>>> me
>>> in the right direction on how to add this feature to the JavaClient?
>>>
>>> Thanks for any help.
>>>
>>> Sarah
>>>
>>> -------------------------------------------------------------------------
>>> This SF.net email is sponsored by: Splunk Inc.
>>> Still grepping through log files to find problems?  Stop.
>>> Now Search log events and configuration files using AJAX and a browser.
>>> Download your FREE copy of Splunk now >>  http://get.splunk.com/
>>> _______________________________________________
>>> Java-player-users mailing list
>>> Jav...@li...
>>> https://lists.sourceforge.net/lists/listinfo/java-player-users
>>>
>>>
>> 
> 
> -- 
> | Radu Bogdan Rusu | http://rbrusu.com/
> | http://www9.cs.tum.edu/people/rusu/
> | Intelligent Autonomous Systems
> | Technische Universitaet Muenchen
> 
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Splunk Inc.
> Still grepping through log files to find problems?  Stop.
> Now Search log events and configuration files using AJAX and a browser.
> Download your FREE copy of Splunk now >>  http://get.splunk.com/
> _______________________________________________
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> 
> 

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[Java-player-users] Planner

[haradin <jr...@cs...>]

I'm having problems with a PeopleBot from ActivMedia.
I've remote controlled it in a closed off area while it takes down a log
file.
I put that log file through pmaptest and obtained a map of the environment
in .pgm format.
I then feed the map back to player through amcl and wavefront.

I use java-client to setup a planner interface and order it to go to a
coordinate which is within the map.
and here is the error: the robot turns 90 degrees on the spot then goes back
to the way it was.

Has anyone had this problem before?

Here is my config file:

# Desc: UNSW's Basic Pioneer2/3DX with laser and sony ptz

driver
(
	name "p2os"
	provides ["odometry:::position2d:0"
		"sonar:0"
		"aio:0"
		"dio:0"
		"gripper:0"
		"power:0"]
	port "/dev/ttyS0"
)


driver
(
	name "sicklms200"
	provides ["laser:0"]
	port "/dev/ttyS2"
	resolution 100
	range_res 10
	delay 60
)


driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  #safety_dist 0.1
  distance_epsilon 0.5
  angle_epsilon 10
)

driver
(
  name "amcl"
  provides ["position2d:2" "localize:0"]
  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
)

driver
(
  name "mapfile"
  provides ["map:0"]
  filename "map.pgm"
  resolution 0.0857
)

#driver
#(
#  name "mapcspace"
#  requires ["map:0"]
#  provides ["map:1"]
#  robot_shape "circle"
#  robot_radius 0.20
#)

driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.01
  angle_epsilon 5
)

######################################

And here is the java-client code (mixed with Radu's code)

/** Creates a new instance of PlannerTest */
  public PlannerTest(int port) 
  {
    

    try {
            robot = new PlayerClient                 ("lasseter", port);
            loci    = robot.requestInterfaceLocalize   (0,
PlayerConstants.PLAYER_OPEN_MODE);
            plni    = robot.requestInterfacePlanner    (0,
PlayerConstants.PLAYER_OPEN_MODE);
    } catch (PlayerException e) {
            System.err.println ("Javaclient test: > Error connecting to
Player: ");
            System.err.println ("    [ " + e.toString() + " ]");
            System.exit (1);
    }
  }
  
  
  public static void main(String[] args)
  {
    try
    {
      PlannerTest planner = new PlannerTest(6665);
      try{Thread.sleep(5000);}catch(Exception e){;}
      shutdown.setPC( PlannerTest.robot );

      // --[ Test Localize/Planner
      // initial values for the covariance matrix (c&p example from Player)
      //double cov[] = {
      //              250,
      //            250,
      //          (Math.PI / 6.0) * (Math.PI / 6.0) * 180 / Math.PI * 3600 *
180
      //                        / Math.PI * 3600 };
      double cov[] = {1,1,1}; // why does this work better than the matrix
above?
      // set the initial guessed pose for localization (AMCL)
      PlayerLocalizeSetPose plsp = new PlayerLocalizeSetPose ();
      // set the mean values to 0,0,0
      plsp.setMean (new PlayerPose ());
      plsp.setCov (cov);
      loci.setPose (plsp);

      while( true ) 
      {
        //get cmd line input
        String cmd = getInput("Enter a coord: x.xx y.yy");        
        if( cmd.equals("quit") ) break;        
        
        // set a new goal in the planner 
        String[] coord = cmd.split(" ");
        PlayerPose goal = new PlayerPose ();
        goal.setPx ( Float.parseFloat(coord[0]) );
        goal.setPy ( Float.parseFloat(coord[1]) );
        goal.setPa (0);
        plni.setGoal (goal);
        // --]
      }
    }catch(Exception e){ e.printStackTrace(); }    
  }

Any help would be great.
Thanks



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Re: [Java-player-users] Position data never ready

[julian r. <ju...@ya...>]

Thanks, I wasn't using PULL when I should have been.
  Also weirdly enough this line of code made things work:
   
  robot.runThreaded(-1,-1); //instead of robot.run();
   
  Thanks
  Julian
  

Radu Bogdan Rusu <ru...@cs...> wrote:
  Are you using PUSH or PULL ?

Radu.

julian rofe wrote:
> Hi
> 
> The position data from the position2d interface is never ready. As a 
> result my while loop goes on forever. Here is my code:
> 
> // returns the robot's position as an array of floats
> >> public float[] getPosition()
> >> {
> >> float[] pos = new float[3];
> >> try{
> >> while(!posi.isGeomReady()) {System.out.println("geom not 
> ready");}
> >>
> >> PlayerPose geom = posi.getGeom().getPose();
> >> pos[0] = geom.getPx();
> >> pos[1] = geom.getPy();
> >> pos[2] = geom.getPa();
> >> }
> >> catch(Exception e){ System.out.println("ERROR");}
> >>
> >> return pos;
> >> }
> If anybody could help me that would be great.
> Thanks
> Julian
> 
> ------------------------------------------------------------------------
> Park yourself in front of a world of choices in alternative vehicles.
> Visit the Yahoo! Auto Green Center. 
> 
> 
> 
> 
> ------------------------------------------------------------------------
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| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

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Re: [Java-player-users] simulation clock

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

Thanks John. Could you generate a patch against SVN ? I could commit it to the official 
repository afterwards.

Cheers,
Radu.

John Oliver wrote:
> I did something similar not long ago:
> 
> Each header does come with a time stamp since the start of the simulation,
> my solution was to simply record the most recent time stamp.  The best
> position to do this seems to be in "read (int interf, int index)" in
> PlayerClient.java, after the line:
> 
>     header = readHeader ();
> 
> you could add something like:
> 
>     if(header.getTimestamp()>currentTime)
>     {
>         currentTime = header.getTimestamp();
>     }
> 
> then a getter method on currentTime in PlayerClient would allow you to get
> the latest time.
> 
> I have attached my version of 
> http://www.nabble.com/file/p12410309/PlayerClient.java PlayerClient.java . 
> Its not exactly the most eligent way of doing this since PlayerClient
> shouldnt realy be storing this type of information but it works.
> 
> Let me know if you have any problems
> 
> Thanks
> 
> John
> 
> 
> 
> 
> sarahb-2 wrote:
>>
>>
>> I am developing a simulation using Stage and have run into a problem. 
>> With
>> the old C++ client, it was very easy to get the simulation time.  However,
>> I
>> can't seem to find a way to get the time since start of simulation using
>> the
>> JavaClient.	
>>
>> If there is a way, does anyone know what it is?  If not, can anyone point
>> me
>> in the right direction on how to add this feature to the JavaClient?
>>
>> Thanks for any help.
>>
>> Sarah
>>
>> -------------------------------------------------------------------------
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>>
>>
> 

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

Re: [Java-player-users] simulation clock

[John O. <joh...@gm...>]

I did something similar not long ago:

Each header does come with a time stamp since the start of the simulation,
my solution was to simply record the most recent time stamp.  The best
position to do this seems to be in "read (int interf, int index)" in
PlayerClient.java, after the line:

    header = readHeader ();

you could add something like:

    if(header.getTimestamp()>currentTime)
    {
        currentTime = header.getTimestamp();
    }

then a getter method on currentTime in PlayerClient would allow you to get
the latest time.

I have attached my version of 
http://www.nabble.com/file/p12410309/PlayerClient.java PlayerClient.java . 
Its not exactly the most eligent way of doing this since PlayerClient
shouldnt realy be storing this type of information but it works.

Let me know if you have any problems

Thanks

John




sarahb-2 wrote:
> 
> 
> 
> I am developing a simulation using Stage and have run into a problem. 
> With
> the old C++ client, it was very easy to get the simulation time.  However,
> I
> can't seem to find a way to get the time since start of simulation using
> the
> JavaClient.	
> 
> If there is a way, does anyone know what it is?  If not, can anyone point
> me
> in the right direction on how to add this feature to the JavaClient?
> 
> Thanks for any help.
> 
> Sarah
> 
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Splunk Inc.
> Still grepping through log files to find problems?  Stop.
> Now Search log events and configuration files using AJAX and a browser.
> Download your FREE copy of Splunk now >>  http://get.splunk.com/
> _______________________________________________
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> 
> 

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Re: [Java-player-users] Position data never ready

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

Are you using PUSH or PULL ?

Radu.

julian rofe wrote:
> Hi
>  
> The position data from the position2d interface is never ready. As a 
> result my while loop goes on forever. Here is my code:
>  
>  // returns the robot's position as an array of floats
>  >>   public float[] getPosition()
>  >>   {
>  >>       float[] pos = new float[3];
>  >>       try{
>  >>         while(!posi.isGeomReady()) {System.out.println("geom not 
> ready");}
>  >>
>  >>         PlayerPose geom = posi.getGeom().getPose();
>  >>         pos[0] = geom.getPx();
>  >>         pos[1] = geom.getPy();
>  >>         pos[2] = geom.getPa();
>  >>       }
>  >>       catch(Exception e){ System.out.println("ERROR");}
>  >>
>  >>       return pos;
>  >>   }
> If anybody could help me that would be great.
> Thanks
> Julian
> 
> ------------------------------------------------------------------------
> Park yourself in front of a world of choices in alternative vehicles.
> Visit the Yahoo! Auto Green Center. 
> <http://us.rd.yahoo.com/evt=48246/*http://autos.yahoo.com/green_center/;_ylc=X3oDMTE5cDF2bXZzBF9TAzk3MTA3MDc2BHNlYwNtYWlsdGFncwRzbGsDZ3JlZW4tY2VudGVy> 
> 
> 
> 
> ------------------------------------------------------------------------
> 
> -------------------------------------------------------------------------
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> Still grepping through log files to find problems?  Stop.
> Now Search log events and configuration files using AJAX and a browser.
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> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
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> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

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

Re: [Java-player-users] simulation clock

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

I haven't looked at that one yet... If possible, take a look at the C++ client and see 
where that information is coming from, and then we could try to replicate it into Javaclient.

Due to time constraints, I am not able to do too much for the project right now, but I can 
definitely offer pointers and supervise.

I'll probably take a look again at the whole thing after we release Player 2.1, so having 
a list of "to do" would be neat, so I know what to upgrade or fix or... :)

As always, contributions are more than welcome!

Cheers,
Radu.

sa...@sf... wrote:
> 
> I am developing a simulation using Stage and have run into a problem.  With
> the old C++ client, it was very easy to get the simulation time.  However, I
> can't seem to find a way to get the time since start of simulation using the
> JavaClient.	
> 
> If there is a way, does anyone know what it is?  If not, can anyone point me
> in the right direction on how to add this feature to the JavaClient?
> 
> Thanks for any help.
> 
> Sarah
-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-users] Position data never ready

[julian r. <ju...@ya...>]

Hi
   
  The position data from the position2d interface is never ready. As a result my while loop goes on forever. Here is my code:
   
   // returns the robot's position as an array of floats
>>   public float[] getPosition()
>>   {
>>       float[] pos = new float[3];
>>       try{
>>         while(!posi.isGeomReady()) {System.out.println("geom not ready");}
>>
>>         PlayerPose geom = posi.getGeom().getPose();
>>         pos[0] = geom.getPx();
>>         pos[1] = geom.getPy();
>>         pos[2] = geom.getPa();
>>       }
>>       catch(Exception e){ System.out.println("ERROR");}
>>
>>       return pos;
>>   }

  If anybody could help me that would be great.
  Thanks
  Julian

       
---------------------------------
Park yourself in front of a world of choices in alternative vehicles.
Visit the Yahoo! Auto Green Center.

[Java-player-users] simulation clock

[<sa...@sf...>]

I am developing a simulation using Stage and have run into a problem.  With
the old C++ client, it was very easy to get the simulation time.  However, I
can't seem to find a way to get the time since start of simulation using the
JavaClient.	

If there is a way, does anyone know what it is?  If not, can anyone point me
in the right direction on how to add this feature to the JavaClient?

Thanks for any help.

Sarah

[Java-player-users] Problems using Pioneer2DX gripper with Gazebo

[Alexandre H. V. S. <ahv...@gm...>]

I am trying to use a gripper in a Pioneer2dx simulated robot on Gazebo but
the actions like open/close the gripper are not running.
I am using the example
http://java-player.sourceforge.net/examples/2.x/Javaclient2Test.java .

I am using Player 0.2.4, Gazebo 0.7.0 and JavaClient 2.0.1.

When the Java client runs, I get messages like the one below:

"warning : Unhandled message for driver device=16777343:6665:3:0 type=3
subtype=1 len=0 "

This happens when I use codes like "grii.setGripper(2, 4)"

Does anybody knows the problem and how to solve it?

Thanks

-- 
Alexandre Henrique Vieira Soares

[Java-player-users] PowerInterface example

[Alexandre H. V. S. <ahv...@gm...>]

Does anyone have an example of working with PowerInterface of Player
JavaClient?
I want to know the power level of the robot's battery (and if it is
possible, sets a new level).
Is this interface that gets it to me?

Thanks.

-- 
Alexandre Henrique Vieira Soares

[Java-player-users] OT: Invitation to participate in research project

[Ben A. <ben...@st...>]

Hello there

I would greatly appreciate a small amount of your time to assist with
my doctoral research at The University of Newcastle. The research
concerns open source licensing and we're seeking developers working on
Java projects. The research is supervised, ethics-approved, anonymous
and results will be freely available. Participation will also provide a
custom licensing report for your project. To learn more, please visit:

   http://licensing-research.newcastle.edu.au

Thanks for reading this email, and I hope you'll consider participating.

Best regards
Ben Alex

(My apologies for being off-topic; this list will not be emailed again)

[Java-player-users] Waypoints in PlannerInterface

[Matthias W. <mw...@gm...>]

Hi all,

I tried to get waypoints of a path planned by wavefront, but I think
there is something wrong. The x value of all the waypoints is 0.0, so
I decided to shift the values: wp.x=waypoint.y and wp.y=waypoint.a

This should be it. Has anyone ever used waypoints? (Radu?)

regards
Matthias

Re: [Java-player-users] How can I localize using LocalizeInterface

[John O. <joh...@gm...>]

Moving the robot precisely the same distance every time may be a bit
difficult since the code is dependant upon the timing of responses. 
Possibly if you set the update of the simulation to have a very long step
time then you can avoid any timing dependant issues.  

If you are not worried about localization then using the position2d
interface with gps odometry is probably easiest.

As for the GUI it could be nice to have some sort of swing display that
shows data from the robot as an example.  A Java version of playerv would be
quite a nice example to show, although since playerv does already exist in C
it may be a good idea to try something new.

Thanks

John



Faruq wrote:
> 
> Hi,
> 
> Thanks John for you reply. 
> 
> Actually my purpose is to demonstrate some scenarios using an intelligent
> planner and simulating real-life is not necessary. I need to integrate
> many other components with player including a GUI. Let me share some of my
> codes as it can be helpful for others ( and also for myself if someone
> corrects me :))
> 
> I am trying to move a robot horizontally (X direction) about 1 meter using
> BlobfinderExample
> After connecting to robot I code it like this:
> 
>                     while(!posi.isDataReady());
>                   /* Determine current pose: default X = -1.0, Y = -3.0,
> Yaw = 0.0 */
> 			currentPose = posi.getData().getPos(); 
> 			// print initial pose			
> 			System.out.println("Initial X:" + currentPose.getPx() + " Y: " +
> currentPose.getPy() 
> 						+ " Yaw: " + currentPose.getPa());
> 			
> 			/* Go 1 m horizontally Target: X= 0.0 */
> 			float target = 1.00f;
> 			desiredPose.setPx(currentPose.getPx() + target); // set desired pose
> 						
> 			while(currentPose.getPx() < desiredPose.getPx())
> 			{
> 				
> 				posi.setSpeed(0.40f, 0.0f); // move ahead
> 				currentPose = posi.getData().getPos(); // take pose reading 
> 				//System.out.println("current pose:" + currentPose.getPx());				
> 			}
> 			
> 			/* Stop */
> 			posi.setSpeed(0.00f, 0.0f); //stop in this way?
> 
>                         System.out.println("WJ-Pre X:" +
> currentPose.getPx() + " Y: " + currentPose.getPy() 
> 					+ " Yaw: " + currentPose.getPa());
> 
> So, I'm getting different results in different run. If you see the output
> for  current pose, it is different in different run (floating point
> problem, I guess ). Anyway, I don't need heavy localization methods. But
> I'm expecting to move the robot a fixed distance always in the same
> manner.
> 
> BTW, I'm thinking to make a GUI panel to control simulation. I wonder if
> anyone did this previously.  In that case we may add another example in
> java-player website. I think it would be interesting to control using GUI
> panel.
> 
> My thanks to all Java-player developers for making this nice client
> library.
> 
> Best regards,
> 
> Faruq
> 

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Re: [Java-player-users] How can I localize using LocalizeInterface

[Faruq <wri...@ya...>]

Hi,

Thanks John for you reply. 

Actually my purpose is to demonstrate some scenarios using an intelligent
planner and simulating real-life is not necessary. I need to integrate many
other components with player including a GUI. Let me share some of my codes
as it can be helpful for others ( and also for myself if someone corrects me
:))

I am trying to move a robot horizontally (X direction) about 1 meter using
BlobfinderExample
After connecting to robot I code it like this:

                    while(!posi.isDataReady());
                  /* Determine current pose: default X = -1.0, Y = -3.0, Yaw
= 0.0 */
			currentPose = posi.getData().getPos(); 
			// print initial pose			
			System.out.println("Initial X:" + currentPose.getPx() + " Y: " +
currentPose.getPy() 
						+ " Yaw: " + currentPose.getPa());
			
			/* Go 1 m horizontally Target: X= 0.0 */
			float target = 1.00f;
			desiredPose.setPx(currentPose.getPx() + target); // set desired pose
						
			while(currentPose.getPx() < desiredPose.getPx())
			{
				
				posi.setSpeed(0.40f, 0.0f); // move ahead
				currentPose = posi.getData().getPos(); // take pose reading 
				//System.out.println("current pose:" + currentPose.getPx());				
			}
			
			/* Stop */
			posi.setSpeed(0.00f, 0.0f); //stop in this way?

                        System.out.println("WJ-Pre X:" + currentPose.getPx()
+ " Y: " + currentPose.getPy() 
					+ " Yaw: " + currentPose.getPa());

So, I'm getting different results in different run. If you see the output
for  current pose, it is different in different run (floating point problem,
I guess ). Anyway, I don't need heavy localization methods. But I'm
expecting to move the robot a fixed distance always in the same manner.

BTW, I'm thinking to make a GUI panel to control simulation. I wonder if
anyone did this previously.  In that case we may add another example in
java-player website. I think it would be interesting to control using GUI
panel.

My thanks to all Java-player developers for making this nice client library.

Best regards,

Faruq
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Re: [Java-player-users] How can I localize using LocalizeInterface

[John O. <joh...@gm...>]

This depends upon exactly what you want to do.  If you are wanting to
simulate real life then you will need to use some sort of localization such
as the localize interface that you mentioned or a simpler method is to use
odometry off of the position driver, with some reasonable errors set (
http://playerstage.sourceforge.net/doc/Stage-2.0.1/group__model__position.html
position model ).  The odometry will however drift over time so the accuracy
will get less and less.  This is accessible from the getX, getY and getYaw
functions in the position2d class.  You could however use odometry with
"gps" localization that will give you the absolute correct position of the
robot however is not an accurate representation of real life.  This is also
accessible from the same functions as before.

So a bit more detail could be required about exactly what you are looking to
do and how accurately you want to model reality.  The 
http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__amcl.html
LocalizeInterface  requires a map and laser as well so if these are not
available then you need to look at some other method.

thanks

John


Faruq wrote:
> 
> Hi list,
> 
> I am a newbie of java-player (due to some reasons I decided to use Java
> with my planner). I'm trying to  localize a robot in Stage (now studying
> BlobfinderExample and other examples) . 
> 
> My target is to: 
> 1) determine current pose of robot
> 2) drive the robot to a target pose (I found PlayerClient.setSpeed() can
> drive arbitarily, not like GoTo a pose)
> 
> This might be too simple problem to many P/S/G experts. Unfortunately, I
> am lost trying with APIs.
> 
> I am checking  LocalizeInterface and trying to read hypotheses etc. I have
> no idea how to get current pose regularly. 
> 
> Anyone having some hints and/or code snippets for java-palyer
> localization, please reply.
> 
> Thanks in advance,
> Faruq 
> 
> 
> 
> 

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[Java-player-users] How can I localize using LocalizeInterface

[Faruq <wri...@ya...>]

Hi list,

I am a newbie of java-player (due to some reasons I decided to use Java with
my planner). I'm trying to  localize a robot in Stage (now studying
BlobfinderExample and other examples) . 

My target is to: 
1) determine current pose of robot
2) drive the robot to a target pose (I found PlayerClient.setSpeed() can
drive arbitarily, not like GoTo a pose)

This might be too simple problem to many P/S/G experts. Unfortunately, I am
lost trying with APIs.

I am checking  LocalizeInterface and trying to read hypotheses etc. I have
no idea how to get current pose regularly. 

Anyone having some hints and/or code snippets for java-palyer localization,
please reply.

Thanks in advance,
Faruq 



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Re: [Java-player-users] setPosition

[Matthias W. <mw...@gm...>]

Hi John, thanks your answer!

I didn't have a look at the player code, but now I think you are right. I
used ARIA before, which has a position interface, and thought it would be in
the p2os driver of player, too. I red in Pioneer Operations Manual, but the
position interface isn't on the robot, but in the software, so I have to
implement it myself and not just send a command.

Have a nice day!
Matze


On 2/19/07, John Oliver <joh...@gm...> wrote:
>
>
> Having looked at the p2os.cc code
> (
> http://www.koders.com/cpp/fid4AE8C2CE41F77ED4CDA782F9D608D9E6D8D20126.aspx#L125
> )
> it seems that only PLAYER_POSITION_VELOCITY_MODE_REQ is supported and not
> PLAYER_POSITION_POSITION_MODE_REQ.  This seems to point towards the idea
> that positional mode is not supported, again I would check on the player
> stage forum with people familiar with the Pioneers to confirm this.
>
> Thanks again
>
> John
>
>
>
> John Oliver wrote:
> >
> > One thing that pops to mind is: I believe that type 2 subtype 2 means
> that
> > you are using the positional control method, as stated in the manual not
> > all drivers will support it
> > (
> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__interface__position2d.html#ga16
> ),
> > I dont know if its possible for the simulation to accept positional and
> > the real robot not, unfortunatley I deal only with simulation.  I would
> > check on the player stage forum to see if the pioneer can accept
> > positional commands, alternatively try using playerv to issue positional
> > commands and if you get the same error this is likely to be the problem.
> >
> > Thanks
> >
> > John
> >
> >
> >
> >
> > Matthias Wiedemann wrote:
> >>
> >> Hi!
> >>
> >> I downloaded the last version from SVN to have the setPosition Feature
> >> for
> >> Position2DInterface.
> >>
> >> When I test my program with Stage, everything works fine, and the robot
> >> moves to the position, which was desired. On the other hand, when I try
> >> it
> >> with Player and the real robot (Pioneer 2DX), the command fails and the
> >> output of player2.03 is:
> >>
> >> warning : Unhandled message for driver device=16777343:6665:4:0 type=2
> >> subtype=2 len=28
> >>
> >> Does anybody has an idea, how I could get it working?
> >> Thanks!
> >> Matze
> >>
> >>
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Re: [Java-player-users] setPosition

[John O. <joh...@gm...>]

Having looked at the p2os.cc code
(http://www.koders.com/cpp/fid4AE8C2CE41F77ED4CDA782F9D608D9E6D8D20126.aspx#L125)
it seems that only PLAYER_POSITION_VELOCITY_MODE_REQ is supported and not
PLAYER_POSITION_POSITION_MODE_REQ.  This seems to point towards the idea
that positional mode is not supported, again I would check on the player
stage forum with people familiar with the Pioneers to confirm this.

Thanks again

John



John Oliver wrote:
> 
> One thing that pops to mind is: I believe that type 2 subtype 2 means that
> you are using the positional control method, as stated in the manual not
> all drivers will support it
> (http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__interface__position2d.html#ga16),
> I dont know if its possible for the simulation to accept positional and
> the real robot not, unfortunatley I deal only with simulation.  I would
> check on the player stage forum to see if the pioneer can accept
> positional commands, alternatively try using playerv to issue positional
> commands and if you get the same error this is likely to be the problem.
> 
> Thanks
> 
> John
> 
> 
> 
> 
> Matthias Wiedemann wrote:
>> 
>> Hi!
>> 
>> I downloaded the last version from SVN to have the setPosition Feature
>> for
>> Position2DInterface.
>> 
>> When I test my program with Stage, everything works fine, and the robot
>> moves to the position, which was desired. On the other hand, when I try
>> it
>> with Player and the real robot (Pioneer 2DX), the command fails and the
>> output of player2.03 is:
>> 
>> warning : Unhandled message for driver device=16777343:6665:4:0 type=2
>> subtype=2 len=28
>> 
>> Does anybody has an idea, how I could get it working?
>> Thanks!
>> Matze
>> 
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> 
> 

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