java-player-users

[Java-player-users] how to start P/S with java code?

[fly r. <roa...@ho...>]

Hi all,
    I just finished a java code and now want to run it with P/S. But i have 
go some confusions about it. My target is to move the a robot to a specific 
point in a map.
    my code is like this:
          //constructor
          PlayerClient robot = new PlayerClient("localhost", 6665);
          PositionInterface position = robot.requestInterfacePosition(0, 
'p');
          SimulationInterface simulation = 
robot.requestInterfaceSimulation(0, 's');
          MapInterface map = robot.requestInterfaceMap(0, 'm');

          PlayerSimulationPose2D simulationPosition.setName(NAME);
          position.setSpeed(100, 30);
          position.setPosition(x, y, yaw);

          //run loop
          robot.readAll();
          simulation.set2DPose(NAME,  start.getX(), start.getY(), 
start.getYaw());
          searchAlgorithm();
Questions are these:
1. i don't understand where the map comes from and how the PlayerClient gets 
the data of map. does it come from World file? if yes, how the MapInterface 
gets the data? do i need to write the code for reading the data from World 
file?

2. what is the difference between PositionInterface and 
PlayerSimulationPose2D? since from the API, i think i can use 
PositionInterface and PlannerInterface to move the robot to a specific 
point, why PlayerSimulationPose2D?

I am a beginner to the robot simulation. So there are such naive questions. 
Any one get some idea?
thanks alot

Jun

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Re: [Java-player-users] how to start P/S with java code?

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

Hellos,

Please read my reply bellow.

fly roadto wrote:

> Hi all,
>    I just finished a java code and now want to run it with P/S. But i 
> have go some confusions about it. My target is to move the a robot to 
> a specific point in a map.
>    my code is like this:
>          //constructor
>          PlayerClient robot = new PlayerClient("localhost", 6665);
>          PositionInterface position = 
> robot.requestInterfacePosition(0, 'p');
>          SimulationInterface simulation = 
> robot.requestInterfaceSimulation(0, 's');
>          MapInterface map = robot.requestInterfaceMap(0, 'm');
>
>          PlayerSimulationPose2D simulationPosition.setName(NAME);
>          position.setSpeed(100, 30);
>          position.setPosition(x, y, yaw);
>
>          //run loop
>          robot.readAll();
>          simulation.set2DPose(NAME,  start.getX(), start.getY(), 
> start.getYaw());
>          searchAlgorithm();
> Questions are these:
> 1. i don't understand where the map comes from and how the 
> PlayerClient gets the data of map. does it come from World file? if 
> yes, how the MapInterface gets the data? do i need to write the code 
> for reading the data from World file?

Player manual says: "The |map| interface provides acces to an occupancy 
grid map. This interface returns no data and accepts no commands. The 
map is delivered in tiles, via a sequence of configuration requests."

Basically the map interface gets the data from the world/bitmap file. 
You can use it for:
- getting the size of the map (X, Y in pixels)
- getting the scale of the map
- receiving information about the cell occupancy

The code should already be implemented. Have a look at getMapData() and 
getTileData(). In case you find any errors, we would be more than happy 
if you could submit some patches.

> 2. what is the difference between PositionInterface and 
> PlayerSimulationPose2D? since from the API, i think i can use 
> PositionInterface and PlannerInterface to move the robot to a specific 
> point, why PlayerSimulationPose2D?

Simulation is a new interface used with Stage. PositionInterface and 
PlannerInterface are the ones you need to use for a general case.

> I am a beginner to the robot simulation. So there are such naive 
> questions. Any one get some idea?
> thanks alot

We all are. Uh oh, except the japanese people probably. :)

>
> Jun

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen