Hellos,
fly roadto wrote:
> Hi all,
> I am sorry to send two more repearted messages to the server (e.g.
> "questions about using java code with simulator" and "how to use the
> simulator with java code"). Becasue i sent this thread the day before
> yesterday, but couldn't see any new one from the mailing list. So im
> so fool to send two more. Could the administrator cancel the two more
> ones please?
> and i have one more question. when i ran the code as follow:
> PlayerClient player = new PlayerClient("localhost",6665);
> PositionInterface post = player.requestInterfacePosition(0,
> 'r'); //a, r or w
> SimulationInterface simulation =
> player.requestInterfaceSimulation(0, 'r');
> player.runThreaded(-1, -1);
> //now loop this stuff...
> player.readAll();
You don't need to call player.readAll() if you run the Javaclient in
threaded mode.
> //update the global data so every behaviour can access it
>
> simulation.set2DPose("pioneer", 1000, 1000, 0);
> simulation.get2DPose("pioneer");
>
> int currentX = simulation.getSimulationPose2D().getX();
> int currentY = simulation.getSimulationPose2D().getY();
> int currentYaw = simulation.getSimulationPose2D().getTheta();
>
> System.out.println("Position (" + currentX + "/"+ currentY +
> ") Angle " +
> "is " + currentYaw + " ");
> and the result is like this:
> [PlayerClient] : Got response for device 4(stage) with access: r
> [PlayerClient] : Got response for device 31(stage) with access: r
> Exception in thread "main" java.lang.NullPointerException
> at robotsimulation.Test1.main(Test1.java:36)
> [Simulation] : Handling NAR of size = 0
>
> it seems the currentX, Y, Yaw don't get any return value from
> getSimulationPose2D(). but i want to get the value of pose of the
> robot in the simulator. any one get ideas?
You need to check isPose2DReady() in a loop before reading the new pose
with getSimulationPose2D(). Example:
while (!isPose2DReady ());
PlayerSimulationPose2D pose = getSimulationPose2D ();
System.out.println ("Position (" + pose.getX () + "/"+ pose.getY ()
+ ") Angle is " + pose.getTheta () + " ");
> thanks very much
You're welcome. Don't hesitate to send your questions here in case you
encounter more problems.
>
> Jun
>
Cheers,
Radu.
--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen
|
