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From: Salvatore F. <ei...@gm...> - 2011-09-06 07:48:13
|
Thanks! Changed PLAYER_USE_COMPRESED_DATA, and i don't get that exception anymore. Now, i only get a warning (see below) . I have a couple of other things not working the way i'd like them to (no exceptions for the moment), but i think i'll go over them some more before posting to the list about it. Anyway, once again, you ware a lifesaver! (definitely a timesaver anyway…) Sep 04, 2011 6:01:44 AM javaclient3.MapInterface handleResponse WARNING: Uncompressed data size doesn't match cells number Sep 04, 2011 6:01:44 AM javaclient3.MapInterface handleResponse INFO: Map decompress: 250000 bytes > From: Jorge Santos Sim?n <jsa...@gm...> > Subject: Re: [Java-player-users] DataFormatException > To: jav...@li... > Message-ID: > <CAB...@ma...> > Content-Type: text/plain; charset="iso-8859-1" > > Hello Salvatore, > > I think the problem is that your player server is sending uncompressed maps > to javaclient, but javaclient expects compressed ones by default. Just try > to set the first constant on javaclient/structures/PlayerConstants.java as > false > > /** > * Informs Javaclient interfaces whether to expect compressed or > * uncompressed data from Player server. > * This is Java counterpart to the HAVE_Z playerc configuration flag. > */ > public static final boolean PLAYER_USE_COMPRESED_DATA = false; // true; > > Please check also if you have configured player with the CMake > variable HAVE_Z unset or set as false. > > Hope this helps! > Jorge |
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From: Jorge S. S. <jsa...@gm...> - 2011-09-06 11:26:03
|
You are welcome!
mmm.... I'm curious about the warning
Can you replace the log call by:
logger.log (Level.WARNING,
"Uncompressed data size doesn't
match cells number: " + unzDataCount + " != " + cellsCount);
to see how different both values are?
Please report any other ploblems you find
Jorge
2011/9/6 Salvatore Famoso <ei...@gm...>:
> Thanks!
> Changed PLAYER_USE_COMPRESED_DATA, and i don't get that exception anymore.
> Now, i only get a warning (see below) .
> I have a couple of other things not working the way i'd like them to (no exceptions for the moment), but i think i'll go over them some more before posting to the list about it.
>
> Anyway, once again, you ware a lifesaver!
> (definitely a timesaver anyway…)
>
> Sep 04, 2011 6:01:44 AM javaclient3.MapInterface handleResponse
> WARNING: Uncompressed data size doesn't match cells number
> Sep 04, 2011 6:01:44 AM javaclient3.MapInterface handleResponse
> INFO: Map decompress: 250000 bytes
>
>
>
>
>> From: Jorge Santos Sim?n <jsa...@gm...>
>> Subject: Re: [Java-player-users] DataFormatException
>> To: jav...@li...
>> Message-ID:
>> <CAB...@ma...>
>> Content-Type: text/plain; charset="iso-8859-1"
>>
>> Hello Salvatore,
>>
>> I think the problem is that your player server is sending uncompressed maps
>> to javaclient, but javaclient expects compressed ones by default. Just try
>> to set the first constant on javaclient/structures/PlayerConstants.java as
>> false
>>
>> /**
>> * Informs Javaclient interfaces whether to expect compressed or
>> * uncompressed data from Player server.
>> * This is Java counterpart to the HAVE_Z playerc configuration flag.
>> */
>> public static final boolean PLAYER_USE_COMPRESED_DATA = false; // true;
>>
>> Please check also if you have configured player with the CMake
>> variable HAVE_Z unset or set as false.
>>
>> Hope this helps!
>> Jorge
>
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|
From: Salvatore F. <ei...@gm...> - 2011-09-07 01:36:45
|
first, i apologize in advance for the length of my mail
I went to MapInterface.java, and made the following changes:
if (unzDataCount != cellsCount)
logger.log (Level.WARNING,
"Uncompressed data size doesn't match cells number: " + unzDataCount + " != " + cellsCount);
//logger.log (Level.WARNING,
// "Uncompressed data size doesn't match cells number");
}
else
{
// Read uncompressed data
if (dataCount != cellsCount)
logger.log (Level.WARNING,
"Data count doesn't match cells number: " + dataCount + " != " + cellsCount);
//logger.log (Level.WARNING,
// "Uncompressed data size doesn't match cells number");
is.readFully(outBuffer, 0, dataCount);
}
Basically, in the navigation part in my code, i have the robot just wander, until i give it a point, and then i expect it to go there.
For the moment, when it gets there, it has to stay a bit, and then start wandering again.
The most functional version of the code i use for this (position/localization interfaces are already available from the wandering phase, which is in the same class), was so far the following :
System.out.println("Robot " + myAgent.getName()
+ " New Goal : (" + point.getPx() + "," + point.getPy()
+ "," + point.getPa() + ")");
planner.getDeviceAccess();
planner.setGoal(point);
planner.getWaypoints();
map.getDeviceAccess();
map.requestMapInformation();
System.out.println("Robot " + myAgent.getName() + " map.isDataReady() "
+ map.isDataReady());
map.requestMapInformation();
map.readMapInfo();
while (map.isDataReady() == false) {
try {
map.requestMapInformation();
Thread.sleep(20);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
mapInfo = map.getData();
System.out.println("Robot " + myAgent.getName() + " MapInfo = " + mapInfo.toString());
System.out.println("Robot " + myAgent.getName() + " Map data ready!");
// Request map description and wait until it is ready
PlayerMapData pmd = new PlayerMapData();
pmd.setWidth(mapInfo.getWidth());
pmd.setHeight(mapInfo.getHeight());
pmd.setRow(0);
pmd.setCol(0);
System.out.println("Robot " + myAgent.getName() + " pmd.toString()" + pmd.toString());
map.requestMapData(pmd);
if ((loc != null) && (loc.isDataReady() == true)) {
pld = loc.getData();
hypoths = pld.getHypoths();
if ((pld.getHypoths_count() == 1)
&& (hypoths[0].getAlpha() > 0.98))
posi.setOdometry(hypoths[0].getMean());
}
if (planner.isReadyWaypointData()) {
PlayerPlannerWaypointsReq ppwd = planner.getWaypointData();
System.out.println("Robot " + myAgent.getName() + " PlayerPlannerWaypointsReq = " + ppwd.toString());
wPoints = ppwd.getWaypoints();
System.out.println("Robot " + myAgent.getName() + " wPoints = " + wPoints.toString());
}
// Verify recent planner data to decide the navigation status
if (planner.isDataReady()) {
PlayerPlannerData ppd = planner.getData();
System.out.println("Robot " + myAgent.getName() + " PlayerPlannerData = " + ppd.toString());
if (ppd.getValid() == 0) {
System.out.println("Robot " + myAgent.getName()
+ " Not a valid path");
System.out.println("Robot " + myAgent.getName()
+ " Current Position : ("
+ presentPose.getPx() + ","
+ presentPose.getPy() + ","
+ presentPose.getPa());
wPoints = null;
}
// Check if goal is achieved
else if (ppd.getDone() == 1) {
eventReceived = false;
posi.setSpeed(0, 0);
System.out.println("Robot " + myAgent.getName()
+ " Done!");
System.out.println("Robot " + myAgent.getName()
+ " Current Position : (" + presentPose.getPx()
+ "," + presentPose.getPy() + ","
+ presentPose.getPa() + ")");
point = null;
wPoints = null;
try {
Thread.sleep(10000);
} catch (InterruptedException e) {
e.printStackTrace();
}
posi.setSpeed(DEF_X_SPEED, 0);
} else {
System.out.println("Robot " + myAgent.getName()
+ " Still on path");
planner.getWaypoints();
}
}
The best i got so far was the following:
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@1122fc6
Robot Navigation1@testPlatform Map data ready!
Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@ed088a
Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@17380d3
Robot Navigation1@testPlatform Still on path
Sep 04, 2011 3:09:16 PM javaclient3.MapInterface handleResponse
WARNING: Data count doesn't match cells number: 2431 != 250000
Sep 04, 2011 3:09:16 PM javaclient3.MapInterface handleResponse
INFO: Map decompress: 250000 bytes
Robot Navigation1@testPlatform New Goal : (-2.34,-3.43,1.3)
Robot Navigation1@testPlatform map.isDataReady() true
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@1baeeb0
Robot Navigation1@testPlatform Map data ready!
Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@18c7d4b
Robot Navigation1@testPlatform PlayerPlannerWaypointsReq = javaclient3.structures.planner.PlayerPlannerWaypointsReq@13b0eef
Robot Navigation1@testPlatform wPoints = [Ljavaclient3.structures.PlayerPose2d;@517df4
Sep 04, 2011 3:09:18 PM javaclient3.MapInterface handleResponse
WARNING: Data count doesn't match cells number: 2431 != 250000
Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@10d3719
Robot Navigation1@testPlatform Still on path
Sep 04, 2011 3:09:18 PM javaclient3.MapInterface handleResponse
INFO: Map decompress: 250000 bytes
Robot Navigation1@testPlatform New Goal : (-2.34,-3.43,1.3)
Robot Navigation1@testPlatform map.isDataReady() true
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@15827c4
Robot Navigation1@testPlatform Map data ready!
Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@9ad559
Sep 04, 2011 3:09:23 PM javaclient3.MapInterface handleResponse
WARNING: Data count doesn't match cells number: 2431 != 250000
Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@f540da
Robot Navigation1@testPlatform Still on path
Sep 04, 2011 3:09:23 PM javaclient3.MapInterface handleResponse
INFO: Map decompress: 250000 bytes
Robot Navigation1@testPlatform New Goal : (-2.34,-3.43,1.3)
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@1eb305e
Robot Navigation1@testPlatform Map data ready!
Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@1b48906
Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@1d0a86a
Robot Navigation1@testPlatform Done!
Robot Navigation1@testPlatform Current Position : (-2.53,-3.41,1.22)
Sep 04, 2011 3:09:28 PM javaclient3.MapInterface handleResponse
WARNING: Data count doesn't match cells number: 2431 != 250000
Sep 04, 2011 3:09:28 PM javaclient3.MapInterface handleResponse
INFO: Map decompress: 250000 bytes
at some point i also got something like :
pmd.toString()javaclient3.structures.map.PlayerMapData@1ec2b37
Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@2c637d
Robot Navigation1@testPlatform Not a valid path
Sep 04, 2011 2:52:10 PM javaclient3.MapInterface handleResponse
WARNING: Data count doesn't match cells number: 2431 != 250000
Sep 04, 2011 2:52:10 PM javaclient3.MapInterface handleResponse
INFO: Map decompress: 250000 bytes
Robot Navigation1@testPlatform New Goal : (0.17,-6.64,0.75)
Robot Navigation1@testPlatform map.isDataReady() true
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@ed088a
Robot Navigation1@testPlatform Map data ready!
However, goal point was easily readable by the robot (there was no obstacle), like all goal points given
Also, at one run i got in the terminal window where player .cfg is run, an output of the form :
warning : requested cell (6540,3) is offmap
warning : requested cell (6541,3) is offmap
………………………………………………….
warning : requested cell (6998,3) is offmap
warning : requested cell (6999,3) is offmap
new goal: -2.250000, -3.600000, 1.010000
warning : Wavefront missed deadline and not sleeping; check machine load
new goal: -2.250000, -3.600000, 1.010000
i hope the above helps.
In all of the runs, whether the output was "Done", or "No valid path", etc, the robot moved to a point with slightly
different coordinates than the goal.
For the moment, as far as i am concerned, i don't mind if the robot visits a point "nearby".
It allows me to move on to my main work, and if necessary get back to improve this afterwards.
But if there's anything else you'd like me to try, i'd be glad to
On Sep 6, 2011, at 2:16 PM, Jorge Santos Simón wrote:
> You are welcome!
>
> mmm.... I'm curious about the warning
>
> Can you replace the log call by:
>
> logger.log (Level.WARNING,
> "Uncompressed data size doesn't
> match cells number: " + unzDataCount + " != " + cellsCount);
>
> to see how different both values are?
>
>
> Please report any other ploblems you find
>
> Jorge
>
|
|
From: Jorge S. S. <jsa...@gm...> - 2011-09-07 07:42:51
|
Hello,
Don't warry about the warning if the map is properly received in the
client side. The code is ok.
And for the navigation issues, are you using Stage simulations? How
you load your map? I experienced some problems related with wrong map
loading by wavfront driver.
Take a look at NAvigatorExample on javaclient web site. Maybe it can helps you
gGood luck!
2011/9/7 Salvatore Famoso <ei...@gm...>:
> first, i apologize in advance for the length of my mail
>
> I went to MapInterface.java, and made the following changes:
>
> if (unzDataCount != cellsCount)
> logger.log (Level.WARNING,
> "Uncompressed data size doesn't match cells number: " + unzDataCount + " != " + cellsCount);
> //logger.log (Level.WARNING,
> // "Uncompressed data size doesn't match cells number");
> }
> else
> {
> // Read uncompressed data
> if (dataCount != cellsCount)
> logger.log (Level.WARNING,
> "Data count doesn't match cells number: " + dataCount + " != " + cellsCount);
> //logger.log (Level.WARNING,
> // "Uncompressed data size doesn't match cells number");
> is.readFully(outBuffer, 0, dataCount);
> }
>
>
> Basically, in the navigation part in my code, i have the robot just wander, until i give it a point, and then i expect it to go there.
> For the moment, when it gets there, it has to stay a bit, and then start wandering again.
>
>
> The most functional version of the code i use for this (position/localization interfaces are already available from the wandering phase, which is in the same class), was so far the following :
>
> System.out.println("Robot " + myAgent.getName()
> + " New Goal : (" + point.getPx() + "," + point.getPy()
> + "," + point.getPa() + ")");
> planner.getDeviceAccess();
> planner.setGoal(point);
>
> planner.getWaypoints();
>
> map.getDeviceAccess();
>
> map.requestMapInformation();
> System.out.println("Robot " + myAgent.getName() + " map.isDataReady() "
> + map.isDataReady());
>
> map.requestMapInformation();
> map.readMapInfo();
>
> while (map.isDataReady() == false) {
> try {
> map.requestMapInformation();
> Thread.sleep(20);
> } catch (InterruptedException e) {
> e.printStackTrace();
> }
> }
>
> mapInfo = map.getData();
>
> System.out.println("Robot " + myAgent.getName() + " MapInfo = " + mapInfo.toString());
> System.out.println("Robot " + myAgent.getName() + " Map data ready!");
>
> // Request map description and wait until it is ready
> PlayerMapData pmd = new PlayerMapData();
> pmd.setWidth(mapInfo.getWidth());
> pmd.setHeight(mapInfo.getHeight());
> pmd.setRow(0);
> pmd.setCol(0);
>
> System.out.println("Robot " + myAgent.getName() + " pmd.toString()" + pmd.toString());
>
> map.requestMapData(pmd);
>
>
> if ((loc != null) && (loc.isDataReady() == true)) {
> pld = loc.getData();
> hypoths = pld.getHypoths();
> if ((pld.getHypoths_count() == 1)
> && (hypoths[0].getAlpha() > 0.98))
> posi.setOdometry(hypoths[0].getMean());
> }
>
> if (planner.isReadyWaypointData()) {
> PlayerPlannerWaypointsReq ppwd = planner.getWaypointData();
> System.out.println("Robot " + myAgent.getName() + " PlayerPlannerWaypointsReq = " + ppwd.toString());
> wPoints = ppwd.getWaypoints();
> System.out.println("Robot " + myAgent.getName() + " wPoints = " + wPoints.toString());
> }
>
> // Verify recent planner data to decide the navigation status
> if (planner.isDataReady()) {
> PlayerPlannerData ppd = planner.getData();
>
> System.out.println("Robot " + myAgent.getName() + " PlayerPlannerData = " + ppd.toString());
>
> if (ppd.getValid() == 0) {
> System.out.println("Robot " + myAgent.getName()
> + " Not a valid path");
> System.out.println("Robot " + myAgent.getName()
> + " Current Position : ("
> + presentPose.getPx() + ","
> + presentPose.getPy() + ","
> + presentPose.getPa());
> wPoints = null;
> }
> // Check if goal is achieved
> else if (ppd.getDone() == 1) {
> eventReceived = false;
> posi.setSpeed(0, 0);
> System.out.println("Robot " + myAgent.getName()
> + " Done!");
>
> System.out.println("Robot " + myAgent.getName()
> + " Current Position : (" + presentPose.getPx()
> + "," + presentPose.getPy() + ","
> + presentPose.getPa() + ")");
>
> point = null;
> wPoints = null;
> try {
> Thread.sleep(10000);
> } catch (InterruptedException e) {
> e.printStackTrace();
> }
> posi.setSpeed(DEF_X_SPEED, 0);
> } else {
> System.out.println("Robot " + myAgent.getName()
> + " Still on path");
> planner.getWaypoints();
> }
> }
>
>
>
> The best i got so far was the following:
>
>
> Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@1122fc6
> Robot Navigation1@testPlatform Map data ready!
> Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@ed088a
> Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@17380d3
> Robot Navigation1@testPlatform Still on path
> Sep 04, 2011 3:09:16 PM javaclient3.MapInterface handleResponse
> WARNING: Data count doesn't match cells number: 2431 != 250000
> Sep 04, 2011 3:09:16 PM javaclient3.MapInterface handleResponse
> INFO: Map decompress: 250000 bytes
> Robot Navigation1@testPlatform New Goal : (-2.34,-3.43,1.3)
> Robot Navigation1@testPlatform map.isDataReady() true
> Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@1baeeb0
> Robot Navigation1@testPlatform Map data ready!
> Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@18c7d4b
> Robot Navigation1@testPlatform PlayerPlannerWaypointsReq = javaclient3.structures.planner.PlayerPlannerWaypointsReq@13b0eef
> Robot Navigation1@testPlatform wPoints = [Ljavaclient3.structures.PlayerPose2d;@517df4
> Sep 04, 2011 3:09:18 PM javaclient3.MapInterface handleResponse
> WARNING: Data count doesn't match cells number: 2431 != 250000
> Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@10d3719
> Robot Navigation1@testPlatform Still on path
> Sep 04, 2011 3:09:18 PM javaclient3.MapInterface handleResponse
> INFO: Map decompress: 250000 bytes
> Robot Navigation1@testPlatform New Goal : (-2.34,-3.43,1.3)
> Robot Navigation1@testPlatform map.isDataReady() true
> Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@15827c4
> Robot Navigation1@testPlatform Map data ready!
> Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@9ad559
> Sep 04, 2011 3:09:23 PM javaclient3.MapInterface handleResponse
> WARNING: Data count doesn't match cells number: 2431 != 250000
> Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@f540da
> Robot Navigation1@testPlatform Still on path
> Sep 04, 2011 3:09:23 PM javaclient3.MapInterface handleResponse
> INFO: Map decompress: 250000 bytes
> Robot Navigation1@testPlatform New Goal : (-2.34,-3.43,1.3)
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@1eb305e
> Robot Navigation1@testPlatform Map data ready!
> Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@1b48906
> Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@1d0a86a
> Robot Navigation1@testPlatform Done!
> Robot Navigation1@testPlatform Current Position : (-2.53,-3.41,1.22)
> Sep 04, 2011 3:09:28 PM javaclient3.MapInterface handleResponse
> WARNING: Data count doesn't match cells number: 2431 != 250000
> Sep 04, 2011 3:09:28 PM javaclient3.MapInterface handleResponse
> INFO: Map decompress: 250000 bytes
>
>
>
> at some point i also got something like :
>
> pmd.toString()javaclient3.structures.map.PlayerMapData@1ec2b37
> Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@2c637d
> Robot Navigation1@testPlatform Not a valid path
> Sep 04, 2011 2:52:10 PM javaclient3.MapInterface handleResponse
> WARNING: Data count doesn't match cells number: 2431 != 250000
> Sep 04, 2011 2:52:10 PM javaclient3.MapInterface handleResponse
> INFO: Map decompress: 250000 bytes
> Robot Navigation1@testPlatform New Goal : (0.17,-6.64,0.75)
> Robot Navigation1@testPlatform map.isDataReady() true
> Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@ed088a
> Robot Navigation1@testPlatform Map data ready!
>
>
>
> However, goal point was easily readable by the robot (there was no obstacle), like all goal points given
>
> Also, at one run i got in the terminal window where player .cfg is run, an output of the form :
>
> warning : requested cell (6540,3) is offmap
> warning : requested cell (6541,3) is offmap
> ………………………………………………….
> warning : requested cell (6998,3) is offmap
> warning : requested cell (6999,3) is offmap
> new goal: -2.250000, -3.600000, 1.010000
> warning : Wavefront missed deadline and not sleeping; check machine load
> new goal: -2.250000, -3.600000, 1.010000
>
>
> i hope the above helps.
> In all of the runs, whether the output was "Done", or "No valid path", etc, the robot moved to a point with slightly
> different coordinates than the goal.
> For the moment, as far as i am concerned, i don't mind if the robot visits a point "nearby".
> It allows me to move on to my main work, and if necessary get back to improve this afterwards.
> But if there's anything else you'd like me to try, i'd be glad to
>
>
>
>
>
> On Sep 6, 2011, at 2:16 PM, Jorge Santos Simón wrote:
>
>> You are welcome!
>>
>> mmm.... I'm curious about the warning
>>
>> Can you replace the log call by:
>>
>> logger.log (Level.WARNING,
>> "Uncompressed data size doesn't
>> match cells number: " + unzDataCount + " != " + cellsCount);
>>
>> to see how different both values are?
>>
>>
>> Please report any other ploblems you find
>>
>> Jorge
>>
>
>
> ------------------------------------------------------------------------------
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> Virtualization increases hardware utilization and delivers a new level of
> agility. Learn what those decisions are and how to modernize your storage
> and backup environments for virtualization.
> http://www.accelacomm.com/jaw/sfnl/114/51434361/
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
>
|
|
From: Salvatore F. <ei...@gm...> - 2011-09-07 14:30:28
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The example was actually the guideline on how to do it (there is little else on the configuration, etc, anywhere) Basically, the code i use, is a slightly modified version of the one in the example, with things i don't need commented out. I am using Stage, with a configuration similar to the NavigatorExample (at least as far as the mapping and planner interfaces are concerned), with extra drivers i need, and bigger number of robots. I use cave.png for all the robots, although i have at times tried using images from the other examples i didn't notice any loading wrong map, to be honest. In the terminal window it outputs: MapFile loading image file: /.../bitmaps/cave.png...Done. MapFile read a 500 X 500 map, at 0.032 m/pix Wavefront: Loading map from map:0... scale: 0.032 Generating C-space.... robot radius: 0.190 On Sep 7, 2011, at 10:42 AM, Jorge Santos Simón wrote: > Hello, > > Don't warry about the warning if the map is properly received in the > client side. The code is ok. > > And for the navigation issues, are you using Stage simulations? How > you load your map? I experienced some problems related with wrong map > loading by wavfront driver. > > Take a look at NAvigatorExample on javaclient web site. Maybe it can helps you > > gGood luck! > > 2011/9/7 Salvatore Famoso <ei...@gm...>: >> first, i apologize in advance for the length of my mail |
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