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From: Salvatore F. <ei...@gm...> - 2011-09-05 02:17:48
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Hello everyone,
i am trying to write an application using player/stage/javaclient, where amongst other stuff, i want a robot to be able to go to a specific given position in the map.
For this part, i tried following the navigator example, changing a few things, so as not to get the goal point from mouse input,
but given otherwise (through a jade datastore).
I also use the same configuration (only adjusted appropriately for a greater number of robots), and the same cave.png as map file (although other didn't make any difference).
i have no problem with passing the goal-point, however, i have a problem with the map interface
i keep getting a DataFormatException.
I have tried commenting out various pieces of the code, sa as to find some version that doesn't give me that exception, but all i got in the end was,
practically almost all the code out, and still the exception.
i tried the debugging mode, and all i found was that it's in the same thread every time, but couldn't find where in the code i use the exception is fired, only that it happens in the map interface.
The same DataFormatException is thrown when trying the javaclient example itself.
below, is the part of the code i use (with some system.out's to see if the execution reaches specific points of the code), as well as
the associated output, and the stack trace i get for the thread that gives the exception when i try the debug mode.
i use player 3.0.2, stage 4.0.0, the latest javaclient libraries from svn, and java 1.7.0 (although the same was happening when using java 1.6.0), and fedora 15.
If anyone has any idea what could be the cause, or how i could find it, i would be obliged, as i've spent several days (and nights) over this and feel like i've reached a dead end...
code:
planner = navigationAgent.getPlanner();
map = navigationAgent.getMap();
System.out.println("Robot " + myAgent.getName() + " my map = " + map.toString());
loc = navigationAgent.getLocalization();
mapInfo = new PlayerMapInfo();
}
public void action() {
//code to get the goal-point
......
System.out.println("Robot " + myAgent.getLocalName()
+ " my event transporter received Pose = " + point);
//setting the position interface
.....
System.out.println("Robot " + myAgent.getName() + " New Goal : ("
+ point.getPx() + "," + point.getPy() + ","
+ point.getPa() + ")");
planner.setGoal(point);
map.getDeviceAccess();
map.requestMapInformation();
System.out.println("Robot " + myAgent.getName() + " " + map.isDataReady());
map.getDeviceAccess();
map.getDeviceDriverName();
map.getTimestamp();
map.requestMapInformation();
map.readMapInfo();
System.out.println("Robot " + myAgent.getName() + " map.getDeviceDriverName() " + map.getDeviceDriverName());
System.out.println("Robot " + myAgent.getName() + " map.getTimestamp() " + map.getTimestamp());
while (map.isDataReady() == false) {
try {
map.requestMapInformation();
System.out.println("Robot " + myAgent.getName() + " map.isDataReady() " + map.isDataReady());
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
int w = mapInfo.getWidth();
System.out.println("Robot " + myAgent.getName() + " new PlayerMapData()");
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);
System.out.println("Robot " + myAgent.getName() + " map.isGridDataReady()" + map.isGridDataReady());
while (map.isGridDataReady() == false) {
try {
Thread.sleep(20);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
map.requestMapDataVector();
PlayerMapData mapData = map.getGridData();
int imgWidth = mapInfo.getWidth();
int imgHeight = mapInfo.getHeight();
if (imgWidth * imgHeight != mapData.getData_count()) {
System.err
.println("NavigatorExample: map grid size and given data not matching");
System.exit(1);
}
currStatus = NavStatus.NEW_GOAL;
System.out.println("Robot " + myAgent.getName() + " Current Status : "
+ currStatus);
//and code continues similar to the navigator example as far as the navigation is concerned
.....
the corresponding output is :
Robot Navigation1@testPlatform my map = javaclient3.MapInterface@be4ae
Robot Navigation1 my event transporter received Pose = PlayerPose2d { -2.12, -2.81, 2.06}
Robot Navigation1@testPlatform New Goal : (-2.12,-2.81,2.06)
Robot Navigation1@testPlatform false
Robot Navigation1@testPlatform map.getDeviceDriverName() mapfile
Robot Navigation1@testPlatform map.getTimestamp() 0.0
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform map.isDataReady() false
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@19776d7
Robot Navigation1@testPlatform Map data ready!
Robot Navigation1@testPlatform new PlayerMapData()
Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@17f1661
Robot Navigation1@testPlatform map.isGridDataReady()false
Sep 04, 2011 4:40:25 AM javaclient3.PlayerException <init>
SEVERE: [Map] : Error uncompressing payload: java.util.zip.DataFormatException: incorrect header check
Exception in thread "Thread-27" javaclient3.PlayerException: [Map] : Error uncompressing payload: java.util.zip.DataFormatException: incorrect header check
at javaclient3.MapInterface.handleResponse(MapInterface.java:334)
at javaclient3.PlayerClient.handleRequestsDevice(PlayerClient.java:1197)
at javaclient3.PlayerClient.read(PlayerClient.java:891)
at javaclient3.PlayerClient.read(PlayerClient.java:827)
at javaclient3.PlayerClient.run(PlayerClient.java:268)
Caused by: java.util.zip.DataFormatException: incorrect header check
at java.util.zip.Inflater.inflateBytes(Native Method)
at java.util.zip.Inflater.inflate(Inflater.java:256)
at java.util.zip.Inflater.inflate(Inflater.java:274)
at javaclient3.MapInterface.handleResponse(MapInterface.java:253)
... 4 more
thread 27 stack trace:
Thread [Thread-27] (Suspended (exception DataFormatException))
Inflater.inflateBytes(long, byte[], int, int) line: not available [native method]
Inflater.inflate(byte[], int, int) line: 256
Inflater.inflate(byte[]) line: 274
MapInterface.handleResponse(PlayerMsgHdr) line: 253
PlayerClient.handleRequestsDevice(PlayerMsgHdr) line: 1197
PlayerClient.read(int, int) line: 891
PlayerClient.read() line: 827
PlayerClient.run() line: 268
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From: Jorge S. S. <jsa...@gm...> - 2011-09-05 08:45:08
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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
2011/9/5 Salvatore Famoso <ei...@gm...>
> Hello everyone,
>
> i am trying to write an application using player/stage/javaclient, where
> amongst other stuff, i want a robot to be able to go to a specific given
> position in the map.
> For this part, i tried following the navigator example, changing a few
> things, so as not to get the goal point from mouse input,
> but given otherwise (through a jade datastore).
> I also use the same configuration (only adjusted appropriately for a
> greater number of robots), and the same cave.png as map file (although other
> didn't make any difference).
> i have no problem with passing the goal-point, however, i have a problem
> with the map interface
> i keep getting a DataFormatException.
> I have tried commenting out various pieces of the code, sa as to find some
> version that doesn't give me that exception, but all i got in the end was,
> practically almost all the code out, and still the exception.
> i tried the debugging mode, and all i found was that it's in the same
> thread every time, but couldn't find where in the code i use the exception
> is fired, only that it happens in the map interface.
> The same DataFormatException is thrown when trying the javaclient example
> itself.
> below, is the part of the code i use (with some system.out's to see if the
> execution reaches specific points of the code), as well as
> the associated output, and the stack trace i get for the thread that gives
> the exception when i try the debug mode.
> i use player 3.0.2, stage 4.0.0, the latest javaclient libraries from svn,
> and java 1.7.0 (although the same was happening when using java 1.6.0), and
> fedora 15.
>
> If anyone has any idea what could be the cause, or how i could find it, i
> would be obliged, as i've spent several days (and nights) over this and feel
> like i've reached a dead end...
>
>
> code:
>
> planner = navigationAgent.getPlanner();
> map = navigationAgent.getMap();
> System.out.println("Robot " + myAgent.getName() + " my map =
> " + map.toString());
> loc = navigationAgent.getLocalization();
>
> mapInfo = new PlayerMapInfo();
>
>
>
> }
>
> public void action() {
>
> //code to get the goal-point
> ......
> System.out.println("Robot " + myAgent.getLocalName()
> + " my event transporter received Pose = " +
> point);
>
> //setting the position interface
> .....
>
> System.out.println("Robot " + myAgent.getName() + " New Goal
> : ("
> + point.getPx() + "," + point.getPy() + ","
> + point.getPa() + ")");
> planner.setGoal(point);
>
> map.getDeviceAccess();
>
> map.requestMapInformation();
> System.out.println("Robot " + myAgent.getName() + " " +
> map.isDataReady());
> map.getDeviceAccess();
>
> map.getDeviceDriverName();
> map.getTimestamp();
> map.requestMapInformation();
> map.readMapInfo();
> System.out.println("Robot " + myAgent.getName() + "
> map.getDeviceDriverName() " + map.getDeviceDriverName());
> System.out.println("Robot " + myAgent.getName() + "
> map.getTimestamp() " + map.getTimestamp());
> while (map.isDataReady() == false) {
> try {
> map.requestMapInformation();
> System.out.println("Robot " +
> myAgent.getName() + " map.isDataReady() " + map.isDataReady());
> 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
> int w = mapInfo.getWidth();
> System.out.println("Robot " + myAgent.getName() + " new
> PlayerMapData()");
> 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);
> System.out.println("Robot " + myAgent.getName() + "
> map.isGridDataReady()" + map.isGridDataReady());
>
> while (map.isGridDataReady() == false) {
> try {
> Thread.sleep(20);
> } catch (InterruptedException e) {
> e.printStackTrace();
> }
> }
> map.requestMapDataVector();
>
> PlayerMapData mapData = map.getGridData();
>
> int imgWidth = mapInfo.getWidth();
> int imgHeight = mapInfo.getHeight();
>
> if (imgWidth * imgHeight != mapData.getData_count()) {
> System.err
> .println("NavigatorExample: map grid
> size and given data not matching");
> System.exit(1);
> }
>
> currStatus = NavStatus.NEW_GOAL;
> System.out.println("Robot " + myAgent.getName() + " Current
> Status : "
> + currStatus);
>
>
> //and code continues similar to the navigator example as far
> as the navigation is concerned
> .....
>
>
>
> the corresponding output is :
>
>
> Robot Navigation1@testPlatform my map = javaclient3.MapInterface@be4ae
> Robot Navigation1 my event transporter received Pose = PlayerPose2d {
> -2.12, -2.81, 2.06}
> Robot Navigation1@testPlatform New Goal : (-2.12,-2.81,2.06)
> Robot Navigation1@testPlatform false
> Robot Navigation1@testPlatform map.getDeviceDriverName() mapfile
> Robot Navigation1@testPlatform map.getTimestamp() 0.0
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform MapInfo =
> javaclient3.structures.map.PlayerMapInfo@19776d7
> Robot Navigation1@testPlatform Map data ready!
> Robot Navigation1@testPlatform new PlayerMapData()
> Robot Nav...@te...String()javaclient3.structures.map.PlayerMapData@17f1661
> Robot Navigation1@testPlatform map.isGridDataReady()false
> Sep 04, 2011 4:40:25 AM javaclient3.PlayerException <init>
> SEVERE: [Map] : Error uncompressing payload:
> java.util.zip.DataFormatException: incorrect header check
> Exception in thread "Thread-27" javaclient3.PlayerException: [Map] : Error
> uncompressing payload: java.util.zip.DataFormatException: incorrect header
> check
> at javaclient3.MapInterface.handleResponse(MapInterface.java:334)
> at
> javaclient3.PlayerClient.handleRequestsDevice(PlayerClient.java:1197)
> at javaclient3.PlayerClient.read(PlayerClient.java:891)
> at javaclient3.PlayerClient.read(PlayerClient.java:827)
> at javaclient3.PlayerClient.run(PlayerClient.java:268)
> Caused by: java.util.zip.DataFormatException: incorrect header check
> at java.util.zip.Inflater.inflateBytes(Native Method)
> at java.util.zip.Inflater.inflate(Inflater.java:256)
> at java.util.zip.Inflater.inflate(Inflater.java:274)
> at javaclient3.MapInterface.handleResponse(MapInterface.java:253)
> ... 4 more
>
>
>
> thread 27 stack trace:
>
> Thread [Thread-27] (Suspended (exception DataFormatException))
> Inflater.inflateBytes(long, byte[], int, int) line: not available
> [native method]
> Inflater.inflate(byte[], int, int) line: 256
> Inflater.inflate(byte[]) line: 274
> MapInterface.handleResponse(PlayerMsgHdr) line: 253
> PlayerClient.handleRequestsDevice(PlayerMsgHdr) line: 1197
> PlayerClient.read(int, int) line: 891
> PlayerClient.read() line: 827
> PlayerClient.run() line: 268
>
>
>
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