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

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

Hi Radu Bogdan Rusu,
    this time i encounter three problems:
1.   i updated my stage to 2.0, and i can reset the robot's position with 
set2DPose now. however, when i reset the robot's position, it couldn't move 
any more (robot not beyond the bound, not meeting the obstacles). how can i 
solve this problem? it didn't happen in the last version of stage.

2.  and then i test the MapInterface again, and the server still shut down 
at that moment. i thought it might be the problem of my own config file or 
world file, so this time i tested it with simple.cfg, which came from 
stage/worlds. the code is below:
        PlayerClient player = new PlayerClient("localhost",6665);
        PositionInterface post = player.requestInterfacePosition(0, 'r');
        SimulationInterface simulation = 
player.requestInterfaceSimulation(0, 'r');
        MapInterface map = player.requestInterfaceMap(0, 'r');
  the result is:
        [PlayerClient] : Got response for device 4(stage) with access: r
        [PlayerClient] : Got response for device 31(stage) with access: r
        [PlayerClient] : Got response for device 42() with access: e
        [PlayerClient] : Error was replied from the server!
and the information in Terminal is:
       warning : not allowing subscription to unknown device "6665:map:0"
      Shutting stage driver down
      stage driver has been shutdown
      ** Player [port 6665] killing client on socket 10 **
      ** Player [port 6665] quitting **
     Shutting stage driver down
     stage driver has been shutdown
any idea?

3. my task is to write an algorithm of path planning using probabilistic 
roadmap method. so i need to make the robot move in the stage along nodes 
which have been choosen. so i have to get the position data of the robot in 
order to judge if the robot getting the sub-goal point and make it go to the 
next sub-goal. so i test the get2DPose again, with the code below:
        simulation.set2DPose("robot1", 3000, 4000, 0);
        simulation.get2DPose("robot1");
        System.out.println("begin");
        while(!simulation.isPose2DReady());
        System.out.println("ready");
        PlayerSimulationPose2D pose = simulation.getSimulationPose2D();
        System.out.println("x= " + pose.getX()+", 
"+"y="+pose.getY()+","+"yaw="+pose.getTheta());
and the config and world file are the simple.cfg and simple.world.
it seems the isPose2DReady() never return true.
the information in Terminal is:
       Player [port 6665] client accepted from 127.0.0.1 on socket 10 **
       got simulation request
       Stage: received request to move object "robot1" to (3.00,4.00,0.00)
       got simulation request
       warn: Stage simulation doesn't implement config code 1. 
(stg_driver.cc HandleConfigSimulation)
and after waiting about 3 mins, the information in Terminal gave out:
       warning : 21 bytes leftover on write() to client
do you know how can i solve this problem?

thank you very much

Jun

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