[Java-player-users] problem working with two robots

[Alberto A. <ame...@IC...>]

Hi,

I am using javaclient2 in a configuration with Player 2.0.4. and Gazebo
0.7.0 on a Ubuntu Gutsy system.

I wrote a client using the previous javaclient with Player 1.6 and
Gazebo 0.5 and it was working, but now I migrated it and I am having
problems.

In my gazebo world file I have three robots. When I open the interfaces
for the first robot in my java code, everything seems to work, but for
the second robot (or the third one), most of the time (but not always) I
get an error:

[PlayerClient] Negative acknowledgement received for XXX, 
where XXX is usually "planner:1"  but sometimes other interfaces.

I am attaching the java code with the interface requests and the player
definitions for the first robot (definitions for the others are the
same).


Anybody can help?
Thanks in advance,

Alberto


******* Java interface requests for first 2 robots

robots = new PlayerClient ("localhost", 6665);
	        	        	       	        
localiR1 = robots.requestInterfaceLocalize (0,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);	        
	        
planiR1  = robots.requestInterfacePlanner  (0,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);	        

liR1     = robots.requestInterfaceLaser    (0,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);	        
	        
posiR1   = robots.requestInterfacePosition2D (1,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);	        
	        
ptzR1    = robots.requestInterfacePtz(0, 
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);	        
	        
bfiR1    = robots.requestInterfaceBlobfinder (0,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);
	        	     
	localiR2 = robots.requestInterfaceLocalize (1,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);

planiR2  = robots.requestInterfacePlanner  (1,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);

liR2     = robots.requestInterfaceLaser    (3,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);	    

posiR2   = robots.requestInterfacePosition2D (4,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);        
	        
ptzR2    = robots.requestInterfacePtz(1,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);
	        
bfiR2    = robots.requestInterfaceBlobfinder (1,
javaclient2.structures.PlayerConstants.PLAYER_OPEN_MODE);


******* Player definitions for R1
driver

(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazeboplugin"
  server_id "default"
)

driver
(
  name "gazebo"
  provides ["odometry:::position2d:0"]
  gz_id "R1"
)


driver
(
  name "gazebo"
  provides ["laser:0"]
  gz_id "laserR1"
)

driver
(
  name "gazebo"
  provides ["camera:0"]
  gz_id "cameraR1"
)

driver
(
  name "gazebo"
  provides ["ptz:0"]
  gz_id "cameraR1"
)


driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  safety_dist 0.1
  distance_epsilon 0.3
  angle_epsilon 2.5
  max_speed 0.6
  max_acceleration 0.5
  min_turnrate 40
  max_turnrate_1ms 75
  #free_space_cutoff 500000.0
  #weight_desired_dir 10.0
  #weight_current_dir 1.0
)

driver
(
  name "amcl"
  provides ["position2d:2" "localize:0"]
  requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
  update_thresh [0.05 5]
  enable_gui 1
)

driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 5
  replan_dist_thresh 0.5
  replan_min_time 0.1
  #max_radius 1
)

driver
(
  name "mapfile"
  provides ["map:0"]
  filename "/usr/share/doctorat/model/playerfiles/mapfile.png"
  resolution 0.025
  negate 1
)

# Blobfinder for R1
driver
(
  name "cmvision"
  provides ["blobfinder:0"]
  requires ["camera:0"]
  colorfile ["/usr/share/doctorat/model/playerfiles/colorfile"]
)