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Re: [Java-player-users] DataFormatException
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From: Jorge S. S. <jsa...@gm...> - 2011-09-07 07:42:51
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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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