[Java-player-users] Problem with resource allocation while using Planner Interface

[Salvatore F. <ei...@gm...>]

Hello everyone,

i am using in 2 different threads, a Fiducial Detector, and a Planner Interface.

The fiducial detector, gives me the id of the detected fiducial, as well as the position of the robot that detected it (position returned from the fiducial itself was less accurate, so i decided to use the one of the robot).

This position, is then used by another robot as a goal in a PlannerInterface (robot has to move to the position the fiducial was detected).

The second robot, has a fiducial detector running at the same time (All robots move in the environment, while detecting fiducials).

The problem is, that while the fiducial is detected, and data is fed to the second robot's planner, the robot cannot get to the goal point.

Although things seem to work properly, the robot at some point fails to adjust its speed, and carries out a course, usually crashing on to an obstacle.

I have noticed that when this happens, my cpu usage reaches 100%, and in the terminal window where the planner configuration is run, i get an output like the following :



warning : requested cell (1684,21) is offmap
warning : requested cell (1685,21) is offmap
warning : requested cell (1686,21) is offmap
warning : requested cell (1687,21) is offmap
warning : requested cell (1688,21) is offmap
warning : requested cell (1689,21) is offmap
warning : requested cell (1690,21) is offmap
warning : requested cell (1691,21) is offmap
warning : requested cell (1692,21) is offmap
warning : requested cell (1693,21) is offmap
warning : requested cell (1694,21) is offmap
warning : requested cell (1695,21) is offmap
warning : requested cell (1696,21) is offmap
warning : requested cell (1697,21) is offmap
warning : requested cell (1698,21) is offmap
warning : requested cell (1699,21) is offmap
warning : requested cell (1700,21) is offmap
warning : requested cell (1701,21) is offmap
warning : requested cell (1702,21) is offmap
warning : requested cell (1703,21) is offmap
warning : requested cell (1704,21) is offmap
warning : requested cell (1705,21) is offmap



In the java console, my output seems normal :

Sep 28, 2011 9:01:40 AM javaclient3.MapInterface handleResponse
WARNING: Data count doesn't match cells number: 2431 != 250000
Sep 28, 2011 9:01:40 AM javaclient3.MapInterface handleResponse
INFO: Map decompress: 250000 bytes
Robot Navigation1@testPlatform New Goal : (0.6018865726369702,-6.377219609508479,-0.7258935634496316)
Robot Navigation1@testPlatform map.isDataReady() true
Robot Navigation1@testPlatform MapInfo = javaclient3.structures.map.PlayerMapInfo@9485d
Robot Navigation1@testPlatform Map data ready!
Robot Navigation1@testPlatform pmd.toString()javaclient3.structures.map.PlayerMapData@16dd2b6
Robot Navigation1@testPlatform PlayerPlannerData = javaclient3.structures.planner.PlayerPlannerData@1e22a7e
Robot Navigation1@testPlatform Still on path


The map, amcl, wavefront and vfh configurations i use are the following :


driver
(
  name "mapfile"
  provides ["7000:map:0"]

  filename "bitmaps/cave.png"
  resolution 0.032 # meters per pixel
  negate 0
  origin [-16 -16 ] # real-world location of the bottom-left-hand corner of the map
)


driver
(
  name "amcl"
  provides ["7000:localize:0" "7000:position2d:2"]
  requires ["odometry::6665:position2d:0" "7000:laser:0" "laser::7000:map:0"]

 odom_init 0

  init_pose [-6.432 -5.895 0]
)


driver
(
  name "vfh"
  provides ["7000:position2d:1"]
  requires ["6665:position2d:0" "7000:laser:0"]

  max_turnrate_0ms 90
  max_turnrate_1ms 35
)

driver
(
  name "wavefront"
  provides ["7000:planner:0"]
  requires ["output::7000:position2d:1" "input::7000:position2d:2" "7000:map:0"]

  safety_dist 0.4 
  distance_epsilon 1.0
  angle_epsilon 10
  alwayson 1
)


If anyone has an idea as to what causes the problem, you are welcome to give some insight.
Thanks in advance