Re: [Java-player-users] Some basics

[Vitalijs K. <vit...@gm...>]

Hi!

I think your code never gets actual position of your robot. I'm not sure
that robot.readAll(); actually reads all the data, perhaps it reads only
the data which is ready. And at the certain time posi is not ready yet.

Try something like follows:

PlayerClient robot = new PlayerClient("localhost", 6669);
Position2DInterface posi = robot.requestInterfacePosition2D(0, 1);

robot.runThreaded(-1, -1); // this allows to fetch data from the robot in
async mode

posi.setSpeed(1, 0);
Thread.sleep(5000);
posi.setSpeed(0, 0);

while (true) {

// infinite loop waiting for the data

if(posi.isDataReady()) {

System.out.println("ready");

break;

} else {

System.out.println("waiting");
Thread.sleep(1000);

}

}

System.out.println(posi.getX());
System.out.println(posi.getY());
System.out.println(posi.getYaw());




2012/4/22 kristjan.liiva1 <kri...@gm...>

> Hi,
>
> Could anyone help me out with some basics. I've been researching for some
> time and still don't fully undestand it.
> I'm trying to get the exact position for my robot. For that I'm using a
> position2d interface which has a parameters:
>   localization "gps"
>   localization_origin [0 0 0 0]
> I'm using code:
> PlayerClient robot = new PlayerClient("localhost", 6669);
> Position2DInterface posi = robot.requestInterfacePosition2D(0, 1);
>  posi.setSpeed(1, 0);
> Thread.sleep(5000);
> posi.setSpeed(0, 0);
>  robot.readAll();
> while(posi.isDataReady() == false){
> if(posi.isDataReady()) {
>  System.out.println("ready");
> break;
> }
>  Thread.sleep(1000);
> System.out.println("waiting");
> }
>  System.out.println(posi.getX());
> System.out.println(posi.getY());
> System.out.println(posi.getYaw());
> And posi.getX() always returns -5 (starting point of the robot). What am I
> doing wrong?
>
> The other thing is that, if I use "odom" instead of "gps" then it
> sometimes returns results which differ from each other by a factor of 2.
>
>
>
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-- 
Vitālijs