orca-robotics-users — Mailing list for users (use orca-robotics-devel for development discussions)

[Orca-robotics-users] A Survey on the Role of Software Architecture in Robotic Systems

[Aakash A. <ahm...@gm...>]

Dear Orca community,

We would request your participation in our survey based study that aims to
investigate the role of software architecture in robotic systems. Please
also share it to relevant people/forum.

Additional details of the study and link to survey is provided below
(Google Forms)

https://docs.google.com/forms/d/e/1FAIpQLSdMnxs3dUHzPF1Tl5jh
KKVYy3tePP5PgG_iLfgoZmngI24eTA/viewform
<http://s.bl-1.com/h/3RC8WVx?url=https://docs.google.com/forms/d/e/1FAIpQLSdMnxs3dUHzPF1Tl5jhKKVYy3tePP5PgG_iLfgoZmngI24eTA/viewform>

All of the responses gathered through this survey will be treated with full
confidentiality and privacy. The results of this survey will be used for
research purposes only.

The survey takes approximately 20 - 25 minutes to complete. To appreciate
your participation, the respondents with completed survey will
automatically enter into a draw of 5 Amazon vouchers (worth up-to 100
dollars each).

If you have any questions, suggestions, or like to know more about the
study, feel free to contact us.

With Kind Regards,
Aakash Ahmad & Ali Babar
CREST (Centre for Research on Engineering Software Technologies) -
http://crest-centre.net/
<http://s.bl-1.com/h/3RC9ctz?url=https://www.google.com/url?q=http://crest-centre.net/&sa=D&ust=1471870570425000&usg=AFQjCNE2PrzqCsoTACI0znZBjcO0p-EZpw>

Aakash Ahmad
National University of Sciences and Technology (NUST), Pakistan.
aak...@se...

Prof. Ali Babar
IT University of Copenhagen, Denmark,
University of Adelaide, Australia.
ali...@ad...

[Orca-robotics-users] Fwd: orca don't start -- orca log

[Michaël P. <mpa...@su...>]

Error message orca on console


** (orca:4015): WARNING **: AT-SPI: Error in GetItems, 
sender=org.freedesktop.DBus, error=The name :1.59 was not provided by 
any .service files


My configuration

ubuntu 14.04 LTS
python 3

Could you fix this bug ?

Best regards

mparchet

-------- Message transféré --------
Sujet : 	orca don't start -- orca log
Date : 	Mon, 13 Apr 2015 18:55:17 +0200
De : 	Michaël Parchet <mpa...@su...>
Pour : 	orc...@li...



Hello,

Orca don't start on my computer (ubuntu 14.04)

See link bellow :

https://www.parcheto.ch/owncloud/index.php/s/FHmTaUsJOu3fEtT



Could you help me please ?

Thanks for your support

Best regards

mparchet

[Orca-robotics-users] orca don't start -- orca log

[Michaël P. <mpa...@su...>]

Hello,

Orca don't start on my computer (ubuntu 14.04)

See link bellow :

https://www.parcheto.ch/owncloud/index.php/s/FHmTaUsJOu3fEtT



Could you help me please ?

Thanks for your support

Best regards

mparchet

[Orca-robotics-users] Orca crach at startup

[Michaël P. <mpa...@su...>]

Hello,

I have installed orca package on ubuntu 14.04 LTS 64 bit. However, it
seems crash at startup.

See the python 3 log at attachment file for more details.

Could you help me please ?

Thanks by advance

Best regards

mparchet

Re: [Orca-robotics-users] Orca Gearbox depends Ice 3.2

[Alex M. <al...@ca...>]

Hi Chris,
I wouldn't be able to solve the Python problem.

Do you specifically need Python stuff? If not, I'd suggest to disable it.

alex


On Wed, Dec 8, 2010 at 8:08 AM, Chris York <yor...@gm...> wrote:
> Thanks alex. Option 1 worked fine, but now I'm trying to install for python.
> IcePy looks like it installed properly, but I get this error with orca-9.11
> make.
> I believe I followed the instructions for pureicepython correctly.
> thx.again,chris.
>
> [ 63%] Built target ifacestringtest
> make[2]: *** No rule to make target `src/interfaces/python/orca/test.ice',
> needed by `src/interfaces/python/orca/CMakeFiles/binaryswitch_ice.py'.
> Stop.
> make[1]: ***
> [src/interfaces/python/orca/CMakeFiles/binaryswitch_ice.py.dir/all] Error 2
>
>
> On Thu, Sep 9, 2010 at 11:54 PM, Alex Makarenko <al...@ca...> wrote:
>>
>> Hi Chris,
>>
>> this will NOT work:
>> 1)  Linking gearbox and orca to different versions of Ice
>> 2)  Gearbox 9.11 + Orca 9.11 + Ice 3.4.x (both gearbox and orca were
>> last released before Ice 3.4.x and some things have changed)
>>
>> here are your options:
>> 1) Gearbox 9.11 + Orca 9.11 + Ice 3.3.x
>> 2) Gearbox trunk + Orca trunk + Ice 3.4.x (depending on what you are
>> trying to do this may or may not be unstable at the moment)
>> 3) wait for a few days/weeks for the next release of orca/gearbox, it
>> should be coming soon.
>>
>> cheers,
>> alex
>>
>>
>> On Wed, Sep 8, 2010 at 10:06 PM, Chris York <yor...@gm...> wrote:
>> > I'm trying to install Orca 9.11 and have a problem with Gearbox
>> > depending
>> > upon Ice 3.2 while Orca wants Ice > 3.3.1 and I'm using 3.4.1.
>> >
>> > /usr/bin/ld: warning: libIceUtil.so.32, needed by
>> > /usr/local/lib/gearbox/libGbxIceUtilAcfr.so.1.0.0, may conflict with
>> > libIceUtil.so.34
>> >
>> > I've got two versions of Ice installed, so I get this conflict ,
>> > otherwise
>> > if I use 3.4.1 I get missing libIceUtil.so.32 for gbx..
>> >
>> > ------------------------------------------------------------------------------
>> > This SF.net Dev2Dev email is sponsored by:
>> >
>> > Show off your parallel programming skills.
>> > Enter the Intel(R) Threading Challenge 2010.
>> > http://p.sf.net/sfu/intel-thread-sfd
>> > _______________________________________________
>> > Orca-robotics-users mailing list
>> > Orc...@li...
>> > https://lists.sourceforge.net/lists/listinfo/orca-robotics-users
>> >
>> >
>
>

Re: [Orca-robotics-users] Orca Gearbox depends Ice 3.2

[Alex M. <al...@ca...>]

Hi Chris,

this will NOT work:
1)  Linking gearbox and orca to different versions of Ice
2)  Gearbox 9.11 + Orca 9.11 + Ice 3.4.x (both gearbox and orca were
last released before Ice 3.4.x and some things have changed)

here are your options:
1) Gearbox 9.11 + Orca 9.11 + Ice 3.3.x
2) Gearbox trunk + Orca trunk + Ice 3.4.x (depending on what you are
trying to do this may or may not be unstable at the moment)
3) wait for a few days/weeks for the next release of orca/gearbox, it
should be coming soon.

cheers,
alex


On Wed, Sep 8, 2010 at 10:06 PM, Chris York <yor...@gm...> wrote:
> I'm trying to install Orca 9.11 and have a problem with Gearbox depending
> upon Ice 3.2 while Orca wants Ice > 3.3.1 and I'm using 3.4.1.
>
> /usr/bin/ld: warning: libIceUtil.so.32, needed by
> /usr/local/lib/gearbox/libGbxIceUtilAcfr.so.1.0.0, may conflict with
> libIceUtil.so.34
>
> I've got two versions of Ice installed, so I get this conflict , otherwise
> if I use 3.4.1 I get missing libIceUtil.so.32 for gbx..
> ------------------------------------------------------------------------------
> This SF.net Dev2Dev email is sponsored by:
>
> Show off your parallel programming skills.
> Enter the Intel(R) Threading Challenge 2010.
> http://p.sf.net/sfu/intel-thread-sfd
> _______________________________________________
> Orca-robotics-users mailing list
> Orc...@li...
> https://lists.sourceforge.net/lists/listinfo/orca-robotics-users
>
>

[Orca-robotics-users] Orca Gearbox depends Ice 3.2

[Chris Y. <yor...@gm...>]

 I'm trying to install Orca 9.11 and have a problem with Gearbox depending
upon Ice 3.2 while Orca wants Ice > 3.3.1 and I'm using 3.4.1.

/usr/bin/ld: warning: libIceUtil.so.32, needed by
/usr/local/lib/gearbox/libGbxIceUtilAcfr.so.1.0.0, may conflict with
libIceUtil.so.34

I've got two versions of Ice installed, so I get this conflict , otherwise
if I use 3.4.1 I get missing libIceUtil.so.32 for gbx..

Re: [Orca-robotics-users] GUI Elements in OrcaView2D

[Alex M. <al...@ca...>]

Hi Dimitrij,

unfortunately there's no tutorial on this subject.

all existing GUI elements are in src/libs/orcaqgui2dfactory/

take a look how the laser element is done. the 2 classes to check out are:
LaserScanner2dElement in simpleguielements.h/cpp
LaserScanner2dPainter in laserscanner2dpainter.h/cpp

it's not the most straight-forward code, to be honest. we've been
discussing how to simplify it for a long time now. send questions if
something is not clear.

cheers,
alex


On Thu, Nov 19, 2009 at 12:11 AM, Dimitrij Wulf
<dim...@go...> wrote:
> Hello,
>
> i'm wondering how to add gui elements to the orcaview2d.
> There is no sample to implement this to own components.
> Can somebody please provide me an example?
>
> Thanks in advance.
>
> Dimitrij
>
> ------------------------------------------------------------------------------
> Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
> trial. Simplify your report design, integration and deployment - and focus on
> what you do best, core application coding. Discover what's new with
> Crystal Reports now.  http://p.sf.net/sfu/bobj-july
> _______________________________________________
> Orca-robotics-users mailing list
> Orc...@li...
> https://lists.sourceforge.net/lists/listinfo/orca-robotics-users
>

[Orca-robotics-users] GUI Elements in OrcaView2D

[Dimitrij W. <dim...@go...>]

Hello,

i'm wondering how to add gui elements to the orcaview2d.
There is no sample to implement this to own components.
Can somebody please provide me an example?

Thanks in advance.

Dimitrij

[Orca-robotics-users] version 9.11 released

[Alex M. <ale...@gm...>]

After a long gestation period it's finally released.

You'll notice that we've switched to the YY.MM version template.

The other most obvious change: Hydro is no longer a separate download.

Otherwise, there's a very long list of changes and fixes:
http://orca-robotics.sourceforge.net/orca_doc_todo.html#orca_doc_history_9110

We release simultaneously with GearBox which is also at version 9.11.
Upgrading GearBox is required.

Cheers,
Alex

Re: [Orca-robotics-users] RangeScanner2d vs LaserScanner2d

[Alex M. <al...@ca...>]

Hi Kamil,

Ice interfaces can derive (inherit) from each other. The pair you are
asking about is an example of such relationship.
Take a look at the interface definition in
orca/src/interfaces/slice/orca/laserscanner2d.ice :

// slice
interface LaserScanner2d extends RangeScanner2d

('extends' is the Slice keyword for inheritance.)

The interface itself is the same but the data object
LaserScanner2dData adds intensities to the basic RangeScanner2dData
which only has ranges for a set of bearings.

LocalNav requires a RangeScanner2d interface, i.e. it can work with
any range-bearing device, whether it provides intensities or not.

On your 2nd question, there's no MCL library (or component) in Orca.
If you write one you may want to consider submitting it, it would
definitely be useful.

Alex


On Thu, Aug 13, 2009 at 6:08 PM, kamil ducheckev<kdr...@gm...> wrote:
> Hello!
>
> I am trying to find out if there is any difference between the
> "RangeScanner2d" and "LaserScanner2d" interfaces. I want to run the
> "LocalNav" component and the documentation says that it requires a
> RangeScanner2d interface but in the example cfg file is connected to a
> laser2d. Are those interfaces the same one?
>
> And by the chance, has somebody implemented a Monte Carlo Localizer
> component implemented for Orca?
>
> Thanks in advance.
>
> Kamil
>
> ------------------------------------------------------------------------------
> Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
> trial. Simplify your report design, integration and deployment - and focus
> on
> what you do best, core application coding. Discover what's new with
> Crystal Reports now.  http://p.sf.net/sfu/bobj-july
> _______________________________________________
> Orca-robotics-users mailing list
> Orc...@li...
> https://lists.sourceforge.net/lists/listinfo/orca-robotics-users
>
>

[Orca-robotics-users] RangeScanner2d vs LaserScanner2d

[kamil d. <kdr...@gm...>]

Hello!

I am trying to find out if there is any difference between the
"RangeScanner2d" and "LaserScanner2d" interfaces. I want to run the
"LocalNav" component and the documentation says that it requires a
RangeScanner2d interface but in the example cfg file is connected to a
laser2d. Are those interfaces the same one?

And by the chance, has somebody implemented a Monte Carlo Localizer
component implemented for Orca?

Thanks in advance.

Kamil

Re: [Orca-robotics-users] Robot2d component

[Alex B. <a.b...@ma...>]

Hi Kamil,

Yes, it looks like the call to create the position2d proxy is the problem.  I 
don't know why this might hang, the Player folks will probably know more.


Alex

On Mon, 13 Jul 2009, kamil ducheckev wrote:
> Thank Alex for you answer,
>
> I was checking the playerclientdriver.cpp file from hydro and i was playing
> with the file and i changed the enable function like this:
>
> void
> Driver::enable()
> {
>     if ( enabled_ ) return;
>
>     cout << "TRACE(playerclientdriver.cpp): Driver: Connecting to player on
> host "
>          << config_.host << ", port " << config_.port << endl;
>
>     // player throws exceptions on creation if we fail
>     try
>     {
>     cout << "TRACE(playerclientdriver.cpp): Driver: Creating Robot
> proxy...................." ;
>         robot_      = new PlayerCc::PlayerClient( config_.host,
> config_.port );
>     cout << "Ready" << endl;
>     cout << "TRACE(playerclientdriver.cpp): Driver: Creating Position2d
> proxy..............." ;
>         positionProxy_ = new PlayerCc::Position2dProxy( robot_, 0 );
>     cout << "Ready" << endl;
>
>     cout << "TRACE(playerclientdriver.cpp): Driver: Getting data from
> driver................" ;
>         robot_->Read();
>     cout << "Ready" << endl;
>
>     cout << "TRACE(playerclientdriver.cpp): Driver: Getting motor status
> from driver........" ;
>         positionProxy_->SetMotorEnable( true );
>     cout << "Ready" << endl;
>     }
>     catch ( const PlayerCc::PlayerError & e )
>     {
>         stringstream ss;
>         ss << "Driver: " << e;
>         disable();
>         throw hydrointerfaces::Robot2d::Exception( ss.str() );
>     }
>     catch (...)
>     {
>         stringstream ss;
>         ss << "Driver: Unknown error";
>         disable();
>         throw hydrointerfaces::Robot2d::Exception( ss.str() );
>     }
>
>     enabled_ = true;
> }
>
> The output when i executed again robot2d was:
>
> [ 07/13/09 12:25:37.262 RoboDelta/robot2d:  info: HwThread: (Re-)Enabling
> driver... ]
> TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> localhost, port 6665
> TRACE(playerclientdriver.cpp): Driver: Creating Robot
> proxy....................Ready
> TRACE(playerclientdriver.cpp): Driver: Creating Position2d
> proxy...............[ 07/13/09 12:25:37.770 RoboDelta/robot2d:  info:
> LocalStatus: NetThread is ok : 'Net loop timed out' ]
>
> then looks the problem came when is created the instance for the
> position2dProxy, something quite surprising.
>
> I will try to create a client to check if i get the same error and also I
> will ask about this in the player mail list but anyway, do you have any
> idea why this can be happening?
>
> Best regards,
> Kamil
>
> 2009/7/12 Alex Brooks <a.b...@ma...>
>
> > Hi Kamil,
> >
> > It looks like the orca driver is hanging in the 'enable()' call.  I'm
> > looking
> > at the fact that in simulation there is "Enable succeeded":
> >
> > TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> > localhost, port 6665
> > [ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
> > succeeded. ]
> >
> > But on the real hardware we don't see it:
> >
> > [ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread:
> > (Re-)Enabling
> > driver... ]
> > TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> > localhost, port 6665
> > [ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus:
> > NetThread is ok : 'Net loop timed out' ]
> >
> >
> > The "enable" function in hydrodrivers/robot2dplayerclient/driver.cpp is:
> >
> > void
> > Driver::enable()
> > {
> >    if ( enabled_ ) return;
> >
> >    cout << "TRACE(playerclientdriver.cpp): Driver: Connecting to player
> > on host "
> >         << config_.host << ", port " << config_.port << endl;
> >
> >    // player throws exceptions on creation if we fail
> >    try
> >    {
> >        robot_      = new PlayerCc::PlayerClient( config_.host,
> > config_.port );
> >        positionProxy_ = new PlayerCc::Position2dProxy( robot_, 0 );
> >
> >        robot_->Read();
> >
> >        positionProxy_->SetMotorEnable( true );
> >    }
> >    catch ( const PlayerCc::PlayerError & e )
> >    {
> >        stringstream ss;
> >        ss << "Driver: " << e;
> >        disable();
> >        throw hydrointerfaces::Robot2d::Exception( ss.str() );
> >    }
> >
> >    enabled_ = true;
> > }
> >
> > So something in the function above is hanging.
> > My guess would be perhaps that the "positionProxy_->SetMotorEnable( true
> > )" is
> > the culprit, since playerv works: maybe playerv doesn't make this call
> > but the orca driver does?  Can your driver handle this call?
> >
> > The teleop output is complaining that hte hardware driver hasn't
> > initialised
> > yet, this message could be more helpful (I've changed it in svn).
> >
> >
> > Cheers,
> >
> > Alex
> >
> > On Fri, 10 Jul 2009, kamil ducheckev wrote:
> > > Hello everybody,
> > >
> > > At this moment I am trying to port the custom hardware of my robot to
> >
> > Orca
> >
> > > use player and the componente robot2d.
> > >
> > > I follow the next steps:
> > >
> > > 1.- Start ice services
> > > 2.- Run player server with my own plugin driver
> > > 3.- Run Orcaview2d to visualize my componentes
> > > 4.- Run Robot2d
> > >
> > > After this step yy player driver receive a geometry request as it is
> > > suppose to do but seems that something is not working ok in the robot2d
> > > component. This two are the different output i have from robot2d
> > > running
> >
> > it
> >
> > > with a real or simulated robot.
> > >
> > > output with player/stage (simulation):
> > > [ 07/10/09 09:07:41.419 RoboPlatform/robot2d:  info: HwThread:
> > > (Re-)Enabling driver... ]
> > > TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> > > localhost, port 6665
> > > [ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
> > > succeeded. ]
> > > [ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus:
> >
> > HwThread
> >
> > > is ok : '' ]
> > > [ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus:
> >
> > NetThread
> >
> > > is ok : '' ]
> > >
> > > output with my onw driver:
> > > [ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread:
> > > (Re-)Enabling driver... ]
> > > TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> > > localhost, port 6665
> > > [ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus:
> >
> > NetThread
> >
> > > is ok : 'Net loop timed out' ]
> > >
> > > It seems that the problem could came because I don't publish correctly
> >
> > the
> >
> > > odometry data from my driver but I can read it without problems with
> > > any other player client like 'playerv'.
> > >
> > > 5.- Run teleop
> > >
> > > I get the following exit:
> > > [ 07/10/09 12:52:47.623 RoboDelta/teleop:  info: loading
> > > 'VelocityControl2d' driver ]
> > > [ 07/10/09 12:52:47.846 RoboDelta/teleop:  warn:
> > > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > > x[ 07/10/09 12:52:47.947 RoboDelta/teleop:  warn:
> > > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > > x[ 07/10/09 12:52:48.048 RoboDelta/teleop:  warn:
> > > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > > x[ 07/10/09 12:52:48.149 RoboDelta/teleop:  warn:
> > > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > >
> > > Any idea to get my driver working with orca?
> > > Thanks
> >
> > --
> > ------------------------------
> > Dr Alex Brooks
> >
> > Marathon Robotics Pty Ltd
> > National Innovation Centre
> > 4 Cornwallis Street
> > Eveleigh, NSW 2015
> > Sydney, Australia
> > Ph: +61 2 9036 7057
> > Web: www.marathon-robotics.com
> > ------------------------------



-- 
------------------------------
Dr Alex Brooks

Marathon Robotics Pty Ltd
National Innovation Centre
4 Cornwallis Street
Eveleigh, NSW 2015
Sydney, Australia
Ph: +61 2 9036 7057
Web: www.marathon-robotics.com
------------------------------

Re: [Orca-robotics-users] Robot2d component

[kamil d. <kdr...@gm...>]

Thank Alex for you answer,

I was checking the playerclientdriver.cpp file from hydro and i was playing
with the file and i changed the enable function like this:

void
Driver::enable()
{
    if ( enabled_ ) return;

    cout << "TRACE(playerclientdriver.cpp): Driver: Connecting to player on
host "
         << config_.host << ", port " << config_.port << endl;

    // player throws exceptions on creation if we fail
    try
    {
    cout << "TRACE(playerclientdriver.cpp): Driver: Creating Robot
proxy...................." ;
        robot_      = new PlayerCc::PlayerClient( config_.host, config_.port
);
    cout << "Ready" << endl;
    cout << "TRACE(playerclientdriver.cpp): Driver: Creating Position2d
proxy..............." ;
        positionProxy_ = new PlayerCc::Position2dProxy( robot_, 0 );
    cout << "Ready" << endl;

    cout << "TRACE(playerclientdriver.cpp): Driver: Getting data from
driver................" ;
        robot_->Read();
    cout << "Ready" << endl;

    cout << "TRACE(playerclientdriver.cpp): Driver: Getting motor status
from driver........" ;
        positionProxy_->SetMotorEnable( true );
    cout << "Ready" << endl;
    }
    catch ( const PlayerCc::PlayerError & e )
    {
        stringstream ss;
        ss << "Driver: " << e;
        disable();
        throw hydrointerfaces::Robot2d::Exception( ss.str() );
    }
    catch (...)
    {
        stringstream ss;
        ss << "Driver: Unknown error";
        disable();
        throw hydrointerfaces::Robot2d::Exception( ss.str() );
    }

    enabled_ = true;
}

The output when i executed again robot2d was:

[ 07/13/09 12:25:37.262 RoboDelta/robot2d:  info: HwThread: (Re-)Enabling
driver... ]
TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
localhost, port 6665
TRACE(playerclientdriver.cpp): Driver: Creating Robot
proxy....................Ready
TRACE(playerclientdriver.cpp): Driver: Creating Position2d
proxy...............[ 07/13/09 12:25:37.770 RoboDelta/robot2d:  info:
LocalStatus: NetThread is ok : 'Net loop timed out' ]

then looks the problem came when is created the instance for the
position2dProxy, something quite surprising.

I will try to create a client to check if i get the same error and also I
will ask about this in the player mail list but anyway, do you have any idea
why this can be happening?

Best regards,
Kamil

2009/7/12 Alex Brooks <a.b...@ma...>

> Hi Kamil,
>
> It looks like the orca driver is hanging in the 'enable()' call.  I'm
> looking
> at the fact that in simulation there is "Enable succeeded":
>
> TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> localhost, port 6665
> [ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
> succeeded. ]
>
> But on the real hardware we don't see it:
>
> [ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread:
> (Re-)Enabling
> driver... ]
> TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> localhost, port 6665
> [ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus: NetThread
> is ok : 'Net loop timed out' ]
>
>
> The "enable" function in hydrodrivers/robot2dplayerclient/driver.cpp is:
>
> void
> Driver::enable()
> {
>    if ( enabled_ ) return;
>
>    cout << "TRACE(playerclientdriver.cpp): Driver: Connecting to player on
> host "
>         << config_.host << ", port " << config_.port << endl;
>
>    // player throws exceptions on creation if we fail
>    try
>    {
>        robot_      = new PlayerCc::PlayerClient( config_.host,
> config_.port );
>        positionProxy_ = new PlayerCc::Position2dProxy( robot_, 0 );
>
>        robot_->Read();
>
>        positionProxy_->SetMotorEnable( true );
>    }
>    catch ( const PlayerCc::PlayerError & e )
>    {
>        stringstream ss;
>        ss << "Driver: " << e;
>        disable();
>        throw hydrointerfaces::Robot2d::Exception( ss.str() );
>    }
>
>    enabled_ = true;
> }
>
> So something in the function above is hanging.
> My guess would be perhaps that the "positionProxy_->SetMotorEnable( true )"
> is
> the culprit, since playerv works: maybe playerv doesn't make this call but
> the orca driver does?  Can your driver handle this call?
>
> The teleop output is complaining that hte hardware driver hasn't
> initialised
> yet, this message could be more helpful (I've changed it in svn).
>
>
> Cheers,
>
> Alex
>
>
> On Fri, 10 Jul 2009, kamil ducheckev wrote:
> > Hello everybody,
> >
> > At this moment I am trying to port the custom hardware of my robot to
> Orca
> > use player and the componente robot2d.
> >
> > I follow the next steps:
> >
> > 1.- Start ice services
> > 2.- Run player server with my own plugin driver
> > 3.- Run Orcaview2d to visualize my componentes
> > 4.- Run Robot2d
> >
> > After this step yy player driver receive a geometry request as it is
> > suppose to do but seems that something is not working ok in the robot2d
> > component. This two are the different output i have from robot2d running
> it
> > with a real or simulated robot.
> >
> > output with player/stage (simulation):
> > [ 07/10/09 09:07:41.419 RoboPlatform/robot2d:  info: HwThread:
> > (Re-)Enabling driver... ]
> > TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> > localhost, port 6665
> > [ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
> > succeeded. ]
> > [ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus:
> HwThread
> > is ok : '' ]
> > [ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus:
> NetThread
> > is ok : '' ]
> >
> > output with my onw driver:
> > [ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread:
> > (Re-)Enabling driver... ]
> > TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> > localhost, port 6665
> > [ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus:
> NetThread
> > is ok : 'Net loop timed out' ]
> >
> > It seems that the problem could came because I don't publish correctly
> the
> > odometry data from my driver but I can read it without problems with any
> > other player client like 'playerv'.
> >
> > 5.- Run teleop
> >
> > I get the following exit:
> > [ 07/10/09 12:52:47.623 RoboDelta/teleop:  info: loading
> > 'VelocityControl2d' driver ]
> > [ 07/10/09 12:52:47.846 RoboDelta/teleop:  warn:
> > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > x[ 07/10/09 12:52:47.947 RoboDelta/teleop:  warn:
> > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > x[ 07/10/09 12:52:48.048 RoboDelta/teleop:  warn:
> > VelocityControl2dDriver::repeatCommand(): Initialising ]
> > x[ 07/10/09 12:52:48.149 RoboDelta/teleop:  warn:
> > VelocityControl2dDriver::repeatCommand(): Initialising ]
> >
> > Any idea to get my driver working with orca?
> > Thanks
>
>
>
> --
> ------------------------------
> Dr Alex Brooks
>
> Marathon Robotics Pty Ltd
> National Innovation Centre
> 4 Cornwallis Street
> Eveleigh, NSW 2015
> Sydney, Australia
> Ph: +61 2 9036 7057
> Web: www.marathon-robotics.com
> ------------------------------
>

Re: [Orca-robotics-users] Robot2d component

[Alex B. <a.b...@ma...>]

Hi Kamil,

It looks like the orca driver is hanging in the 'enable()' call.  I'm looking 
at the fact that in simulation there is "Enable succeeded":

TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
localhost, port 6665
[ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
succeeded. ]

But on the real hardware we don't see it:

[ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread: (Re-)Enabling
driver... ]
TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
localhost, port 6665
[ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus: NetThread
is ok : 'Net loop timed out' ]


The "enable" function in hydrodrivers/robot2dplayerclient/driver.cpp is:

void
Driver::enable()
{
    if ( enabled_ ) return;

    cout << "TRACE(playerclientdriver.cpp): Driver: Connecting to player on 
host "
         << config_.host << ", port " << config_.port << endl;
    
    // player throws exceptions on creation if we fail
    try
    {
        robot_      = new PlayerCc::PlayerClient( config_.host, 
config_.port );
        positionProxy_ = new PlayerCc::Position2dProxy( robot_, 0 );
    
        robot_->Read();
    
        positionProxy_->SetMotorEnable( true );
    }
    catch ( const PlayerCc::PlayerError & e )
    {
        stringstream ss;
        ss << "Driver: " << e;
        disable();
        throw hydrointerfaces::Robot2d::Exception( ss.str() );
    }

    enabled_ = true;
}

So something in the function above is hanging.
My guess would be perhaps that the "positionProxy_->SetMotorEnable( true )" is 
the culprit, since playerv works: maybe playerv doesn't make this call but 
the orca driver does?  Can your driver handle this call?

The teleop output is complaining that hte hardware driver hasn't initialised 
yet, this message could be more helpful (I've changed it in svn).


Cheers,

Alex


On Fri, 10 Jul 2009, kamil ducheckev wrote:
> Hello everybody,
>
> At this moment I am trying to port the custom hardware of my robot to Orca
> use player and the componente robot2d.
>
> I follow the next steps:
>
> 1.- Start ice services
> 2.- Run player server with my own plugin driver
> 3.- Run Orcaview2d to visualize my componentes
> 4.- Run Robot2d
>
> After this step yy player driver receive a geometry request as it is
> suppose to do but seems that something is not working ok in the robot2d
> component. This two are the different output i have from robot2d running it
> with a real or simulated robot.
>
> output with player/stage (simulation):
> [ 07/10/09 09:07:41.419 RoboPlatform/robot2d:  info: HwThread:
> (Re-)Enabling driver... ]
> TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> localhost, port 6665
> [ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
> succeeded. ]
> [ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus: HwThread
> is ok : '' ]
> [ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus: NetThread
> is ok : '' ]
>
> output with my onw driver:
> [ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread:
> (Re-)Enabling driver... ]
> TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
> localhost, port 6665
> [ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus: NetThread
> is ok : 'Net loop timed out' ]
>
> It seems that the problem could came because I don't publish correctly the
> odometry data from my driver but I can read it without problems with any
> other player client like 'playerv'.
>
> 5.- Run teleop
>
> I get the following exit:
> [ 07/10/09 12:52:47.623 RoboDelta/teleop:  info: loading
> 'VelocityControl2d' driver ]
> [ 07/10/09 12:52:47.846 RoboDelta/teleop:  warn:
> VelocityControl2dDriver::repeatCommand(): Initialising ]
> x[ 07/10/09 12:52:47.947 RoboDelta/teleop:  warn:
> VelocityControl2dDriver::repeatCommand(): Initialising ]
> x[ 07/10/09 12:52:48.048 RoboDelta/teleop:  warn:
> VelocityControl2dDriver::repeatCommand(): Initialising ]
> x[ 07/10/09 12:52:48.149 RoboDelta/teleop:  warn:
> VelocityControl2dDriver::repeatCommand(): Initialising ]
>
> Any idea to get my driver working with orca?
> Thanks



-- 
------------------------------
Dr Alex Brooks

Marathon Robotics Pty Ltd
National Innovation Centre
4 Cornwallis Street
Eveleigh, NSW 2015
Sydney, Australia
Ph: +61 2 9036 7057
Web: www.marathon-robotics.com
------------------------------

[Orca-robotics-users] Robot2d component

[kamil d. <kdr...@gm...>]

Hello everybody,

At this moment I am trying to port the custom hardware of my robot to Orca
use player and the componente robot2d.

I follow the next steps:

1.- Start ice services
2.- Run player server with my own plugin driver
3.- Run Orcaview2d to visualize my componentes
4.- Run Robot2d

After this step yy player driver receive a geometry request as it is suppose
to do but seems that something is not working ok in the robot2d component.
This two are the different output i have from robot2d running it with a real
or simulated robot.

output with player/stage (simulation):
[ 07/10/09 09:07:41.419 RoboPlatform/robot2d:  info: HwThread: (Re-)Enabling
driver... ]
TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
localhost, port 6665
[ 07/10/09 09:07:41.447 RoboPlatform/robot2d:  info: HwThread: Enable
succeeded. ]
[ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus: HwThread
is ok : '' ]
[ 07/10/09 09:07:41.548 RoboPlatform/robot2d:  info: LocalStatus: NetThread
is ok : '' ]

output with my onw driver:
[ 07/10/09 09:13:57.515 RoboPlatform/robot2d:  info: HwThread: (Re-)Enabling
driver... ]
TRACE(playerclientdriver.cpp): Driver: Connecting to player on host
localhost, port 6665
[ 07/10/09 09:13:58.084 RoboPlatform/robot2d:  info: LocalStatus: NetThread
is ok : 'Net loop timed out' ]

It seems that the problem could came because I don't publish correctly the
odometry data from my driver but I can read it without problems with any
other player client like 'playerv'.

5.- Run teleop

I get the following exit:
[ 07/10/09 12:52:47.623 RoboDelta/teleop:  info: loading 'VelocityControl2d'
driver ]
[ 07/10/09 12:52:47.846 RoboDelta/teleop:  warn:
VelocityControl2dDriver::repeatCommand(): Initialising ]
x[ 07/10/09 12:52:47.947 RoboDelta/teleop:  warn:
VelocityControl2dDriver::repeatCommand(): Initialising ]
x[ 07/10/09 12:52:48.048 RoboDelta/teleop:  warn:
VelocityControl2dDriver::repeatCommand(): Initialising ]
x[ 07/10/09 12:52:48.149 RoboDelta/teleop:  warn:
VelocityControl2dDriver::repeatCommand(): Initialising ]

Any idea to get my driver working with orca?
Thanks

Re: [Orca-robotics-users] about orca

[Alex B. <a.b...@ac...>]

Hello Yintian,

Sorry about the slow reply, I'm travelling at the moment.  In general you 
should send questions to the mailing list (CC'd) rather than to specific 
people, you're more likely to get a better answer and sooner.

You need to create a proxy to the pathfollower interface and call "setData" on 
it.  Something like this:

	orca::PathFollower2dPrx pathFollower2dPrx;
        orcaice::connectToInterfaceWithTag( context, pathFollower2dPrx, tag );
	pathFollower2dPrx->setData( data, true );

Have a look at the documentation of the PathFollower interface for the 
definition of "data".

If you don't want to write code but just want to set a path, you can use 
orcaview2d to do this (it lets you set up a path by clicking on the GUI).


Good luck,

Alex


On Wed, 13 May 2009, you wrote:
> deer Alex Brooks:
>     I am a student from zju(zhejiang university) of china, recently i'm
> woking on a robot project, now i have a question about the localnav
> component of the orca project. I use player/stage.  Here I want move a
> robot from one place to another place on the map, I just wonder how to set
> the destination of the robot and how to use the pathfollower2d interface(
> how to set the pathdata). May  I have an example from you?
>
>
>
>    thank you very much.
>
>
>                                                                            
>                                                                            
>                                         yours, yintian wang from ZJU
>
> _________________________________________________________________
> Invite your mail contacts to join your friends list with Windows Live
> Spaces. It's easy!
> http://spaces.live.com/spacesapi.aspx?wx_action=create&wx_url=/friends.aspx
>&mkt=en-us

Re: [Orca-robotics-users] Orca-Robitcs Segway Driver

[Alexei M. <al...@ca...>]

That doesn't sound good.

One thing to check is which kernel v.4.16 is supposed to be compatible with. If 
it's something older than your 2.6.27 than you may need to downgrade the kernel. 
  Otherwise, you could send a bug report to the FTDI guys, I've dealt with them 
before and they'd been responsive.

Sorry for the limited options and let us know how it goes,
Alex



Ellen Klingbeil wrote:
> Hi Alex,
> 
> Initially, we tried the newest version of libftd2xx (4.16) and had the 
> segfault problem so we installed the older one.
> 
> Thanks,
> Ellen
> 
> 
> 
> On Tue, Mar 31, 2009 at 5:55 PM, Alexei Makarenko <al...@ca... 
> <mailto:al...@ca...>> wrote:
> 
>     Ellen,
> 
>     the segfault seems to be outside of our code: probably somewhere
>     deep in the Linux USB library.
> 
>     I suspect that the problem is caused by the use of a new kernel and
>     an old version of libftd2xx.
> 
>     In our own work we use the CAN version of the driver so the USB
>     version has not been tested since the following combination: kernel
>     2.6.20 + libftd2xx 0.4.13.
> 
>     I suggest that you install the latest version of libftd2xx (0.4.16),
>     recompile our driver and see what happens. Most likely this will
>     solve the problem you are having and if something needs to be fixed
>     in our driver we can help you with that.
> 
>     alex
> 
> 
> 
>     Ellen Klingbeil wrote:
> 
>         Hi Alex,
> 
>         Thanks so much for the quick response!
> 
>         We are using Ubuntu (kernel version 2.6.27), the most recent
>         version of Orca available on sourceforge, and the version of the
>         ftd2xx library that the website says the driver code was tested
>         on (version 4.13).
>         I wrote a simple executable (attached) that just uses the
>         functions in segwayrmpafcr/driver.cpp.
> 
>         This is the output I get per your instructions:
> 
>         in readData() Driver::readData(): timed out 5 times while
>         waiting for CAN data.
>         in read()Driver::read(): Driver::readData(): timed out 5 times
>         while waiting for CAN data.
>         TRACE(test.cpp): Caught exception trying to read from rear:
>         Driver::read(): Driver::readData(): timed out 5 times while
>         waiting for CAN data.
> 
>         Program received signal SIGSEGV, Segmentation fault.
>         [Switching to Thread 0xb7089b90 (LWP 30395)]
>         0xb78c18f5 in ProcessBulkInData (fd=0x8439fa8, Buffer=0x848d000
>         <Address 0x848d000 out of bounds>, BufSiz=-199123)
>            at bulk_in.c:309
>         309     bulk_in.c: No such file or directory.
>                in bulk_in.c
>         Current language:  auto; currently c
>         (gdb) where
>         #0  0xb78c18f5 in ProcessBulkInData (fd=0x8439fa8,
>         Buffer=0x848d000 <Address 0x848d000 out of bounds>, BufSiz=-199123)
>            at bulk_in.c:309
>         #1  0xb78c2118 in reader_thread (in_data=0x8439fa8) at bulk_in.c:709
>         #2  0xb791c50f in start_thread () from
>         /lib/tls/i686/cmov/libpthread.so.0
>         #3  0xb7ae57ee in clone () from /lib/tls/i686/cmov/libc.so.6
> 
> 
>         Thanks!
> 
>         Ellen
> 
> 
>         On Tue, Mar 31, 2009 at 4:27 PM, Alexei Makarenko
>         <al...@ca... <mailto:al...@ca...>
>         <mailto:al...@ca... <mailto:al...@ca...>>> wrote:
> 
>            Hi Ellen,
>            we'll need more info to debug this.
> 
>            what's you setup: OS, version of Orca, components in your system?
> 
>            we'd need to know where the segfault happens. Assuming that
>         you are
>            just running the segwayrmp component, here's how you do it:
> 
>            $ gdb segwayrmp
>            $ set args --Orca.Config=segwayrmp.cfg
>            $ run
> 
>            after it segfaults, type this and send us the output:
> 
>            $ where
> 
>            thanks,
>            alex
> 
>            p.s. I'm forwarding this to the mailing list. you can sign up
>         to here:
>            http://sourceforge.net/mail/?group_id=111647
> 
> 
> 
> 
> 
>            Ellen Klingbeil wrote:
> 
>                Hi Alex,
> 
>                I am trying to use the Segway driver in the orca-robotics
>                package to drive our new Segway Rmp 50 Omni, which has a usb
>                interface.
>                For now, I am just trying to send commands / read data
>         from one
>                half of the rmp (the 50 Omni is just two rmp's bolted
>         together).
>                 Specifically, I am trying to write commands to it at a
>         rate of
>                just under 100 Hz and read commands continuously.  When I run
>                it, it works for awhile but after a bit of time, it
>         segmentation
>                faults.  The timing of when this segmentation fault
>         occurs does
>                not seem to be predictable.....i.e., sometimes it seems
>         to run
>                for 30 sec or more and sometimes it seg faults much
>         sooner.  So
>                far, I have been unable to track down where this segmentation
>                fault is occurring, and no information is printed to the
>         screen
>                when it occurs.
> 
>                Any suggestions or advice you have on what might be happening
>                would be greatly appreciated!!
> 
>                Sincerely,
>                Ellen Klingbeil
> 
> 
>                --        ------------------------------------
>                Ellen Klingbeil
>                Ph.D. Candidate
>                Stanford University
>                Artificial Intelligence Lab
>                ------------------------------------
> 
> 
>            --    --------------------------
>            Dr. Alex Makarenko
>            Research Fellow
>            Centre for Autonomous Systems
>            (Australian Centre for Field Robotics)
>            Dept. of Mechanical & Mechatronic Engineering
>            J04 The University of Sydney 2006 NSW, AUSTRALIA
>            alexei[at]cas.edu.au <http://cas.edu.au> <http://cas.edu.au>
>            www.cas.edu.au <http://www.cas.edu.au> <http://www.cas.edu.au>
> 
>            +61 (0)2 9036 7057 (tel)
>            +61 (0)2 9351 7474 (fax)
> 
> 
> 
> 
>         -- 
>         ------------------------------------
>         Ellen Klingbeil
>         Ph.D. Candidate
>         Stanford University
>         Artificial Intelligence Lab
>         ------------------------------------
> 
> 
> 
> 
> -- 
> ------------------------------------
> Ellen Klingbeil
> Ph.D. Candidate
> Stanford University
> Artificial Intelligence Lab
> ------------------------------------

Re: [Orca-robotics-users] Orca-Robitcs Segway Driver

[Alexei M. <al...@ca...>]

Ellen,

the segfault seems to be outside of our code: probably somewhere deep in the 
Linux USB library.

I suspect that the problem is caused by the use of a new kernel and an old 
version of libftd2xx.

In our own work we use the CAN version of the driver so the USB version has not 
been tested since the following combination: kernel 2.6.20 + libftd2xx 0.4.13.

I suggest that you install the latest version of libftd2xx (0.4.16), recompile 
our driver and see what happens. Most likely this will solve the problem you are 
having and if something needs to be fixed in our driver we can help you with that.

alex



Ellen Klingbeil wrote:
> Hi Alex,
> 
> Thanks so much for the quick response!
> 
> We are using Ubuntu (kernel version 2.6.27), the most recent version of 
> Orca available on sourceforge, and the version of the ftd2xx library 
> that the website says the driver code was tested on (version 4.13). 
> 
> I wrote a simple executable (attached) that just uses the functions in 
> segwayrmpafcr/driver.cpp.
> 
> This is the output I get per your instructions:
> 
> in readData() Driver::readData(): timed out 5 times while waiting for 
> CAN data.
> in read()Driver::read(): Driver::readData(): timed out 5 times while 
> waiting for CAN data.
> TRACE(test.cpp): Caught exception trying to read from rear: 
> Driver::read(): Driver::readData(): timed out 5 times while waiting for 
> CAN data.
> 
> Program received signal SIGSEGV, Segmentation fault.
> [Switching to Thread 0xb7089b90 (LWP 30395)]
> 0xb78c18f5 in ProcessBulkInData (fd=0x8439fa8, Buffer=0x848d000 <Address 
> 0x848d000 out of bounds>, BufSiz=-199123)
>     at bulk_in.c:309
> 309     bulk_in.c: No such file or directory.
>         in bulk_in.c
> Current language:  auto; currently c
> (gdb) where
> #0  0xb78c18f5 in ProcessBulkInData (fd=0x8439fa8, Buffer=0x848d000 
> <Address 0x848d000 out of bounds>, BufSiz=-199123)
>     at bulk_in.c:309
> #1  0xb78c2118 in reader_thread (in_data=0x8439fa8) at bulk_in.c:709
> #2  0xb791c50f in start_thread () from /lib/tls/i686/cmov/libpthread.so.0
> #3  0xb7ae57ee in clone () from /lib/tls/i686/cmov/libc.so.6
> 
> 
> Thanks!
> 
> Ellen
> 
> 
> On Tue, Mar 31, 2009 at 4:27 PM, Alexei Makarenko <al...@ca... 
> <mailto:al...@ca...>> wrote:
> 
>     Hi Ellen,
>     we'll need more info to debug this.
> 
>     what's you setup: OS, version of Orca, components in your system?
> 
>     we'd need to know where the segfault happens. Assuming that you are
>     just running the segwayrmp component, here's how you do it:
> 
>     $ gdb segwayrmp
>     $ set args --Orca.Config=segwayrmp.cfg
>     $ run
> 
>     after it segfaults, type this and send us the output:
> 
>     $ where
> 
>     thanks,
>     alex
> 
>     p.s. I'm forwarding this to the mailing list. you can sign up to here:
>     http://sourceforge.net/mail/?group_id=111647
> 
> 
> 
> 
> 
>     Ellen Klingbeil wrote:
> 
>         Hi Alex,
> 
>         I am trying to use the Segway driver in the orca-robotics
>         package to drive our new Segway Rmp 50 Omni, which has a usb
>         interface.
>         For now, I am just trying to send commands / read data from one
>         half of the rmp (the 50 Omni is just two rmp's bolted together).
>          Specifically, I am trying to write commands to it at a rate of
>         just under 100 Hz and read commands continuously.  When I run
>         it, it works for awhile but after a bit of time, it segmentation
>         faults.  The timing of when this segmentation fault occurs does
>         not seem to be predictable.....i.e., sometimes it seems to run
>         for 30 sec or more and sometimes it seg faults much sooner.  So
>         far, I have been unable to track down where this segmentation
>         fault is occurring, and no information is printed to the screen
>         when it occurs.
> 
>         Any suggestions or advice you have on what might be happening
>         would be greatly appreciated!!
> 
>         Sincerely,
>         Ellen Klingbeil
> 
> 
>         -- 
>         ------------------------------------
>         Ellen Klingbeil
>         Ph.D. Candidate
>         Stanford University
>         Artificial Intelligence Lab
>         ------------------------------------
> 
> 
>     -- 
>     --------------------------
>     Dr. Alex Makarenko
>     Research Fellow
>     Centre for Autonomous Systems
>     (Australian Centre for Field Robotics)
>     Dept. of Mechanical & Mechatronic Engineering
>     J04 The University of Sydney 2006 NSW, AUSTRALIA
>     alexei[at]cas.edu.au <http://cas.edu.au>
>     www.cas.edu.au <http://www.cas.edu.au>
>     +61 (0)2 9036 7057 (tel)
>     +61 (0)2 9351 7474 (fax)
> 
> 
> 
> 
> -- 
> ------------------------------------
> Ellen Klingbeil
> Ph.D. Candidate
> Stanford University
> Artificial Intelligence Lab
> ------------------------------------
> 

[Orca-robotics-users] [Fwd: Orca-Robitcs Segway Driver]

[Alexei M. <al...@ca...>]

-------- Original Message --------
Subject: 	Orca-Robitcs Segway Driver
Date: 	Tue, 31 Mar 2009 15:39:00 -0700
From: 	Ellen Klingbeil <ell...@st...>
To: 	a.b...@ca...
CC: 	a.m...@ca..., t....@ca..., "Quoc V. Le"
<qu...@st...>



Hi Alex,

I am trying to use the Segway driver in the orca-robotics package to
drive our new Segway Rmp 50 Omni, which has a usb interface.

For now, I am just trying to send commands / read data from one half of
the rmp (the 50 Omni is just two rmp's bolted together).  Specifically,
I am trying to write commands to it at a rate of just under 100 Hz and
read commands continuously.  When I run it, it works for awhile but
after a bit of time, it segmentation faults.  The timing of when this
segmentation fault occurs does not seem to be predictable.....i.e.,
sometimes it seems to run for 30 sec or more and sometimes it seg faults
much sooner.  So far, I have been unable to track down where this
segmentation fault is occurring, and no information is printed to the
screen when it occurs.

Any suggestions or advice you have on what might be happening would be
greatly appreciated!!

Sincerely,
Ellen Klingbeil


-- 
------------------------------------
Ellen Klingbeil
Ph.D. Candidate
Stanford University
Artificial Intelligence Lab
------------------------------------

Re: [Orca-robotics-users] Orca-Robitcs Segway Driver

[Alexei M. <al...@ca...>]

Hi Ellen,
we'll need more info to debug this.

what's you setup: OS, version of Orca, components in your system?

we'd need to know where the segfault happens. Assuming that you are just 
running the segwayrmp component, here's how you do it:

$ gdb segwayrmp
$ set args --Orca.Config=segwayrmp.cfg
$ run

after it segfaults, type this and send us the output:

$ where

thanks,
alex

p.s. I'm forwarding this to the mailing list. you can sign up to here:
http://sourceforge.net/mail/?group_id=111647




Ellen Klingbeil wrote:
> Hi Alex,
> 
> I am trying to use the Segway driver in the orca-robotics package to 
> drive our new Segway Rmp 50 Omni, which has a usb interface. 
> 
> For now, I am just trying to send commands / read data from one half of 
> the rmp (the 50 Omni is just two rmp's bolted together).  Specifically, 
> I am trying to write commands to it at a rate of just under 100 Hz and 
> read commands continuously.  When I run it, it works for awhile but 
> after a bit of time, it segmentation faults.  The timing of when this 
> segmentation fault occurs does not seem to be predictable.....i.e., 
> sometimes it seems to run for 30 sec or more and sometimes it seg faults 
> much sooner.  So far, I have been unable to track down where this 
> segmentation fault is occurring, and no information is printed to the 
> screen when it occurs.
> 
> Any suggestions or advice you have on what might be happening would be 
> greatly appreciated!!
> 
> Sincerely,
> Ellen Klingbeil
> 
> 
> -- 
> ------------------------------------
> Ellen Klingbeil
> Ph.D. Candidate
> Stanford University
> Artificial Intelligence Lab
> ------------------------------------

-- 
--------------------------
Dr. Alex Makarenko
Research Fellow
Centre for Autonomous Systems
(Australian Centre for Field Robotics)
Dept. of Mechanical & Mechatronic Engineering
J04 The University of Sydney 2006 NSW, AUSTRALIA
alexei[at]cas.edu.au
www.cas.edu.au
+61 (0)2 9036 7057 (tel)
+61 (0)2 9351 7474 (fax)

Re: [Orca-robotics-users] Help with Orca + OpenSceneGraph

[Alex B. <a.b...@ac...>]

Hi Victor,

In general if you email Orca questions to the mailing list (CC'd) you're more 
likely to get the right answer as the question goes out to more people.

I'm not much of an expert on 3D acceleration unfortunately.  You can use the 
command 'glxinfo' to test whether your computer is using 3D acceleration.  On 
my laptop I have an ATI graphics card, I had to install the proprietary ATI 
drivers to get 3D acceleration working (I did it via a debian package).  3D 
acceleration makes a huge difference, before I got it working orcaview3d ran 
unbearably slowly, and it was like lightning afterwards.  Beyond that I don't 
have much special knowledge sorry.

Good luck,

Alex



On Thu, 19 Mar 2009, you wrote:
> Hi,
>
> My name is Vitor Campanholo Guizilini, I am starting my PhD here at
> the ACFR under the supervision of Fabio Ramos.
>
> Right now I am trying to set up the Velodyne 3d laser sensor that is
> going to be installed on the Rav4 car, using Orca, but I am having
> some problems and you were appointed to me as someone who might know
> the answer.  I have the OpenSceneGraph package installed and working
> (the notebook I am using has a integrated video card and I assume that
> the 3d acceleration is active), but Orca is for some reason unable to
> find it, and without this package I can't get orcaview3d to work.
> Probably it is some kind of path problem, but I have already tried
> everything I could think of and so far no luck.
>
> Do you have any ideas about what could be causing this?
>
> Thanks,
>
>                Vitor
>
>
>
> ----------------------------------------------------------------
> This message was sent using IMP, the Internet Messaging Program.

[Orca-robotics-users] Release 2.13.0

[Alexei M. <al...@ca...>]

This is the most significant release in a while.

- Lots of changes under the hood.

- New components related to images and cameras.

- Substantial contributions by new developers.

Check out the updated list of current users of Orca.
http://orca-robotics.sourceforge.net/orca/orca_doc_projects.html

See Release Notes for details.
http://orca-robotics.sourceforge.net/orca/orca_doc_todo.html#orca_doc_history_2130


Big thanks to all contributors.

Project Admins.

Re: [Orca-robotics-users] VFH driver min_turnrate paramter

[Alex B. <a.b...@ac...>]

Hi Andreas,

> Does the parameter min_turnrate work in the vfh driver? Because my robot
> recieve velocitycommands smaller than min_turnrate!

I'm not sure sorry -- the VFH driver is largely unsupported these days: I 
adapted it from the Player version a long time ago, and haven't used it much 
since.


Alex

[Orca-robotics-users] VFH driver min_turnrate paramter

[Andreas V. <and...@df...>]

Hi everyone,

Does the parameter min_turnrate work in the vfh driver? Because my robot 
recieve velocitycommands smaller than min_turnrate!

Thanks

Andreas