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From: kamil d. <kdr...@gm...> - 2009-07-10 11:36:08
|
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 |
|
From: Alex B. <a.b...@ma...> - 2009-07-12 04:56:28
|
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
------------------------------
|
|
From: kamil d. <kdr...@gm...> - 2009-07-13 12:18:19
|
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
> ------------------------------
>
|
|
From: Alex B. <a.b...@ma...> - 2009-07-13 13:06:14
|
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
------------------------------
|
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