Dear All of You,

I am Dong, from VietNam

Could anyone help me install player and stage ver 3.1.0, i can not install it. I use linux Fedora.

Before I use player 2.0 and stage 2.0 to simulate robot but proxy Position2D get problems about function GetXPos and GetYPos that don't update position. Could you help me with this problems. Thanks you so much.

thanks
Dong
--- On Sat, 18/9/10, Vitalijs Komasilovs <vitalijs.komasilovs@gmail.com> wrote:

From: Vitalijs Komasilovs <vitalijs.komasilovs@gmail.com>
Subject: Re: [Playerstage-users] Actarray actuator problem in Stage 3.1.0
To: playerstage-users@lists.sourceforge.net
Date: Saturday, 18 September, 2010, 4:08 PM

Dear Rehman and Player/Stage users,

Have you used any special parameters in your *.cfg file? Or any special compilation flags for Player or Stage?
I'm trying to get simulated actuators working without any success.
I have tried your code, and my actuator is not moving at all (you have reported that "the actuator spins 180-degrees as it should").

However Player starts without any problems and reports correct mapping: 6665.actarray.0 is "rob1.actuator:0". As well client successfully connects to Player and sends commands to actuator (I have tried playerv and self-made client). Reading data from ActArrayProxy shows, that actuator has speed value, but position is always 0.

I'm using Player v.3.0.2 and Stage Stage 3.2.2.
I would be grateful for any advice.

Best regards,
Vitalijs

My code is as follows:

.world file contains:
define robot_base position (
  size [ 1.2 0.5 0.5 ]
 
  actuator (
    laser ()
   
    type "rotational"
    axis [0.0 0.0 1.0]
    min_position 0
    max_position 6
    max_speed 0.5
    size [0.1 0.1 1.0]
    color "green"
    pose [-0.1 0.0 -0.4 0.0 ]   
  )
)

.cfg file
driver
(       
  name "stage"
  provides [ "simulation:0" ]
  plugin "stageplugin"

  worldfile "actuator.world"   
)

driver
(
  name "stage"
  provides [ "6665:position2d:0" "6665:actarray:0" "6665:laser:0"]
  model "rob1"
)

client code
#include <cstdlib>

#include <libplayerc++/playerc++.h>
#include <unistd.h>
#include <iostream>
#include <math.h>

int main(int argc, char** argv) {
    using namespace std;
    using namespace PlayerCc;

    try {
        PlayerClient robot("localhost");
        LaserProxy laser(&robot, 0);
        ActArrayProxy act(&robot, 0);
 
        robot.Read();
        act.MoveTo(0, 0.0);

        while (true) {
            robot.Read();
 
            act.MoveTo(0, 6.0);
            //act.MoveAtSpeed(0, 1.0); 
          
            cout << "================================" << endl;
            cout << "Count:" << act.GetCount() << endl;
            cout << "Pos: " << act[0].position << endl;
            cout << "Speed: " << act[0].speed << endl;
            cout << "Accel: " << act[0].acceleration << endl;

            sleep(1);
        }     
    } catch (PlayerError e) {
        return -1;
    }

    return 0;
}

2010/5/18 Rehman Merali <rsmerali@gmail.com>

I'm still having this issue where the actuator randomly spins around in
Stage-3.1.0. I can't get actarray to work in Stage-3.2.0 or 3.2.2, so I
don't know if it has been resolved. Note that I have also updated to
Player-3.0.1.
Below is the minimal client code that illustrates the problem.

Thank you,
Rehman


#include <math.h>

#include <libplayerc++/playerc++.h>

int main(int argc, char** argv)
{
       using namespace std;
       using namespace PlayerCc;

       try
       {
               PlayerClient robot("localhost");
               ActArrayProxy pz(&robot, 0);
               pz.MoveTo(0,0);
               for(int i = 1; i < 100; i++){
                       robot.Read(); //Actuator is still
               }
               pz.MoveTo(0,M_PI);
               for(int i = 1; i < 1000; i++){
                       robot.Read(); //Actuator sporadically spins 360-degrees
               }
       }
       catch (PlayerError e)
       {
               return -1;
       }

       return 0;
}



Rehman Merali wrote:
>
> I'm running Player 2.1.2 and Stage 3.1.0 on Ubuntu 9.04.
>
> My .world file has:
>
> pioneer2dx
> (
>   name "pioneer"
>
>   pose [ 0 0 0 0 ]
>
> actuator
> (
>   sicklaser()
>   # actuator properties
>   type "rotational"
>   axis [0 0 1]
>
>   min_position 0
>   max_position 6.2835
>   #max_speed 0.5
>   max_speed 1.0
>   color "green"
>   size [ 0.22 0.19 0.19 ]
> )
>
>   localization "odom"
> )
>
>
> My client has:
>
> ActArrayProxy pz(&robot, 0);
>
> And "pz.MoveTo(0,0);" works fine. But when I use "pz.MoveTo(0,M_PI);", the
> actuator spins 180-degrees as it should, but if I just do nothing for a
> while (i.e. delay), the actuator will spin 360-degrees and return to M_PI.
> As I continue to delay, it will just spin around every once in a while.
> After a long delay, I issue "pz.MoveTo(0,0);", and it returns to 0 and
> stays there as I delay some more (random spinning does not occur).
>
> I've tried various things like trying to stop it once it reaches M_PI by
> issuing "pz.MoveAtSpeed(0, 0);", but it does not help.
>
>
> Please help,
> Rehman
>
>
>
>

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