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Re: [Playerstage-users] Player Error
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From: Toby C. <tco...@pl...> - 2008-04-15 20:08:52
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What versions of player stage are you using and what platform (i.e.
linux/mac and version) are you running on,
Toby
On 16/04/2008, David McCallum <dmc...@gm...> wrote:
>
> I'm using libplayerc++ to connect to the Stage simulator. The
> simulator initially runs as expected, but after several hours it
> begins to fail. libplayerc++ outputs the following error message:
>
> playerc error : got the wrong kind of reply (not good).
>
> Once player fails, it continues to fail until restarted. However,
> there appears to be no way to detect this error in my client program.
> I'm using the following code:
>
> try
> {
> robotProxy->ReadIfWaiting();
> }//try
> catch (PlayerError clientErr)
> {
> cout << "AgentSettings::readData(): got an error!" << endl;
> cout << clientErr << endl;
> result = false;
> }//catch
>
> And the catch portion is never run. And no error messages are
> outputted to the console by Player. I have restarted Player with a
> debugging option like so: "robot-player -d 9 forage.cfg", but the
> error has yet to reoccur.
>
> How can I detect this error in my client program? How can I prevent it
> from happening at all? I am using the Ubuntu packages for both player
> and stage. Any help is appreciated. The following are my configuration
> and world files:
>
>
>
>
>
>
> # load the Stage plugin simulation driver
> driver
> (
> name "stage"
> provides ["6665:simulation:0"]
> plugin "libstageplugin"
>
> # load the named file into the simulator
> worldfile "forage.world"
> )
>
> driver
> (
> name "stage"
> provides ["map:0"]
> model "themap"
> )
>
> driver
> (
> name "stage"
> provides ["6666:position2d:0" "6666:localize:0" "6666:laser:0"
> "6666:fiducial:0" "6666:sonar:0" "6666:gripper:0"]
> model "robot0"
> )
>
> driver
> (
> name "stage"
> provides ["6667:position2d:0" "6667:localize:0" "6667:laser:0"
> "6667:fiducial:0" "6667:sonar:0" "6667:gripper:0"]
> model "robot1"
> )
>
> driver
> (
> name "stage"
> provides ["6668:position2d:0" "6668:localize:0" "6668:laser:0"
> "6668:fiducial:0" "6668:sonar:0" "6668:gripper:0"]
> model "robot2"
> )
>
> driver
> (
> name "stage"
> provides ["6669:position2d:0" "6669:localize:0" "6669:laser:0"
> "6669:fiducial:0" "6669:sonar:0" "6669:gripper:0"]
> model "robot3"
> )
>
>
>
>
>
> # defines Pioneer-like robots
> include "pioneer.inc"
>
> # defines 'map' object used for floorplans
> include "map.inc"
>
> # defines sick laser
> include "sick.inc"
>
> # size of the world in meters
> size [10 10]
>
> # set the resolution of the underlying raytrace model in meters
> resolution 0.02
>
> # update the screen every 10ms (we need fast update for the stest demo)
> gui_interval 20
>
> interval_real 49
> interval_sim 75
>
> # configure the GUI window
> window
> (
> size [ 700.000 710.000 ]
> center [-0.010 -0.040]
> scale 0.015
> )
>
> # load an environment bitmap
> map
> (
> bitmap "bitmaps/funnel.png"
> size [10 10]
> name "themap"
> )
>
> # a block for gripping
> define puck model(
> size [ 0.08 0.08 ]
> gripper_return 1
> gui_movemask 3
> gui_nose 0
> fiducial_return 10
> ranger_return 0
> )
>
>
> puck( pose [-4 4 -105.501 ] color "purple" name "puck01" )
> puck( pose [-3 4 -105.501 ] color "purple" name "puck02" )
> puck( pose [-2 4 -105.501 ] color "purple" name "puck03" )
> puck( pose [-1 4 -105.501 ] color "purple" name "puck04" )
> puck( pose [-0 4 -105.501 ] color "purple" name "puck05" )
> puck( pose [1 4 -105.501 ] color "purple" name "puck06" )
> puck( pose [2 4 -105.501 ] color "purple" name "puck07" )
> puck( pose [3 4 -105.501 ] color "purple" name "puck08" )
> puck( pose [4 4 -105.501 ] color "purple" name "puck09" )
>
> puck( pose [-4 3 -105.501 ] color "purple" name "puck10" )
> puck( pose [-3 3 -105.501 ] color "purple" name "puck11" )
> puck( pose [-2 3 -105.501 ] color "purple" name "puck12" )
> puck( pose [-1 3 -105.501 ] color "purple" name "puck13" )
> puck( pose [-0 3 -105.501 ] color "purple" name "puck14" )
> puck( pose [1 3 -105.501 ] color "purple" name "puck15" )
> puck( pose [2 3 -105.501 ] color "purple" name "puck16" )
> puck( pose [3 3 -105.501 ] color "purple" name "puck17" )
> puck( pose [4 3 -105.501 ] color "purple" name "puck18" )
>
> # create a robot
> pioneer2dx
> (
> name "robot0"
> color "red"
> pose [-0.5 0 90]
> gripper( pose [0.200 0.000 0.000] color "gray" )
> gripper_return 0
> fiducial_return 1
>
> sick_laser(
> pose [0.030 0.000 0.000 ]
> fov 90
> fiducialfinder( range_max 2 range_max_id 1.5 )
> )
> )
>
> # create a robot
> pioneer2dx
> (
> name "robot1"
> color "blue"
> pose [-1.5 0 90]
> gripper( pose [0.200 0.000 0.000] color "gray" )
> gripper_return 0
> fiducial_return 1
>
> sick_laser(
> pose [0.030 0.000 0.000 ]
> fov 90
> fiducialfinder( range_max 2 range_max_id 1.5 )
> )
> )
>
> # create a robot
> pioneer2dx
> (
> name "robot2"
> color "green"
> pose [0.5 0 90]
> gripper( pose [0.200 0.000 0.000] color "gray" )
> gripper_return 0
> fiducial_return 1
>
> sick_laser(
> pose [0.030 0.000 0.000 ]
> fov 90
> fiducialfinder( range_max 2 range_max_id 1.5 )
> )
> )
>
> # create a robot
> pioneer2dx
> (
> name "robot3"
> color "yellow"
> pose [1.5 0 90]
> gripper( pose [0.200 0.000 0.000] color "gray" )
> gripper_return 0
> fiducial_return 1
>
> sick_laser(
> pose [0.030 0.000 0.000 ]
> fov 90
> fiducialfinder( range_max 2 range_max_id 1.5 )
> )
> )
>
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