Re: [Playerstage-users] Actarray actuator problem in Stage 3.1.0

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

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 <rsm...@gm...>

>
> 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
> >
> >
> >
> >
>
> --
> View this message in context:
> http://old.nabble.com/Actarray-actuator-problem-in-Stage-3.1.0-tp25531385p28599697.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
>
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