Re: [Playerstage-developers] new driver

[Pablo Rivera <rivera@cs...>]

Toby,
thanks, I was able to build from CVS. After "bootstrap" I ran "configure" 
with the option "prefix=/var/cvsroot/player_build". I did this because I 
did not want to disturb the stable player build on my machine. make and 
make install ran fine. I copied "/usr/lib/libstageplugin.so" to
"/var/cvsroot/player_build/lib". All this was done as non-root. I can run 
"/var/cvsroot/player_build/bin/player"
no problem, also with a cfg file in a distant directory, but the following happens:

1. If I run it with a standard "stage.cfg" file, no gui appears. Running a 
client will then crash.

2. I tried it with my roboteq driver and config file, and it starts fine:
------------------------
trying to load 
/home/rivera/Desktop/trunk/player_drivers/roboteq/./roboteq.so...success
invoking player_driver_init()...
Roboteq driver initializing
Roboteq driver done
success
Roboteq: using a max translational speed of 6.000000 m/s
         and max rotational speed of 4.000000 rad/s to scale motor commands
Listening on ports: 6665
------------------------

but when I run "/var/cvsroot/player_build/bin/playerjoy -k -speed 0.5" it 
crashes:
------------------------
Connecting to Player at localhost:6665 - calling connect
done
accepted TCP client 0 on port 6665, fd 6
Configuring Roboteq serial port at /dev/ttyS0..
Successfully initialized Roboteq connection.
Done.
playerc error   : recv failed with error [Success]
warning : failed to reconnect
terminate called after throwing an instance of 'PlayerCc::PlayerError'
[1]+  Done                    /var/cvsroot/player_build/bin/player 
roboteq.cfg
Aborted
------------------------

Seems like maybe this is a network permissions (or linking?) problem.. If 
I manage to get this cvs build running and make my driver patch I am 
planning to write a player driver patch howto. Am I going about the cvs 
build wrong? thanks.

-Pablo

Re: [Playerstage-developers] new driver

[Pablo Rivera <rivera@cs...>]

Toby,

Thanks for the reply. By player 2.1 roadmap you mean the "Release 2.1" 
section on http://playerstage.sourceforge.net/wiki/Roadmap ?

Also forgive my developer noobishness but is there any howto or guidelines 
on writing a usable Player driver patch? Googling led me to
http://www.cpqlinux.com/patch.html
and
http://laughingmeme.org/2004/02/18/how-to-make-a-patch-file/
for general info about creating a patch.
Thanks,
Pablo

-------------------------------------------
Toby Collett wrote:

Hi,
If you upload a patch to the patches page on sourceforge then one of the
developers will be able to apply it. If you can make sure you have a
documentation block that describes the driver interface, author and any
important notes that will be good.

Also if you add a note on the player wiki on the player 2.1 roadmap then
we can make sure the driver makes it into the 2.1 release

Toby

Pablo Rivera wrote:
> hi,
> We are using a "Roboteq AX2550 Digital Speed Controller," Dual Channel -
> up to 120 Amps, on an outdoor robot. It has proved to be very reliable 
and
> offers many configuration options. I have written a driver (as a shared
> object,) for Player 2 through the Position2d interface. It seems stable
> (used it for about a year with no problems,) although it is very
> bare-bones and does not implement many of the capabilities of the 
device.
> How would I go about submitting it to the Player project?
> thanks,
> Pablo Rivera
> University of Nevada, Reno
>
>

Re: [Playerstage-developers] new driver

[Pablo Rivera <rivera@cs...>]

hello Toby,

I am trying to make a patch with cvs. From my understanding this would 
involve checking out the latest player source to my local repository, then 
adding a new directory (in this case "roboteq") with whatever files I used 
to build the old 'roboteq.so' and a 'Makefile.am' (instead of a Makefile,) 
to "player/server/drivers/position/" (the driver supports the position2d 
interface). I would then do a "cvs add" on the new directory and run diff 
to produce the patch. Is there any other changes I need to make (driver 
registration in a higher-level file.,.)? Other than that I was planning to 
look at other built-in drivers to see how they differ from plug-ins.

Finally..
Here are the steps I followed to check out the latest player cvs and 
attempt to build it:

1. /var/cvsroot $ cvs 
-d:pserver:anonymous@...:/cvsroot/playerstage 
login

2. /var/cvsroot $ cvs -z3 
-d:pserver:anonymous@...:/cvsroot/playerstage 
co -P player

3. /var/cvsroot $ cd player/

4. /var/cvsroot/player $ ./bootstrap
------- bootstrap complains --------
+ aclocal
/usr/share/aclocal/wxwin.m4:36: warning: underquoted definition of 
AM_OPTIONS_WXCONFIG
/usr/share/aclocal/wxwin.m4:36:   run info '(automake)Extending aclocal'
/usr/share/aclocal/wxwin.m4:36:   or see 
http://sources.redhat.com/automake/automake.html#Extending-aclocal
+ libtoolize --force
+ autoheader
+ automake --gnu --add-missing
configure.ac:31: installing `./missing'
configure.ac:31: installing `./install-sh'
client_libs/libplayerc++/Makefile.am: installing `./depcomp'
server/drivers/Makefile.am:1: required directory server/drivers/audiomixer 
does not exist
server/libplayerdrivers/Makefile.am:26: shell find $(top_builddir: 
non-POSIX variable name
server/libplayerdrivers/Makefile.am:26: (probably a GNU make extension)
configure.ac:605: required file `server/drivers/audiomixer/Makefile.in' 
not found
+ autoconf
------------------------------------

5. /var/cvsroot/player $ ./configure
------- I run configure anyway ----------
checking build system type... i686-pc-linux-gnu
checking host system type... i686-pc-linux-gnu
checking target system type... i686-pc-linux-gnu
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
...many lines omitted...
checking for OPENCV... yes
checking for IMAGEMAGICK... checking for GSL... yes
checking for xmms-config... yes
configure: creating ./config.status
config.status: error: cannot find input file: Makefile.in
-------- configure fails ----------

and no Makefile is made. I have built player from the latest release and 
encountered no problems, just with cvs. Am I doing something wrong?

-Pablo

Re: [Playerstage-developers] new driver

[Toby Collett <tcollett+player@pl...>]

You are doing nothing wrong, that was a bug in cvs, a driver had only 
been half removed. Thanks for picking that up, you should be able to 
update and build now,

Toby

Pablo Rivera wrote:
> hello Toby,
>
> I am trying to make a patch with cvs. From my understanding this would 
> involve checking out the latest player source to my local repository, then 
> adding a new directory (in this case "roboteq") with whatever files I used 
> to build the old 'roboteq.so' and a 'Makefile.am' (instead of a Makefile,) 
> to "player/server/drivers/position/" (the driver supports the position2d 
> interface). I would then do a "cvs add" on the new directory and run diff 
> to produce the patch. Is there any other changes I need to make (driver 
> registration in a higher-level file.,.)? Other than that I was planning to 
> look at other built-in drivers to see how they differ from plug-ins.
>
> Finally..
> Here are the steps I followed to check out the latest player cvs and 
> attempt to build it:
>
> 1. /var/cvsroot $ cvs 
> -d:pserver:anonymous@...:/cvsroot/playerstage 
> login
>
> 2. /var/cvsroot $ cvs -z3 
> -d:pserver:anonymous@...:/cvsroot/playerstage 
> co -P player
>
> 3. /var/cvsroot $ cd player/
>
> 4. /var/cvsroot/player $ ./bootstrap
> ------- bootstrap complains --------
> + aclocal
> /usr/share/aclocal/wxwin.m4:36: warning: underquoted definition of 
> AM_OPTIONS_WXCONFIG
> /usr/share/aclocal/wxwin.m4:36:   run info '(automake)Extending aclocal'
> /usr/share/aclocal/wxwin.m4:36:   or see 
> http://sources.redhat.com/automake/automake.html#Extending-aclocal
> + libtoolize --force
> + autoheader
> + automake --gnu --add-missing
> configure.ac:31: installing `./missing'
> configure.ac:31: installing `./install-sh'
> client_libs/libplayerc++/Makefile.am: installing `./depcomp'
> server/drivers/Makefile.am:1: required directory server/drivers/audiomixer 
> does not exist
> server/libplayerdrivers/Makefile.am:26: shell find $(top_builddir: 
> non-POSIX variable name
> server/libplayerdrivers/Makefile.am:26: (probably a GNU make extension)
> configure.ac:605: required file `server/drivers/audiomixer/Makefile.in' 
> not found
> + autoconf
> ------------------------------------
>
> 5. /var/cvsroot/player $ ./configure
> ------- I run configure anyway ----------
> checking build system type... i686-pc-linux-gnu
> checking host system type... i686-pc-linux-gnu
> checking target system type... i686-pc-linux-gnu
> checking for a BSD-compatible install... /usr/bin/install -c
> checking whether build environment is sane... yes
> ...many lines omitted...
> checking for OPENCV... yes
> checking for IMAGEMAGICK... checking for GSL... yes
> checking for xmms-config... yes
> configure: creating ./config.status
> config.status: error: cannot find input file: Makefile.in
> -------- configure fails ----------
>
> and no Makefile is made. I have built player from the latest release and 
> encountered no problems, just with cvs. Am I doing something wrong?
>
> -Pablo
>
>
> -------------------------------------------------------------------------
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> https://lists.sourceforge.net/lists/listinfo/playerstage-developers
>
>   

Re: [Playerstage-developers] new driver

[Pablo Rivera <rivera@cs...>]

Toby,
thanks, I was able to build from CVS. After "bootstrap" I ran "configure" 
with the option "prefix=/var/cvsroot/player_build". I did this because I 
did not want to disturb the stable player build on my machine. make and 
make install ran fine. I copied "/usr/lib/libstageplugin.so" to
"/var/cvsroot/player_build/lib". All this was done as non-root. I can run 
"/var/cvsroot/player_build/bin/player"
no problem, also with a cfg file in a distant directory, but the following happens:

1. If I run it with a standard "stage.cfg" file, no gui appears. Running a 
client will then crash.

2. I tried it with my roboteq driver and config file, and it starts fine:
------------------------
trying to load 
/home/rivera/Desktop/trunk/player_drivers/roboteq/./roboteq.so...success
invoking player_driver_init()...
Roboteq driver initializing
Roboteq driver done
success
Roboteq: using a max translational speed of 6.000000 m/s
         and max rotational speed of 4.000000 rad/s to scale motor commands
Listening on ports: 6665
------------------------

but when I run "/var/cvsroot/player_build/bin/playerjoy -k -speed 0.5" it 
crashes:
------------------------
Connecting to Player at localhost:6665 - calling connect
done
accepted TCP client 0 on port 6665, fd 6
Configuring Roboteq serial port at /dev/ttyS0..
Successfully initialized Roboteq connection.
Done.
playerc error   : recv failed with error [Success]
warning : failed to reconnect
terminate called after throwing an instance of 'PlayerCc::PlayerError'
[1]+  Done                    /var/cvsroot/player_build/bin/player 
roboteq.cfg
Aborted
------------------------

Seems like maybe this is a network permissions (or linking?) problem.. If 
I manage to get this cvs build running and make my driver patch I am 
planning to write a player driver patch howto. Am I going about the cvs 
build wrong? thanks.

-Pablo

Re: [Playerstage-developers] new driver

[Brian Gerkey <brian@ge...>]

On Jun 19, 2007, at 3:33 PM, Pablo Rivera wrote:

>
> thanks, I was able to build from CVS. After "bootstrap" I ran  
> "configure"
> with the option "prefix=/var/cvsroot/player_build". I did this  
> because I
> did not want to disturb the stable player build on my machine. make  
> and
> make install ran fine. I copied "/usr/lib/libstageplugin.so" to
> "/var/cvsroot/player_build/lib". All this was done as non-root. I  
> can run
> "/var/cvsroot/player_build/bin/player"
> no problem, also with a cfg file in a distant directory, but the  
> following happens:

You should really configure, build, and install Stage with --prefix=/ 
var/cvsroot/player_build as well, to make sure you get all the  
relevant libraries in there.  Additionally, you should adjust your  
PATH and LD_LIBRARY_PATH to be sure that you are executing the right  
binaries and loading the right libraries.

E.g.,

export PATH=/var/cvsroot/player_build/bin:$PATH
export LD_LIBRARY_PATH=/var/cvsroot/player_build/lib:$LD_LIBRARY_PATH

	brian.

Re: [Playerstage-developers] new driver

[Pablo Rivera <rivera@cs...>]

> You should really configure, build, and install Stage with --prefix=/
> var/cvsroot/player_build as well, to make sure you get all the
> relevant libraries in there. Additionally, you should adjust your
> PATH and LD_LIBRARY_PATH to be sure that you are executing the right
> binaries and loading the right libraries.
>
> E.g.,
>
> export PATH=/var/cvsroot/player_build/bin:$PATH
> export LD_LIBRARY_PATH=/var/cvsroot/player_build/lib:$LD_LIBRARY_PATH
>
> brian.

Brian,

thanks. for some reason, I missed this message (I end up forwarding email 
all over the place,) so I ended up uninstalling my "stable" Player 
install and installing Player CVS directly to /usr. Things worked out o.k.
But these guidelines for installing in alternate directories are good to 
know.

The new roboteq driver has been uploaded to patch tracker (id 1754183). I 
tested it, it seems to work (very barebones functionality, but was 
enough for our purposes). Also I hammered out a rough draft of a
"Player Driver HowTo" 
http://www.cse.unr.edu/~rivera/playerdriverhowto.html
maybe I can add it to the wiki?

-Pablo

Re: [Playerstage-developers] new driver

[Brian Gerkey <brian@ge...>]

On Jul 14, 2007, at 9:51 PM, Pablo Rivera wrote:

> The new roboteq driver has been uploaded to patch tracker (id  
> 1754183). I
> tested it, it seems to work (very barebones functionality, but was
> enough for our purposes).

Great, thanks.  I'll take a look at integrating the patch soon.

> Also I hammered out a rough draft of a
> "Player Driver HowTo"
> http://www.cse.unr.edu/~rivera/playerdriverhowto.html
> maybe I can add it to the wiki?

Absolutely!

	brian.

Re: [Playerstage-developers] new driver

[Toby Collett <tcollett+player@pl...>]

Yes the release 2.1 section is the right place for it. In terms of creating
patches

cvs diff -u > patch_file

will produce a usable patch, although be aware of any new files that have
been added as these will not be seen by cvs until they are explicitly added.

Toby

On 6/6/07, Pablo Rivera <rivera@...> wrote:
>
> Toby,
>
> Thanks for the reply. By player 2.1 roadmap you mean the "Release 2.1"
> section on http://playerstage.sourceforge.net/wiki/Roadmap ?
>
> Also forgive my developer noobishness but is there any howto or guidelines
> on writing a usable Player driver patch? Googling led me to
> http://www.cpqlinux.com/patch.html
> and
> http://laughingmeme.org/2004/02/18/how-to-make-a-patch-file/
> for general info about creating a patch.
> Thanks,
> Pablo
>
> -------------------------------------------
> Toby Collett wrote:
>
> Hi,
> If you upload a patch to the patches page on sourceforge then one of the
> developers will be able to apply it. If you can make sure you have a
> documentation block that describes the driver interface, author and any
> important notes that will be good.
>
> Also if you add a note on the player wiki on the player 2.1 roadmap then
> we can make sure the driver makes it into the 2.1 release
>
> Toby
>
> Pablo Rivera wrote:
> > hi,
> > We are using a "Roboteq AX2550 Digital Speed Controller," Dual Channel -
> > up to 120 Amps, on an outdoor robot. It has proved to be very reliable
> and
> > offers many configuration options. I have written a driver (as a shared
> > object,) for Player 2 through the Position2d interface. It seems stable
> > (used it for about a year with no problems,) although it is very
> > bare-bones and does not implement many of the capabilities of the
> device.
> > How would I go about submitting it to the Player project?
> > thanks,
> > Pablo Rivera
> > University of Nevada, Reno
> >
> >
>
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by DB2 Express
> Download DB2 Express C - the FREE version of DB2 express and take
> control of your XML. No limits. Just data. Click to get it now.
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> _______________________________________________
> Playerstage-developers mailing list
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>



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