From: Jason B. <br...@ai...> - 2003-06-13 19:33:44
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I've noticed in the documentation that Player 1.3.2 has been tested on RWI B21R robots. I am trying to get everything running on an ATRV-jr model. I've got the software compiled and installed (v1.3.2), and I can get player to run, but I am having trouble getting all of the devices to match up. For some reason I get an error from player when trying to run the demo programs: Unable to locate device /Drive/Command for robot B21R. Is your RWI-provided base server running? rwi_positiondevice unable to connect. Unable to locate device /Sonar/Segment for robot B21R. is your RWI-provided base server running? rwi_sonardevice unable to connect No permissions to command 4:0 I'm sure that the base server is running, and I'm stumped as to how to proceed. Is anyone else out there trying to use player with the ATRV-jr? Any general advice? Thanks Jason |
From: brian g. <bg...@us...> - 2003-06-13 21:47:21
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On Fri, 13 Jun 2003, Jason Bryant wrote: > I've noticed in the documentation that Player 1.3.2 has been tested on > RWI B21R robots. I am trying to get everything running on an ATRV-jr > model. I've got the software compiled and installed (v1.3.2), and I > can get player to run, but I am having trouble getting all of the > devices to match up. For some reason I get an error from player when > trying to run the demo programs: > > Unable to locate device /Drive/Command for robot B21R. Is your > RWI-provided base server running? > rwi_positiondevice unable to connect. > Unable to locate device /Sonar/Segment for robot B21R. is your > RWI-provided base server running? > rwi_sonardevice unable to connect > No permissions to command 4:0 > > I'm sure that the base server is running, and I'm stumped as to how to > proceed. hi Jason, We don't have any RWI hardware, so I can't be sure about this, but the problem might be that you need to specify the robot's "name" in the Player config file, like so: position (driver "rwi_position" name "ATRV") Replace "ATRV" with whatever the right Mobility name is for your robot. If that doesn't do it, maybe one of the driver's authors could suggest something (Andy, Nik?). brian. |
From: Mathew B. <mb...@ro...> - 2003-06-17 03:01:08
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I'm pretty certain the correct name for the ATRV-Jr is "ATRVJr" with that capitalization, so the full line should look like position (driver "rwi_position" name "ATRVJr") I've never tested the newer drivers - but I've played with some of the same code from older revisions on an ATRV-Jr, so I haven't actually tested that command... good luck! P.S. I'm working on a similar driver, on an ATRV-Jr, but one which dodges mobility completly (thus giving control of brakes, sonar ping speeds etc.) it's not very clean yet in terms of configuration files and such, but it works fine. On Fri, 13 Jun 2003, brian gerkey wrote: > On Fri, 13 Jun 2003, Jason Bryant wrote: > > > I've noticed in the documentation that Player 1.3.2 has been tested on > > RWI B21R robots. I am trying to get everything running on an ATRV-jr > > model. I've got the software compiled and installed (v1.3.2), and I > > can get player to run, but I am having trouble getting all of the > > devices to match up. For some reason I get an error from player when > > trying to run the demo programs: > > > > Unable to locate device /Drive/Command for robot B21R. Is your > > RWI-provided base server running? > > rwi_positiondevice unable to connect. > > Unable to locate device /Sonar/Segment for robot B21R. is your > > RWI-provided base server running? > > rwi_sonardevice unable to connect > > No permissions to command 4:0 > > > > I'm sure that the base server is running, and I'm stumped as to how to > > proceed. > > hi Jason, > > We don't have any RWI hardware, so I can't be sure about this, but the problem > might be that you need to specify the robot's "name" in the Player config > file, like so: > > position (driver "rwi_position" name "ATRV") > > Replace "ATRV" with whatever the right Mobility name is for your robot. > > If that doesn't do it, maybe one of the driver's authors could suggest > something (Andy, Nik?). > > brian. > > > > > ------------------------------------------------------- > This SF.NET email is sponsored by: eBay > Great deals on office technology -- on eBay now! Click here: > http://adfarm.mediaplex.com/ad/ck/711-11697-6916-5 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: Jason B. <br...@ai...> - 2003-06-25 19:51:40
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Hello all, I was curious if someone could give some advice on how to modify playev so that it would accurately depict the sonar information that is being read by my ATRV-jr robot. I have a feeling that since the RWI drivers were designed for B21 robots, that playerv is using the geometry from a B21 (when running playerv, the sonars appear in a circular pattern surrounding the robot, while the atrv-jr's sonars are arranged in a more rectangular pattern), but I cannot find where these geometry values are defined. I have modified the dev_sonar.c file under utils/playerv so that it bypasses the geometry that is gathered through player and assigns values that I have calculated, but I am trying to do something more dynamic so that when the robot name is passed into player, it will know to use that geometry instead. Thanks in advance, Jason |
From: ahoward <ah...@us...> - 2003-06-25 20:24:21
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Hi Jason: As you have noted, playerv queries the server for the layout of the sonar transducers. Rather than modifying playerv, you should therefore modify the RWI driver in the server so that it returns the correct sonar geometry for the robot you are using. I dont know much about the RWI driver myself, but a bit of grep'ing around should turn up the appropriate section of code. Look for player_sonar_geom_t. A. On Wed, 25 Jun 2003, Jason Bryant wrote: > Hello all, > > I was curious if someone could give some advice on how to modify playev > so that it would accurately depict the sonar information that is being > read by my ATRV-jr robot. I have a feeling that since the RWI drivers > were designed for B21 robots, that playerv is using the geometry from a > B21 (when running playerv, the sonars appear in a circular pattern > surrounding the robot, while the atrv-jr's sonars are arranged in a > more rectangular pattern), but I cannot find where these geometry > values are defined. > > I have modified the dev_sonar.c file under utils/playerv so that it > bypasses the geometry that is gathered through player and assigns > values that I have calculated, but I am trying to do something more > dynamic so that when the robot name is passed into player, it will know > to use that geometry instead. > > Thanks in advance, > Jason > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: INetU > Attention Web Developers & Consultants: Become An INetU Hosting Partner. > Refer Dedicated Servers. We Manage Them. You Get 10% Monthly Commission! > INetU Dedicated Managed Hosting http://www.inetu.net/partner/index.php > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > Andrew Howard email: ah...@po... Department of Computer Science http: www-robotics.usc.edu/~ahoward University of Southern California phone: 1 (213) 740 6416 Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696 << Insert pithy saying here >>> |
From: Mathew B. <mb...@ro...> - 2003-06-26 13:00:21
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take a look in rwi_sonardevice.cc under "case PLAYER_SONAR_GET_GEOM_REQ:" is the code that sends the sonar geometry here you'll see that the geometry is a few constants in a for loop instead, here's some code I was using until I wrote my new driver, it gets the geometry off of the base server. if you just take the following code and fill it in for that case statement, it shouold work. #ifdef USE_MOBILITY sonar_data = sonar_state->get_sample(0); sonar_pose.subtype=(uint16_t) PLAYER_SONAR_GET_GEOM_REQ; sonar_pose.pose_count = htons((uint16_t) sonar_data->org.length()); for(int i=0; (i<PLAYER_NUM_SONAR_SAMPLES) && (i<(int) sonar_data->org.length());i++){ sonar_pose.poses[i][0]=htons((uint16_t) int(sonar_data->org[i].x*1000)); sonar_pose.poses[i][1]=htons((uint16_t) int(sonar_data->org[i].y*1000)); double x =sonar_data->end[i].x-sonar_data->org[i].x; double y =sonar_data->end[i].y-sonar_data->org[i].y; double t; if(x==0){ printf("error sonar #%i reads zero, may be broken or disconnected\n",i); t=y>0?M_PI/2:-M_PI/2; }else t=atan2(y,x); sonar_pose.poses[i][2] = htons((uint16_t) int(t*180/M_PI)); } #else sonar_pose.pose_count=0; #endif //USE_MOBILITY //printf("sizeof sonar_pose=%i\n",sizeof(sonar_pose)); if(PutReply(client, PLAYER_MSGTYPE_RESP_ACK, NULL, &sonar_pose, sizeof(sonar_pose))) PLAYER_ERROR("failed to PutReply"); printf("sent sonar geom\n"); break; PS. recently I posted a patch for an entirely new driver that doesn't use the base server at all (I tested on the ATRV-Jr actually), so if your feeling really adventuresome you could try that. - although we have an unusual sonar layout on our ATRVJr, so you'd still have to fill in the config. But it allows you to turn on and off the sonar and the brake for example, in our case we could finally upgrade our old robot's kernel, because mobility only worked on a 2.2 kernel. On Wed, 25 Jun 2003, ahoward wrote: > > Hi Jason: > > As you have noted, playerv queries the server for the layout of the sonar > transducers. Rather than modifying playerv, you should therefore modify > the RWI driver in the server so that it returns the correct sonar geometry > for the robot you are using. I dont know much about the RWI driver > myself, but a bit of grep'ing around should turn up the appropriate > section of code. Look for player_sonar_geom_t. > > A. > > > On Wed, 25 Jun 2003, Jason Bryant wrote: > > > Hello all, > > > > I was curious if someone could give some advice on how to modify playev > > so that it would accurately depict the sonar information that is being > > read by my ATRV-jr robot. I have a feeling that since the RWI drivers > > were designed for B21 robots, that playerv is using the geometry from a > > B21 (when running playerv, the sonars appear in a circular pattern > > surrounding the robot, while the atrv-jr's sonars are arranged in a > > more rectangular pattern), but I cannot find where these geometry > > values are defined. > > > > I have modified the dev_sonar.c file under utils/playerv so that it > > bypasses the geometry that is gathered through player and assigns > > values that I have calculated, but I am trying to do something more > > dynamic so that when the robot name is passed into player, it will know > > to use that geometry instead. > > > > Thanks in advance, > > Jason > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: INetU > > Attention Web Developers & Consultants: Become An INetU Hosting Partner. > > Refer Dedicated Servers. We Manage Them. You Get 10% Monthly Commission! > > INetU Dedicated Managed Hosting http://www.inetu.net/partner/index.php > > _______________________________________________ > > Playerstage-users mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > Andrew Howard email: ah...@po... > Department of Computer Science http: www-robotics.usc.edu/~ahoward > University of Southern California phone: 1 (213) 740 6416 > Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696 > << Insert pithy saying here >>> > > > > > > > > > > > > > > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: INetU > Attention Web Developers & Consultants: Become An INetU Hosting Partner. > Refer Dedicated Servers. We Manage Them. You Get 10% Monthly Commission! > INetU Dedicated Managed Hosting http://www.inetu.net/partner/index.php > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |