Good afternoon.
I'm using Veins v4.4 and Sumo 0.25 with Omnet++ v4.6.
I was trying to get information about brakes and blinkers: I've found the VehicleSignal field in TraCISCenarioManager.h and the getSignals() method in TraCIMobility.h , but as soon as I call this function in my code, it runs in exception since I suppose the variable is never updated. Shouldn't it be updated runtime from Sumo?
Thanks for helping
You found some functionality that was never fully implemented in Veins 4.4. As a quick hack, you can make this work by changing line 891 of TraCIScenarioManager.cc to also update each vehicle's signal field, e.g., as follows:
mm->nextPosition(p, edge, speed, angle, VehicleSignal(signals));
Related
My setup is: ROS melodic, Ubuntu: 18.04
I want simulate turtlebot3 moving with my own global planner and have been following this tutorial to get started: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS#Running_the_Plugin_on_the_Turtlebot. The tutorial seem to be made for ROS hydro, but as it was the best source of guidance I could find I hoped it would work.
The error I'm having is:
Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: MultiLibraryClassLoader: Could not create object of class type global_planner::GlobalPlanner as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
To my knowledge I've followed the tutorial as much as possible with a only a few things done differently because I wanted to test it, couldn't do as the tutorial asked, or because I thought it wouldn't impact the results. What I have done differently is:
I use the carrot_planner.h and carrot_planner.cpp files in the tutorial section 1 to test that it works before trying with my own code to avoid confusion about where possible errors come from. It's not 'different' from the tutorial to my knowledge, but figured I'd mention it. They are placed in catkin_ws/src/carrot_planner/src/global_planner/
The ros package I'm working from is in catkin_ws/src and is called the carrot_planner. In the tutorial step 1.3 I use add_library(global_planner_lib src/global_planner/carrot_planner.cpp). Would not imagine it affects the results either.
In section 3 of the tutorial it mentions that 'First, you need to copy the package that contains your global planner (in our case global_planner) into the catkin workspace of your Turtlebot (e.g. catkin_ws).' Since my package was already in catkin_ws/src/ I haven't moved it since I guess I didn't need to.
I've altered the 'move_base.launch' file in '/opt/ros/melodic/share/turtlebot3_navigation/launch/' instead of the 'move_base.launch.xml' in '/opt/ros/hydro/share/turtlebot_navigation/launch/includes/' as there doesn't seem to be a destination '...turtlebot3_navigation/launch/includes/'. There are files in launch, but no includes folder. Maybe that a difference from Hydro to Melodic, I don't know. There may be a whole lot of things that need to be done differently from the tutorial when using Melodic, or with turtlebot3, but I don't know.
I haven't made my own launch file for bringup of the turtlebot, but have instead followed this tutorial (https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/) to guide me with turtlebot3. After finishing this step in the global planner tutorial 'Save and close the move_base.launch.xml. Note that the name of the planner is global_planner/GlobalPlanner the same specified in global_planner_plugin.xml. Now, you are ready to use your new planner' I tested whether it worked by running: 'roslaunch turtlebot3_gazebo turtlebot3_world.launch' and then I tried running: 'roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml' which led to the error I showed above. I have created the map-yaml, so there's no misunderstanding whether that's missing.
I would be very glad for any help, thank you ^^
Edit: My system only had 'navfn' on it, not 'global_planner' or 'carrot_planner', if that makes a difference.
After looking over the code I found a solution. It doesn't make everything work perfectly yet, but seems to solve the immediate problem.
The problem was that in my 'global_planner_plugin.xml' I just used the code provided in the tutorial:
<library path="lib/libglobal_planner_lib">
<class name="global_planner/GlobalPlanner" type="global_planner::GlobalPlanner" base_class_type="nav_core::BaseGlobalPlanner">
<description>This is a global planner plugin by iroboapp project.</description>
</class>
</library>
But in the carrot_planner.cpp file it says:
PLUGINLIB_EXPORT_CLASS(carrot_planner::CarrotPlanner, nav_core::BaseGlobalPlanner)
Changing type="global_planner::GlobalPlanner to type="carrot_planner::CarrotPlanner and then launching turtlebot3 doesn't give the same error anymore.
Hi all I had seen one webrtc old source code which has this method called CreateVideoSource() for adding streams after an CreateAudioTrack() call.
rtc::scoped_refptr<webrtc::VideoTrackSourceInterface> video_source =
peer_connection_factory_->CreateVideoSource(std::unique_ptr<cricket::VideoCapturer>(
media_source->GetVideoCapturer()),
NULL);
What's happening is whenever I try to build it gives an error for the above CreateVideoSource() that it is undefined. And the reason behind that is the latest webrtc-checkout has deprecated this.
So my question is, I wanted to know the alternative which they have introduced after deprecating this method. So can anyone tell me what the alternate approach is.
Okay, Finally I was able to come up with an alternative(i.e the current implementation of libwebrtc) after looking into bundle examples and tests.
Line 71 is a good point to start
I am developing a mobile game using Cocos2D-x engine for android platform and i want to integrate GPGS on it.
I achieved to show leaderboards, but there is a little annoying problem. When leaderboard is visible, if i go background and then come back to app, the gamescene goes to black. I think opengl context being released and doesnt restore again. In my opinion running leaderboard on same activity causes this, the game engine cant understand whats happening there. Whatever, because of this I want to run leaderboard (and also all GPGS things) on a new activity using intent.
Google likes "Providing"
In the reference documents of Google Play Game Services C++ SDK, there is a few unclear/fuzzy explanation about using SetOptionalIntentHandlerForUI method.
"Provide a function that can start a provided UI intent at any point, using startActivityForResult."
What is the mean of "Providing"? What is a provided Intent? How will I use startActivityForResult method? Unfortunately, "using" and "providing methods" are not clear expressions for coding. There is no sample about
using this method in the documents of GPGS for C++. Eventually,
Google's document is so poor and
there is no useful information on the internet. If someone from Google helps me, I will be so happy.
As i understand, I wrote the code like this. But it gives error when starting.
AppActivity.java
public void runGPGSActivity(Intent i) {
startActivityForResult(i,100);
}
AndroidPlatformConfiguration.h (From C++ gpg lib)
typedef std::function<void(jobject)> IntentHandler;
AndroidPlatformConfiguration &SetOptionalIntentHandlerForUI(
IntentHandler intent_handler);
main.cpp (JNI binding, the working code, GPGS runs on same activity )
gpg::AndroidPlatformConfiguration platform_configuration;
platform_configuration.SetActivity(activity);
StateManager::InitServices( ...
main.cpp (JNI binding, GPGS must be run on new activity )
gpg::AndroidPlatformConfiguration platform_configuration;
jclass activityClass = env->FindClass("org/cocos2dx/cpp/AppActivity");
jmethodID jIntentHandlerMethodID = env->GetMethodID(activityClass,"runGPGSActivity","(Landorid/content/Intent;)V");
jobject jIntentHandler = env->NewObject(activityClass, jIntentHandlerMethodID);
gpg::AndroidPlatformConfiguration::IntentHandler mIntentHandler; /*= [](jobject mjIntentHandler){};*/
std::function<void(jobject)> intentHandler = std::bind(mIntentHandler,jIntentHandler);
platform_configuration.SetOptionalIntentHandlerForUI(intentHandler);
platform_configuration.SetActivity(activity);
StateManager::InitServices(
There is no build error, but the application crashes when launching.
03-24 14:12:24.301: A/libc(21352): Fatal signal 6 (SIGABRT) at
0x00005368 (code=-6), thread 21352 (main)
And some links about this issue:
IntentHandler reference
StartActivityForResult reference
/// Thank you in advance. ///
...Yeah I solved the problem, but didn't use IntentHandler method.
I was using this code in my app, to show weekly leaderboard data.
gameServices->Leaderboards().ShowUIBlocking(leaderboardId,gpg::LeaderboardTimeSpan::WEEKLY);
But return value is not void, it is UIStatus (whatever it is)
I've reverted back to this code, app is not going to black screen now. This method returns void, I think I have to catch some callbacks when using ShowUIBlocking method, with that UIStatus thing.
gameServices->Leaderboards().ShowUI(leaderboardId);
But now, I can't benefit from timespan feature of leaderboards.
I am going to research how it can be used. There is no problem for now. But, documentation of SetOptionalIntentHandlerForUI must be written more explicit, for programmers who want to use it.
I am using the Aria C++ programming libs for mobile robots (http://robots.mobilerobots.com/wiki/ARIA). I am new to this API so I wanted to start with a simple action class derived from ArAction. Now I tried to develop a small test program (an ArAction) in order to
control a simulated p3dx robot via MobileSim. Development takes place under Ubuntu 10.10, using gcc 4.4.5. Making (compiling) my code works fine, without errors. I can also set the desired speed for example in my ArAction's fire() method, and the simulation is also working as desired.
But, unfortunately, I can't use the ArRobot object attached to the ArAction I am overriding. The problem is that none of the member functions of the ArRobot object seems to work. For example, calling getVel() or getCompass() always returns a zero value. And when I call the hasFrontBumpers() method the program even crashes with the error message "Aria: Received signal 'SIGSEGV'. Exiting.". As soon as I remove this method call and recompile the error is also gone again...
Here is the relevant code that leads to the crash:
ArActionDesired * forward::fire(ArActionDesired d)
{
desiredState.reset();
ArRobot *r = getRobot();
if(r == NULL)
{
printf("ArRobot = NULL\n");
deactivate();
return &desiredState;
}
printf("ok, ArRobot is not NULL, check for bumpers...\n");
r->hasFrontBumpers(); // <-- this leads to the SIGSEV-based "crash"
return &desiredState;
}
Any ideas what I am missing here -- is it a problem with my coding, or with the simulation environment? Thanks in advance for your help!
Kind regards, Matthias
ok, found it out now -- for the records: the Aria libs in version 2.7.2 are based on gcc-3 and libstdc++ 5, but Ubuntu 10.10 (which I am using) is shipped with gcc-4 and libstdc++ 6 per default. So I had to manually install the older versions of both packages, now my code is running fine...
cheers!
Calling hasFrontBumpers() for a p3dx from the fire() works fine for me on a similar Linux platform. If something is wrong, it is not in this method but in the initialization of the system. A reason for the non-moving robot could be that robot.enableMotors() hasn't been called.
How can I set the version number in a NCBI C++ Toolkit Application?
I mean the version number which is displayed when I start my program with the parameter -version.
I read through the docs, but have not found it yet.
(I know this is a highly specific question, but I figured it was worth a try)
Give it a void Init(void) method containing code along the following lines:
// the last two parameters are optional
CVersionInfo version_info(1, 2, 3, "My App");
SetVersion(version_info);
However, this is currently broken (bug already submitted), so the workaround is to give the application class a constructor and call SetVersion from there.