Indigo camera update required

[stonier]

Most of the apps utilised the old Camera class which got updated for indigo. This stops map_nav, make_a_map, map_manager from compiling.

• Camera -> XYOthographicCamera.
• camera.toMetricCoordinates() -> camera.toCameraFrame()
• FrameName->GraphName
• draw(gl) -> draw(view, gl)
• onStart(node, handler, frametree, camera) -> onStart(view, node)
• camera -> view.getCamera()
• frameTransformTree -> view.getFrameTransformTree()
• view.addLayer() -> view.onCreate(Lists.<Layer>newArrayList(layer_a, layer_b));
• handler.post() -> view.pose()

[stonier]

Disabled temporarily the map manager addLayer, hideLayer since that api got deprecated and there is no replacements for them. Fix when we test them. The api changes are in rosjava/android_core@5505432

[HelloEgg]

I cloned "android_apps" repository
and changed "mapview.addLayer" to
mapView.onCreate(Lists.newArrayList(viewControlLayer,occupancyGridLayer,laserScanLayer,pathLayer,mapPosePublisherLayer,initialPoseSubscriberLayer));
However, error occured when I connected to my robot saying:

Process: com.github.rosjava.android_apps.map_manager.indigo, PID: 21230
java.lang.RuntimeException: An error occurred while executing doInBackground()
at android.os.AsyncTask$3.done(AsyncTask.java:309)
at java.util.concurrent.FutureTask.finishCompletion(FutureTask.java:354)
at java.util.concurrent.FutureTask.setException(FutureTask.java:223)
at java.util.concurrent.FutureTask.run(FutureTask.java:242)
at android.os.AsyncTask$SerialExecutor$1.run(AsyncTask.java:234)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1113)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:588)
at java.lang.Thread.run(Thread.java:818)
Caused by: java.lang.IllegalStateException: setRenderer has already been called for this instance.
at android.opengl.GLSurfaceView.checkRenderThreadState(GLSurfaceView.java:1935)
at android.opengl.GLSurfaceView.setEGLConfigChooser(GLSurfaceView.java:470)
at android.opengl.GLSurfaceView.setEGLConfigChooser(GLSurfaceView.java:539)
at org.ros.android.view.visualization.VisualizationView.onCreate(VisualizationView.java:81)
at com.github.rosjava.android_apps.map_manager.MainActivity.init(MainActivity.java:225)
at org.ros.android.RosActivity$2.doInBackground(RosActivity.java:204)
at org.ros.android.RosActivity$2.doInBackground(RosActivity.java:201)
at android.os.AsyncTask$2.call(AsyncTask.java:295)
at java.util.concurrent.FutureTask.run(FutureTask.java:237)
at android.os.AsyncTask$SerialExecutor$1.run(AsyncTask.java:234)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1113)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:588)
at java.lang.Thread.run(Thread.java:818)

Do you have any suggestion what I should do?

[adamantivm]

@HelloEgg can you share a bit more information on what you did in order to get to this point?

For example:

• Did you change anything in the build configuration, like the version of Gradle?
• What version of Android Studio are you using?
• On what Android device (and which version of Android) are you running?

Any other relevant environment information that you can share would be helpful. Thanks!

[HelloEgg]

Well I havent change Gradle version..
I use the newest version of android studio
And I use Galaxy s6 Marshmellow(api23)
Do you happen to have a project file that has successfully ran on android device?
Thank you very much for your help... I am dire for solution as I have been pulling my hears off for past few days figuring out possible way to run "map_nav" and other apps in "android_apps" repository...

I changed the

[adamantivm]

@HelloEgg my impression is that perhaps some instance of addLayer replacement was missed. I am trying myself and I see that the errors pointed at by the exception are places where I forgot to change the API as suggested on #51.
Perhaps may I suggest that you create a PR to indigo with your code changes? That will allow myself (and others) to see exactly how are you doing what is suggested in #51 to give better advice and, when it works, we can merge it as a temporary workaround so that life will be easier for the next one.

[HelloEgg]

Sure thank you very much!
You suggest that I should make a seperate tree?
(Sorry I relatively newb to git)
I tried the "MainActivity" code suggested by stonier as shown in the source code..
The original error(doInbackground) is fixed however new error came up though...
It says:
Process: com.github.rosjava.android_apps.map_nav.indigo, PID: 25063
java.lang.NullPointerException: Attempt to invoke virtual method 'void android.opengl.GLSurfaceView$GLThread.surfaceCreated()' on a null object reference
at android.opengl.GLSurfaceView.surfaceCreated(GLSurfaceView.java:629)
at android.view.SurfaceView.updateWindow(SurfaceView.java:712)
at android.view.SurfaceView$3.onPreDraw(SurfaceView.java:209)
at android.view.ViewTreeObserver.dispatchOnPreDraw(ViewTreeObserver.java:1014)
at android.view.ViewRootImpl.performTraversals(ViewRootImpl.java:2560)
at android.view.ViewRootImpl.doTraversal(ViewRootImpl.java:1487)
at android.view.ViewRootImpl$TraversalRunnable.run(ViewRootImpl.java:7450)
at android.view.Choreographer$CallbackRecord.run(Choreographer.java:920)
at android.view.Choreographer.doCallbacks(Choreographer.java:695)
at android.view.Choreographer.doFrame(Choreographer.java:631)
at android.view.Choreographer$FrameDisplayEventReceiver.run(Choreographer.java:906)
at android.os.Handler.handleCallback(Handler.java:739)
at android.os.Handler.dispatchMessage(Handler.java:95)
at android.os.Looper.loop(Looper.java:158)
at android.app.ActivityThread.main(ActivityThread.java:7229)
at java.lang.reflect.Method.invoke(Native Method)
at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:1230)
at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:1120)

Seems like android studio cannot catch "surface created"
as it says 'null pointer error'..

The "MainActivity"code is exactly same with what stonier fixed (9e780b4)
What do you think to be a problem??
Thank you very much for your help guys..

[adamantivm]

@HelloEgg I think I know what the problem is: you're probably using the master branch? That one is currently obsolete. You should try using the indigo or kinetic branch instead, which already has this change applied to it.

[HelloEgg]

I tried both indigo and kinetic branch

I noticed that the "addlayer" part was still not fixed..

Should you know any repository that fixed right..
Please tell me

[adamantivm]

I tried a few things and I agree with you that even with the addLayer fixes (they were added again afterwards) map_nav still crashes.
I am not sure what to suggest next, it needs more profound debugging to be fixed, it is currently broken.