Glenn,
Thank you. I copied the file and changed the Makefile (and obviously
re-compiled). Is there anything else that I need to do? I'm getting
the following error:
Gazebo driver creating 1 device
6665.13.0 is error: Gazebo driver doesn't support interface type 13
error : Initialization failed for driver "gazebo"
error : failed to parse config file player.cfg
My config file looks like this:
driver
(
name "gazebo"
provides ["simulation:0" ]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["gps:0"]
plugin "libgazeboplugin"
gz_id "car1"
)
Thanks again!
Bethany
On Thu, 20 Jul 2006 13:43:23 -0600 (MDT)
"Glenn Laguna" <[EMAIL PROTECTED]> wrote:
>
> Sorry I missed most of this discussion. Here's a gps device for
> player that I
> wrote a couple of weeks ago. It seems to work, but your mileage may
> vary.
>
> Regards,
> Glenn
>
> --
> ===================================================================
> | Glenn Laguna, Ph.D. e-mail: [EMAIL PROTECTED] |
> | Sandia National Labs -- Dept 6634 Phone: (505) 844-2308 |
> | MS-1003 |
> | Albuquerque, NM 87185-5800 Fax: (505) 844-6161 |
> ===================================================================
>
> /*GpsInterface.cc*/
> /*
> * Gazebo - Outdoor Multi-Robot Simulator
> * Copyright (C) 2003
> * Nate Koenig & Andrew Howard
> *
> * This program is free software; you can redistribute it and/or
> modify
> * it under the terms of the GNU General Public License as published
> by
> * the Free Software Foundation; either version 2 of the License, or
> * (at your option) any later version.
> *
> * This program is distributed in the hope that it will be useful,
> * but WITHOUT ANY WARRANTY; without even the implied warranty of
> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> * GNU General Public License for more details.
> *
> * You should have received a copy of the GNU General Public License
> * along with this program; if not, write to the Free Software
> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
> 02111-1307 USA
> *
> */
> /* Desc: GPS Interface for Player
> * Author: Glenn Laguna
> * Date: 20 June 2006
> */
>
> #include <math.h>
>
> #include "gazebo.h"
> #include "GazeboDriver.hh"
> #include "GpsInterface.hh"
>
>
///////////////////////////////////////////////////////////////////////////////
> // Constructor
> GpsInterface::GpsInterface(player_devaddr_t addr,
> GazeboDriver *driver, ConfigFile *cf, int section)
> : GazeboInterface(addr, driver, cf, section)
> {
> // Get the ID of the interface
> this->gz_id = (char*) calloc(1024, sizeof(char));
> strcat(this->gz_id, GazeboClient::prefixId);
> strcat(this->gz_id, cf->ReadString(section, "gz_id", ""));
>
> // Allocate a GPS Interface
> this->iface = gz_gps_alloc();
>
> this->datatime = -1;
> }
>
>
///////////////////////////////////////////////////////////////////////////////
> // Destructor
> GpsInterface::~GpsInterface()
> {
> // Release this interface
> gz_gps_free(this->iface);
> }
>
>
///////////////////////////////////////////////////////////////////////////////
> // Handle all messages. This is called from GazeboDriver
> int GpsInterface::ProcessMessage(MessageQueue *respQueue,
> player_msghdr_t *hdr, void *data)
> {
>
> return 0;
> }
>
>
///////////////////////////////////////////////////////////////////////////////
> // Update this interface, publish new info. This is
> // called from GazeboDriver::Update
> void GpsInterface::Update()
> {
> player_gps_data_t data;
> double e[3];
> struct timeval ts;
>
> gz_gps_lock(this->iface, 1);
>
> // Only Update when new data is present
> if (this->iface->data->time > this->datatime)
> {
> this->datatime = this->iface->data->time;
>
> ts.tv_sec = (int) (this->iface->data->time);
> ts.tv_usec = (int) (fmod(this->iface->data->time, 1) * 1e6);
>
> memset(&data, 0, sizeof(data));
>
> data.latitude = (int32_t) (1e7 * this->iface->data->latitude);
> data.longitude = (int32_t) (1e7 * this->iface->data->longitude);
> data.altitude = (int32_t) this->iface->data->altitude;
> data.utm_e = this->iface->data->utm_e;
> data.utm_n = this->iface->data->utm_n;
> // data.quality = this->iface->data->quality;
> // data.hdop = (uint32_t) this->iface->data->hdop;
> // data.vdop = (uint32_t) this->iface->data->vdop;
> // data.err_horz = this->iface->data->err_horz;
> // data.err_vert = this->iface->data->err_vert;
>
> this->driver->Publish( this->device_addr, NULL,
> PLAYER_MSGTYPE_DATA, PLAYER_GPS_DATA_STATE,
> (void*)&data, sizeof(data), &this->datatime );
>
> }
>
> gz_gps_unlock(this->iface);
> }
>
>
>
///////////////////////////////////////////////////////////////////////////////
> // Open a SHM interface when a subscription is received. This is
> called from
> // GazeboDriver::Subscribe
> void GpsInterface::Subscribe()
> {
> // Open the interface
> if (gz_gps_open(this->iface, GazeboClient::client, this->gz_id) !=
> 0)
> {
> printf("Error Subscribing to Gazebo Position Interface\n");
> }
> }
>
>
///////////////////////////////////////////////////////////////////////////////
> // Close a GPS interface. This is called from
> GazeboDriver::Unsubscribe
> void GpsInterface::Unsubscribe()
> {
> gz_gps_close(this->iface);
> }
>
> /*GpsInterface.hh*/
> /*
> * Gazebo - Outdoor Multi-Robot Simulator
> * Copyright (C) 2003
> * Nate Koenig & Andrew Howard
> *
> * This program is free software; you can redistribute it and/or
> modify
> * it under the terms of the GNU General Public License as published
> by
> * the Free Software Foundation; either version 2 of the License, or
> * (at your option) any later version.
> *
> * This program is distributed in the hope that it will be useful,
> * but WITHOUT ANY WARRANTY; without even the implied warranty of
> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> * GNU General Public License for more details.
> *
> * You should have received a copy of the GNU General Public License
> * along with this program; if not, write to the Free Software
> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
> 02111-1307 USA
> *
> */
> /* Desc: Gps Interface for Player
> * Author: Nate Koenig
> * Date: 2 March 2006
> * CVS: $Id: GpsInterface.hh,v 1.1 2006/03/03 03:54:04 natepak Exp $
> */
>
> #ifndef GPSINTERFACE_HH
> #define GPSINTERFACE_HH
>
> #include "GazeboInterface.hh"
>
> // Forward declarations
> typedef struct gz_gps gz_gps_t;
>
> class GpsInterface : public GazeboInterface
> {
> /// @brief Constructor
> public: GpsInterface(player_devaddr_t addr, GazeboDriver *driver,
> ConfigFile *cf, int section);
>
> /// @brief Destructor
> public: virtual ~GpsInterface();
>
> /// @brief Handle all messages. This is called from GazeboDriver
> public: virtual int ProcessMessage(MessageQueue *respQueue,
> player_msghdr_t *hdr, void
> *data);
>
> /// @brief Update this interface, publish new info.
> public: virtual void Update();
>
> /// @brief Open a GPS interface when a subscription is received. \
> /// This is called fromGazeboDriver::Subscribe
> public: virtual void Subscribe();
>
> /// @brief Close a GPS interface. This is called from \
> /// GazeboDriver::Unsubscribe
> public: virtual void Unsubscribe();
>
> private: gz_gps_t *iface;
>
> /// @brief Gazebo id. This needs to match and ID in a Gazebo
> WorldFile
> private: char *gz_id;
>
> /// @brief Timestamp on last data update
> private: double datatime;
>
> };
> #endif
>
>
>
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