I really appreciate you helping me with this. That seemed to fix the
error that I was having, but it brought about a new one:
success
Gazebo driver creating 1 device
6665.31.0 is gz_client.c:122 opening /tmp/gazebo-dimitrismetaxas-0
gz_iface.c:214 opening /tmp/gazebo-dimitrismetaxas-0/sim.default 060
180
Gazebo driver creating 1 device
6665.13.0 is a gps interface.
dyld: lazy symbol binding failed: Symbol not found:
__ZN12GpsInterfaceC1E14player_devaddrP12GazeboDriverP10ConfigFilei
Referenced from: /sw/lib/libgazeboplugin.0.dylib
Expected in: flat namespace
dyld: Symbol not found:
__ZN12GpsInterfaceC1E14player_devaddrP12GazeboDriverP10ConfigFilei
Referenced from: /sw/lib/libgazeboplugin.0.dylib
Expected in: flat namespace
I am very new to this and any guidance you can give is appreciated.
Bethany
On Tue, 25 Jul 2006 16:17:45 -0400
Bethany R.Leffler <[EMAIL PROTECTED]> wrote:
> 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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>
>
>
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