Hello, I'm trying to suscribe sonars with my client program without success. I'm using Player 2.0.3 and Gazebo 0.6.0 tested with Pioneer AT, DX and Peoplebot models.
The client program works properly with Stage. Below I attached my Gazebo's world file, the .cfg file used with Player, and the section of the client program that suscribe the sonars. Sorry for the lenght of the message, and hope that somebody could help me. Cheers and thanks in advance, Héctor. ************************************************** Gazebo.world <?xml version="1.0"?> <gz:world xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"; xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"; xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#params"; xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#params";> <param:Global> <gravity>0.0 0.0 -9.8</gravity> <utmOffset>0 0</utmOffset> </param:Global> <model:ObserverCam> <id>userCam0</id> <xyz>2 0 2.5</xyz> <rpy>0 30 40</rpy> <imageSize>640 480</imageSize> <displayRays>false</displayRays> <farClip>1000</farClip> <shadeSmooth>true</shadeSmooth> <polygonFill>true</polygonFill> <renderMethod>GLX</renderMethod> </model:ObserverCam> <model:LightSource> <id>0</id> <xyz>65 65 400</xyz> <attenuation>0.1 0.005 0.0</attenuation> </model:LightSource> <model:Terrain> <!-- Use gzbuilder to create the terrain file--> <!-- ex: gzbuilder -i terrain.png -o terrain.gzb -n -v 20 -e 2 -s 10 -t 10 --> <terrainFile>maze_2.gzb</terrainFile> <xyz>0 0 0</xyz> <color>1.0 0 0.0</color> <textureFile>ground.ppm</textureFile> </model:Terrain> <model:Pioneer2DX> <id>robot1</id> <xyz>3 3 0.225</xyz> <model:SickLMS200> <id>laser1</id> <xyz>0.0 0 0</xyz> <rayCount>91</rayCount> <rangeCount>361</rangeCount> </model:SickLMS200> <model:SonyVID30> <id>camera1</id> <xyz>0 0 0.60</xyz> <rpy>0 0 0</rpy> <renderMethod>GLX</renderMethod> </model:SonyVID30> </model:Pioneer2DX> </gz:world> ************************************************** gazebo.cfg # Desc: Player sample configuration file for controlling Gazebo devices # Date: 18 Apr 2003 # CVS: $Id: gazebo.cfg,v 1.10 2005/04/15 18:08:24 gerkey Exp $ driver ( name "gazebo" provides ["simulation:0"] plugin "libgazeboplugin" server_id "default" ) driver ( name "gazebo" provides ["position2d:0"] gz_id "robot1" ) driver ( name "gazebo" provides ["power:0"] gz_id "power1" ) driver ( name "gazebo" provides ["laser:0"] gz_id "laser1" ) driver ( name "gazebo" provides ["sonar:0"] gz_id "sonar1" ) ************************************************** Section of the client program printf("Suscribing sonar ........."); xs_sim->sonar = playerc_sonar_create(xs_sim->client, 0); if ( playerc_sonar_subscribe(xs_sim->sonar, PLAYER_OPEN_MODE) == 0 ) { printf("[ok]\n");} else { printf("[ERROR]\n"); xs_sim_finalize(xs_sim); } _________________________________________________________________ Prodigy/MSN Search. Todo lo que buscas ahora más rapido http://search.t1msn.com.mx/ ------------------------------------------------------------------------- Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
