Hello, Your player config file should have
driver ( name "gazebo" provides ["position2d:0" "sonar:0"] gz_id "robot1" ) -nate On 10/12/06, Héctor Hugo Avilés Arriaga <[EMAIL PROTECTED]> wrote: > 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 > ------------------------------------------------------------------------- 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
