Hi I am having problems with the gripper simulated in gazebo. I can not control it with my player's client. I send an email to de player list. I am fowarding the answer. I want to know if the patch for de gripper is implemented for gazebo. My version of gazebo is gazebo 0.7.0 Thank you very much in advance Daniel Mendoza
-----Original Message----- From: Geoffrey Biggs [mailto:[EMAIL PROTECTED] Sent: Thu 4/19/2007 10:20 PM To: [EMAIL PROTECTED] Cc: Subject: Re: [Playerstage-users] Player 2.0.2 problem with simulated gripper The patch you refer to implements a new interface for controlling grippers. It is present in CVS but hasn't yet made it into a release version. While you could apply the patch to your version of player, it wouldn't help you control a gripper in gazebo unless gazebo has had its gripper device support updated to the new interface. I don't know if the gazebo developers have done that yet or not, and I suspect they haven't since the release version of Player uses the old interface. Geoff Daniel Igor Mendoza Quiñones wrote: > Hi again > > I was looking for examples for control the gripper and i find that ther is a > patch for the gripper. The patch ID is 1483740. I have player 2.0.2. how can > i execute the patch? > > thaks > Daniel Mendoza > > > -----Original Message----- > From: Daniel Igor Mendoza Quiñones on behalf of Daniel Igor Mendoza Quiñones > Sent: Thu 4/19/2007 4:36 PM > To: [EMAIL PROTECTED] > Cc: > Subject: Player 2.0.2 problem with simulated gripper > hello > > Im trying to simulate with gazebo a pioneer 2AT robot with a gripper. > Im using de libplayerc client library. > When i use the comand playerc_gripper_set_cmd(gripper,33,GRIPclose) in my > program to trying to close the gripper i get the following messages in player > and the gripper didnt close > > [EMAIL PROTECTED] Passo2]# player pioneer2ATdisert.cfg > > * Part of the Player/Stage/Gazebo Project > [http://playerstage.sourceforge.net]. > * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard, > * Nate Koenig, and contributors. Released under the GNU General Public > License. > * Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you > * are welcome to redistribute it under certain conditions; see COPYING > * for details. > > trying to load /home/Daniel/sim_disseta/Passo2/./libgazeboplugin... > trying to load /usr/local/lib/libgazeboplugin... > success > invoking player_driver_init()... > > ** Gazebo plugin v0.7.0 ** > * Part of the Player/Stage Project [http://playerstage.sourceforge.net] > * Copyright 2000-2006 Richard Vaughan, Andrew Howard, Brian Gerkey, Nathan > Koenig > * and contributors. Released under the GNU General Public License v2. > success > Gazebo Plugin driver creating 1 device > 6665.31.0 is a simulation interface. > gz_client.c:122 opening /tmp/gazebo-root-0 > gz_iface.c:214 opening /tmp/gazebo-root-0/sim.default 060 180 > Gazebo Plugin driver creating 1 device > 6665.4.0 is a position2d interface. > Gazebo Plugin driver creating 1 device > 6665.5.0 is a sonar interface. > Gazebo Plugin driver creating 1 device > 6665.8.0 is a ptz interface. > Gazebo Plugin driver creating 1 device > 6665.3.0 is a gripper interface. > Listening on ports: 6665 > accepted client 0 on port 6665, fd 6 > gz_iface.c:214 opening /tmp/gazebo-root-0/gripper.gripper1 060 192 > gz_iface.c:229 closing /tmp/gazebo-root-0/gripper.gripper1 > closing connection to client 0 on port 6665 > accepted client 0 on port 6665, fd 6 > > gz_iface.c:214 opening /tmp/gazebo-root-0/gripper.gripper1 060 192 > warning : Unhandled message for driver device=16777343:6665:3:0 type=2 > subtype=1 len=8 > > warning : Unhandled message for driver device=16777343:6665:3:0 type=2 > subtype=1 len=8 > > warning : other error on client 0 > closing connection to client 0 on port 6665 > gz_iface.c:229 closing /tmp/gazebo-root-0/gripper.gripper1 > > > Does anyone know how to use the gripper proxie with the libplayerc client > library? > > my program is very simple > > #include <stdio.h> > > #include <playerc.h> > > int main(int argc, const char **argv) > { > int i; > playerc_client_t *client; > playerc_gripper_t *gripper; > > // Create a client object and connect to the server; the server must > // be running on "localhost" at port 6665 > client = playerc_client_create(NULL, "localhost", 6665); > if (playerc_client_connect(client) != 0) > { > fprintf(stderr, "error: %s\n", playerc_error_str()); > return -1; > } > > // Create a gripper proxy (device id "gripper 0") and susbscribe > // in read/write mode > gripper = playerc_gripper_create(client, 0); > > if (playerc_gripper_subscribe(gripper, PLAYERC_OPEN_MODE) != 0) > { > fprintf(stderr, "error: %s\n", playerc_error_str()); > return -1; > } > > playerc_gripper_set_cmd(gripper,33,GRIPclose); > > > // Shutdown and tidy up > > playerc_client_disconnect(client); > playerc_client_destroy(client); > > return 0; > } > > > > Thank very much in advance > > Daniel Mendoza > > > > > > > > ------------------------------------------------------------------------ > > ------------------------------------------------------------------------- > This SF.net email is sponsored by DB2 Express > Download DB2 Express C - the FREE version of DB2 express and take > control of your XML. No limits. Just data. Click to get it now. > http://sourceforge.net/powerbar/db2/ > > > ------------------------------------------------------------------------ > > _______________________________________________ > Playerstage-users mailing list > [EMAIL PROTECTED] > https://lists.sourceforge.net/lists/listinfo/playerstage-users -- Robotics research group, University of Auckland http://www.ece.auckland.ac.nz/~gbig005/ ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. 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