Hi, I am having the exactly same problem. The only thing that I cannot understand is that if the release player version uses the older way of controlling the gripper and gazebo uses also that version why the player server that it is used in gazebo simulations does not understand the commands and print the error: warning : Unhandled message for driver device=16777343:6665:3:0 type=2 subtype=1 len=8. Could anyone clarify me this?.
Thanks in advance, Antidio. Daniel Igor Mendoza Quiñones wrote: > > > 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. Click to get it now. > http://sourceforge.net/powerbar/db2/ > _______________________________________________ > Playerstage-users mailing list > [EMAIL PROTECTED] > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > > > > ------------------------------------------------------------------------- > 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-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > -- View this message in context: http://www.nabble.com/Problem-with-simulated-gripper-tf3619224.html#a10110483 Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------- 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-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
