Hi
I have installed Player v 2.1.0rc2 and Gazebo v0.8 pre2. I tried
adding gripper to the existing pioneer2dx.
In the file named pioneer2dx.model i added this
<joint:slider name="right_slider_joint">
<body1>right_gripper_body</body1>
<body2>left_gripper_body</body2>
<anchor>chassis_body</anchor>
<axis>0 1 0</axis>
<lowStop>0</lowStop>
<highStop>30</highStop>
</joint:slider>
<joint:slider name="left_slider_joint">
<body1>left_gripper_body</body1>
<body2>right_gripper_body</body2>
<anchor>chassis_body</anchor>
<axis>0 1 0</axis>
<lowStop>0</lowStop>
<highStop>30</highStop>
</joint:slider>
<body:cylinder name="left_gripper_body">
<xyz>0.277 0.07 -0.0725</xyz>
<rpy>0 90 90</rpy>
<geom:cylinder name="left_gripper_geom">
<size>.04 0.05</size>
<mass>0.1</mass>
<visual>
<size>.05 .2 .05</size>
<rpy>0 0 0</rpy>
<material>Gazebo/BumpyMetal</material>
<mesh>wheel.mesh</mesh>
</visual>
</geom:cylinder>
</body:cylinder>
<body:cylinder name="right_gripper_body">
<xyz>0.277 -0.07 -0.0725</xyz>
<rpy>0 90 90</rpy>
<geom:cylinder name="right_gripper_geom">
<size>0.04 0.05</size>
<mass>0.1</mass>
<visual>
<size>.05 .2 .05</size>
<rpy>0 0 0</rpy>
<material>Gazebo/BumpyMetal</material>
<mesh>wheel.mesh</mesh>
</visual>
</geom:cylinder>
</body:cylinder>
In the world file I used:
<controller:pioneer2_gripper name="gripper_controller">
<leftJoint>left_slider_joint</leftJoint>
<rightJoint>right_slider_joint</rightJoint>
<interface:gripper name="gripper1"/>
</controller:pioneer2_gripper>
<include embedded="true">
<xi:include href="models/pioneer2dx.model" />
</include>
The gripper was rendered by gazebo but when i started player I got this message
Gazebo Plugin driver creating 1 device
6667.31.0 is a simulation interface.
opening /tmp/gazebo-sood-0
opening /tmp/gazebo-sood-0/simulation.default 112 688
Gazebo Plugin driver creating 1 device
6667.4.0 is a position2d interface.
Gazebo Plugin driver creating 1 device
6667.6.0 is a laser interface.
Gazebo Plugin driver creating 1 device
6667.3.0 is error: Gazebo driver doesn't support interface type 3
error : Initialization failed for driver "gazebo"
error : failed to parse config file Desktop/gazebo.cfg driver blocks
Interface 3 here is the gripper. The corresponding lines in gazebo.cfg file are
driver
(
name "gazebo"
provides ["gripper:0"]
gz_id "gripper1"
)
Please help me find a solution
Sanchit
-------------------------------------------------------------------------
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2008.
http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
_______________________________________________
Playerstage-gazebo mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
