update : tried svn versions of both player and gazebo without success.
My aim is to enable the GripperInterfce in the lastest SVN versions of
Player and Gazebo.
I tried to make changes in SConscript file to include Gripper
Interface but scons encountered these errors:
player/GripperInterface.hh:37: error: expected class-name before '{' token
player/GripperInterface.hh:39: error: 'GazeboDriver' has not been declared
player/GripperInterface.cc:46: error: 'GazeboDriver' has not been declared
player/GripperInterface.cc: In constructor
'GripperInterface::GripperInterface(player_devaddr_t, int*,
ConfigFile*, int)':
player/GripperInterface.cc:47: error: class 'GripperInterface' does
not have any field named 'GazeboInterface'
player/GripperInterface.cc:56: error: 'gz_gripper_alloc' was not
declared in this scope
player/GripperInterface.cc: In destructor 'virtual
GripperInterface::~GripperInterface()':
player/GripperInterface.cc:66: error: 'gz_gripper_free' was not
declared in this scope
player/GripperInterface.cc: In member function 'virtual int
GripperInterface::ProcessMessage(QueuePointer&, player_msghdr_t*,
void*)':
player/GripperInterface.cc:78: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:80: error: 'gz_gripper_lock' was not
declared in this scope
player/GripperInterface.cc:81: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:82: error: 'gz_gripper_unlock' was not
declared in this scope
player/GripperInterface.cc:87: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:89: error: 'gz_gripper_lock' was not
declared in this scope
player/GripperInterface.cc:90: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:91: error: 'gz_gripper_unlock' was not
declared in this scope
player/GripperInterface.cc:96: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:98: error: 'gz_gripper_lock' was not
declared in this scope
player/GripperInterface.cc:99: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:100: error: 'gz_gripper_unlock' was not
declared in this scope
player/GripperInterface.cc:105: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:107: error: 'gz_gripper_lock' was not
declared in this scope
player/GripperInterface.cc:108: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:109: error: 'gz_gripper_unlock' was not
declared in this scope
player/GripperInterface.cc:114: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:116: error: 'gz_gripper_lock' was not
declared in this scope
player/GripperInterface.cc:117: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:118: error: 'gz_gripper_unlock' was not
declared in this scope
player/GripperInterface.cc:125: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:148: error: 'class GripperInterface' has no
member named 'driver'
player/GripperInterface.cc:148: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc: In member function 'virtual void
GripperInterface::Update()':
player/GripperInterface.cc:168: error: 'gz_gripper_lock' was not
declared in this scope
player/GripperInterface.cc:171: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:173: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:175: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:176: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:183: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:184: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:185: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:186: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:187: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:188: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:193: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:195: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:197: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:199: error: invalid use of undefined type
'struct gz_gripper'
player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
player/GripperInterface.cc:203: error: 'class GripperInterface' has no
member named 'driver'
player/GripperInterface.cc:203: error: 'class GripperInterface' has no
member named 'device_addr'
player/GripperInterface.cc:209: error: 'gz_gripper_unlock' was not
declared in this scope
player/GripperInterface.cc: In member function 'virtual void
GripperInterface::Subscribe()':
player/GripperInterface.cc:219: error: 'gz_gripper_open' was not
declared in this scope
player/GripperInterface.cc: In member function 'virtual void
GripperInterface::Unsubscribe()':
player/GripperInterface.cc:229: error: 'gz_gripper_close' was not
declared in this scope
scons: *** [player/GripperInterface.o] Error 1
scons: building terminated because of errors.
On Sun, Jun 1, 2008 at 4:17 PM, Sanchit Sood <[EMAIL PROTECTED]> wrote:
> 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
>
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