Hello,
I'll try and get the gripper interface into Gazebo today. I'll send
out an email when it's integrated.
Thanks for the info.
-nate
On Sun, Jun 1, 2008 at 1:03 PM, Sanchit Sood <[EMAIL PROTECTED]> wrote:
> 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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