Hello,
The Player Gripper interface is now in gazebo SVN.
-nate
On Wed, Jun 4, 2008 at 10:06 AM, Nate Koenig <[EMAIL PROTECTED]> wrote:
> 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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