Hello, You can't declare joints inside a "<controller>" block. Look at the gripper model file, there is already a joint that will lift the gripper up.
What you need to do is modify the pioneer2 gripper controller. The relevant files are at gazebo/server/controllers/gripper/pioneer2. You need to add an actarray interface, that will accept commands to move the "lift_slider_joint". -nate On Fri, Jun 27, 2008 at 8:41 AM, Sanchit Sood <[EMAIL PROTECTED]> wrote: > > I am using svn version 6689 of player and gazebo. I tried using actarray as > Biggs suggested. So I modified the gripper model to include actarray > controller as follows > > <controller:bandit_actarray name="bandit_actarray_controller" > updateRate="5000"> > <joint name="lift_hinge_joint"> > <force>2</force> > <gain>2</gain> > </joint> > <interface:actarray name="actarray_iface"/> > </controller:bandit_actarray> > > > When I try to run pioneer2dx_gripper.world in gazebo it crashes with a > segmentation fault. > > $gazebo pioneer2dx_gripper.world > Gazebo multi-robot simulator, version 0.8-pre2 > > Part of the Player/Stage Project [http://playerstage.sourceforge.net]. > Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors. > Released under the GNU General Public License. > > [server/GazeboConfig.cc:68] > Gazebo Path[/usr/local/share/gazebo] > [server/GazeboConfig.cc:76] > Ogre Path[/usr/local/lib/OGRE] > [server/Simulator.cc:151] > Creating GUI: > Type[fltk] Pos[0 0] Size[640 480] > creating /tmp/gazebo-sood-0 > creating /tmp/gazebo-sood-0/simulation.default 112 704 > [server/sensors/Sensor.cc:94] > cam1_sensor sensor has no controller. > creating /tmp/gazebo-sood-0/position.position_iface_0 112 224 > creating /tmp/gazebo-sood-0/gripper.gripper_iface_0 112 112 > creating /tmp/gazebo-sood-0/actarray.actarray_iface 112 980 > creating /tmp/gazebo-sood-0/laser.laser_iface_0 112 12440 > creating /tmp/gazebo-sood-0/fiducial.fiducial_iface_0 112 20928 > Segmentation fault (core dumped) > > Thanks in advance > Sanchit > > PS: New gripper model attached > > > > > > > > > > > On Fri, Jun 27, 2008 at 2:49 PM, Geoffrey Biggs <[EMAIL PROTECTED]> wrote: >> >> The way the Pioneer gripper is handled is different now. The new gripper >> interface is designed solely for controlling a gripper, rather than >> being a direct implementation of the Pioneer gripper's control codes as >> messages as it was before. This means the gripper interface can't be >> used to raise or lower a gripper attached to a list. There are two >> alternative interfaces that can be used to provide this functionality: >> the position1d interface and the actarray interface. >> >> The Pioneer driver uses the actarray interface. Other drivers may use >> positio1d if it better suits their needs. If you look in the Pioneer >> driver's documentation you will find details on how to use the gripper >> lift. >> >> However, if, as your attachment suggests, you're using Stage, you may be >> out of luck. I don't think they're implemented an actarray to control >> the gripper lift yet. >> >> Geoff >> >> Sanchit Sood wrote: >> > >> > Hello >> > I am trying to use a pioneer gripper to lift objects. I am able to hold >> > the objects using the gripper, but can't find a way to lift the gripper. >> > I tried adding another gripper with the first gripper as one of its >> > forks. But then this fork does not move while the other one does. Is >> > there any other way to lift the gripper? >> > >> > Sanchit >> > >> > PS: Please find my gripper model and world file attached >> >> ------------------------------------------------------------------------- >> Check out the new SourceForge.net Marketplace. >> It's the best place to buy or sell services for >> just about anything Open Source. >> http://sourceforge.net/services/buy/index.php >> _______________________________________________ >> Playerstage-developers mailing list >> [EMAIL PROTECTED] >> https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > > ------------------------------------------------------------------------- > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services for > just about anything Open Source. > http://sourceforge.net/services/buy/index.php > > _______________________________________________ > Playerstage-developers mailing list > [EMAIL PROTECTED] > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > ------------------------------------------------------------------------- Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! Studies have shown that voting for your favorite open source project, along with a healthy diet, reduces your potential for chronic lameness and boredom. Vote Now at http://www.sourceforge.net/community/cca08 _______________________________________________ Playerstage-gazebo mailing list Playerstage-gazebo@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
