Hello,
I was only able to reproduce the error if I ran your app both times
without any arguments. In such a case, the first instance of the app
would receive an "ack" when it's expecting a pose2d reply. The
solution to this problem is to run two instances of player.
-nate
On Wed, Sep 3, 2008 at 7:28 PM, [EMAIL PROTECTED]
<[EMAIL PROTECTED]> wrote:
> Dear Nate:
> I think I may have stumbled upon another issue with the Gazebo Simulation
> Interface. It seems that some sort of race condition appears if multiple
> Simulation Interface proxies are trying to get and set poses of models at the
> same time. I have included the source for a simple app that demonstrates the
> problem. With gazebo and player running, start the application without any
> command-line arguments and then start a second instance of the executable
> with a non-zero number of command-line arguments. This creates one proxy
> that performs GetPose2d requests and another that performs SetPose2d requests
> both at about 10Hz (the player read rate). Depending on the timing, you will
> see one of two possible outcomes. Either the GetPose2d instance will hang or
> the SetPose2d instance will segfault with an error of:
>
> "playerc error : got the wrong kind of reply (not good).
> terminate called after throwing an instance of 'PlayerCc::PlayerError'
> Aborted"
>
> Sometimes when the GetPose2d instance freezes, a "playerc warning : warning
> : Discarding unclaimed ACK" message will appear in the console of the
> SetPose2d instance. I am using Player-2.1.1.
>
> Sandy
>
> App:
> #include <stdio.h>
> #include <libplayerc++/playerc++.h>
> int main(int argc, char ** argv){
> double x = 0, y = 0, a = 0;
> long count = 0;
> bool bGet = true;
> PlayerCc::PlayerClient playerClient("localhost", 6665);
> PlayerCc::SimulationProxy simulation(&playerClient, 0);
> PlayerCc::Position2dProxy position(&playerClient, 0);
>
> if(argc > 1) bGet = false;
>
> if(bGet) printf("Entering Getting mode.\n");
> else printf("Entering Setting mode.\n");
> while(1){
> playerClient.Read();
> if(bGet) simulation.GetPose2d((char*)"animal_model", x, y, a);
> else simulation.SetPose2d((char*)"pioneer2dx_model1", x, y, a);
> printf("%li - Current pose is: %lf, %lf, %lf.\n", count++, x, y, a);
> }
> return(0);
> }
>
> player cfg:
> driver
> (
> name "gazebo"
> provides ["simulation:0"]
> plugin "/home/freedmst/local/gazebo/lib/libgazeboplugin"
> server_id "default"
> )
> driver
> (
> name "gazebo"
> provides ["position2d:0"]
> gz_id "position_iface_0"
> )
> driver
> (
> name "gazebo"
> provides ["laser:0"]
> gz_id "laser_iface_0"
> )
> driver
> (
> name "gazebo"
> provides ["fiducial:0"]
> gz_id "fiducial_iface_0"
> )
>
>
> worldfile:
> <?xml version="1.0"?>
> <gazebo:world
> xmlns:xi="http://www.w3.org/2001/XInclude";
> xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
> xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
> xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
> xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
> xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
> xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
> xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
> xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
>
> xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
> xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
>
> xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
>
> xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
>
> xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; >
>
> <verbosity>5</verbosity>
>
> <physics:ode>
> <stepTime>0.03</stepTime>
> <gravity>0 0 -9.8</gravity>
> <cfm>10e-5</cfm>
> <erp>0.3</erp>
> </physics:ode>
>
> <rendering:gui>
> <type>fltk</type>
> <size>800 600</size>
> <pos>0 0</pos>
> <xyz>0 0 10</xyz>
> <rpy>0 0 0</rpy>
> <frames>
> <row height="100%">
> <camera width="100%">
> <xyz>0 0 24</xyz>
> <rpy>0 90 0</rpy>
> </camera>
> </row>
> </frames>
> </rendering:gui>
>
> <rendering:ogre>
> <ambient>0.5 0.5 0.5 1.0</ambient>
> </rendering:ogre>
>
> <!-- Ground Plane -->
> <model:physical name="plane1_model">
> <xyz>0 0 0</xyz>
> <rpy>0 0 0</rpy>
> <static>true</static>
>
> <body:plane name="plane1_body">
> <geom:plane name="plane1_geom">
> <normal>0 0 0.5</normal>
> <size>2000 2000</size>
> <segments>10 10</segments>
> <uvTile>100 100</uvTile>
> <material>Gazebo/Grey</material>
> </geom:plane>
> </body:plane>
> </model:physical>
>
> <model:physical name="wall1">
> <xyz>0 10 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall18.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall2">
> <xyz>0 -10 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall18.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall3">
> <xyz>9 0 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall20.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall4">
> <xyz>-9 0 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall20.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall5">
> <xyz>4 -6 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall8.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall6">
> <xyz>-6 -6 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall8.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall7">
> <xyz>2 -5 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall4.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall8">
> <xyz>-4 -5 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall6.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall10">
> <xyz>-8.5 -5 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall1.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall112">
> <xyz>-8.5 4 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall1.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall13">
> <xyz>-6 5 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall9.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall14">
> <xyz>4.5 4 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall10.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall15">
> <xyz>-4.5 4 0.5</xyz>
> <include embedded="true">
> <xi:include href="models/wall5.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall16">
> <xyz>4 3 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall7.model"/>
> </include>
> </model:physical>
>
> <model:physical name="wall17">
> <xyz>4 9 0.5</xyz>
> <rpy>0 0 90</rpy>
> <include embedded="true">
> <xi:include href="models/wall2.model"/>
> </include>
> </model:physical>
>
> <model:physical name="package_model">
> <xyz>-7.5 -9 0.5</xyz>
> <canonicalBody>item0_body</canonicalBody>
> <static>true</static>
>
> <body:box name="item0_body">
> <geom:box name="item0_geom">
> <size>0.5 0.5 0.5</size>
> <mass>0.01</mass>
> <visual>
> <mesh>unit_box</mesh>
> <size>0.5 0.5 0.5</size>
> <material>Gazebo/BumpyMetal</material>
> </visual>
> <laserFiducialId>0</laserFiducialId>
> </geom:box>
> </body:box>
> </model:physical>
> <model:physical name="responder_model">
> <xyz>-7.5 9 0.5</xyz>
> <canonicalBody>item1_body</canonicalBody>
> <static>true</static>
>
> <body:box name="item1_body">
> <geom:box name="item1_geom">
> <size>0.5 0.5 0.5</size>
> <mass>0.01</mass>
> <visual>
> <mesh>unit_box</mesh>
> <size>0.5 0.5 0.5</size>
> <material>Gazebo/BumpyMetal</material>
> </visual>
> <laserFiducialId>1</laserFiducialId>
> </geom:box>
> </body:box>
> </model:physical>
> <model:physical name="animal_model">
> <xyz>8 7 0.5</xyz>
> <canonicalBody>item2_body</canonicalBody>
> <static>true</static>
>
> <body:box name="item2_body">
> <geom:box name="item2_geom">
> <size>0.5 0.5 0.5</size>
> <mass>0.01</mass>
> <visual>
> <mesh>unit_box</mesh>
> <size>0.5 0.5 0.5</size>
> <material>Gazebo/BumpyMetal</material>
> </visual>
> <laserFiducialId>2</laserFiducialId>
> </geom:box>
> </body:box>
> </model:physical>
>
> <model:physical name="victim_model">
> <xyz>7 -9 0.25</xyz>
> <canonicalBody>item3_body</canonicalBody>
> <static>true</static>
>
> <body:box name="item3_body">
> <geom:box name="item3_geom">
> <size>0.5 0.5 0.5</size>
> <mass>0.01</mass>
> <visual>
> <mesh>unit_box</mesh>
> <size>0.5 0.5 0.5</size>
> <material>Gazebo/BumpyMetal</material>
> </visual>
> <laserFiducialId>3</laserFiducialId>
> </geom:box>
> <geom:box name="blood_model">
> <xyz>0 .25 0</xyz>
> <size>0.3 0.1 0.3</size>
> <mass>0.01</mass>
> <visual>
> <mesh>unit_box</mesh>
> <size>0.2 0.1 0.2</size>
> <material>Gazebo/Red</material>
> </visual>
> <laserFiducialId>5</laserFiducialId>
> </geom:box>
> </body:box>
> </model:physical>
> <model:physical name="debris_model">
> <xyz>-8.2 5.8 0.5</xyz>
> <canonicalBody>item4_body</canonicalBody>
> <static>true</static>
>
> <body:box name="item4_body">
> <geom:box name="item4_geom">
> <size>0.5 0.5 0.5</size>
> <mass>0.01</mass>
> <visual>
> <mesh>unit_box</mesh>
> <size>0.5 0.5 0.5</size>
> <material>Gazebo/BumpyMetal</material>
> </visual>
> <laserFiducialId>4</laserFiducialId>
> </geom:box>
> </body:box>
> </model:physical>
> <model:physical name="pioneer2dx_model1">
> <xyz>0 0 0.145</xyz>
> <rpy>0.0 0.0 0.0</rpy>
>
> <controller:differential_position2d name="controller1">
> <leftJoint>left_wheel_hinge</leftJoint>
> <rightJoint>right_wheel_hinge</rightJoint>
> <wheelSeparation>0.39</wheelSeparation>
> <wheelDiameter>0.15</wheelDiameter>
> <torque>5</torque>
> <interface:position name="position_iface_0"/>
> </controller:differential_position2d>
>
> <model:physical name="laser">
> <xyz>0.15 0 0.18</xyz>
>
> <attach>
> <parentBody>chassis_body</parentBody>
> <myBody>laser_body</myBody>
> </attach>
>
> <include embedded="true">
> <xi:include href="models/sicklms200.model" />
> </include>
>
> <sensor:ray name="laser_2">
> <rayCount>361</rayCount>
> <rangeCount>361</rangeCount>
> <origin>0.05 0 0.0</origin>
>
> <minAngle>-90</minAngle>
> <maxAngle>90</maxAngle>
>
> <controller:sicklms200_laser name="laser_controller">
> <interface:laser name="laser_iface_1"/>
> <interface:fiducial name="fiducial_iface_1"/>
> </controller:sicklms200_laser>
>
> </sensor:ray>
> </model:physical>
>
> <include embedded="true">
> <xi:include href="models/pioneer2dx.model" />
> </include>
> </model:physical>
>
> <!-- White Directional light -->
> <model:renderable name="directional_white">
> <light>
> <type>directional</type>
> <direction>0 -0.6 -0.4</direction>
> <diffuseColor>1.0 1.0 1.0</diffuseColor>
> <specularColor>0.2 0.2 0.2</specularColor>
> <attenuation>1000 1.0 0.0 0</attenuation>
> </light>
> </model:renderable>
> </gazebo:world>
>
> --
> [EMAIL PROTECTED]
> www.sanfordfreedman.com
>
> "I have yet to see any problem, however complicated, which, when you looked
> at it in the right way, did not become still more complicated."
> - Poul Anderson
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