I need to simulate a robot equipped with odometry, gps and imu in a 3D
environment.
I installed player-Gazebo under linux (ubuntu 8.04) and tried to use the
example world file pioneer2dx with a dummy c++ application, but it doesn't
work. ( I reported my files and related errors here below).
Is there somebody who can help me with my files or send me a working
player-gazebo example files and a dummy application so that I can start
using this powerful tool?
Thanks in advance
Mauro
Gazebo world file:
<gazebo:world>
<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 0</xyz>
<rpy>0 0 0</rpy>
</rendering:gui>
−
<rendering:ogre>
<ambient>0.5 0.5 0.5 1.0</ambient>
−
<sky>
<material>Gazebo/CloudySky</material>
</sky>
−
<fog>
<color>1.0 1.0 1.0</color>
<linearStart>10</linearStart>
<linearEnd>100</linearEnd>
</fog>
</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 1</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="sphere1_model">
<xyz>2.15 -1.68 .3</xyz>
<rpy>0.0 0.0 0.0</rpy>
<static>true</static>
−
<body:sphere name="sphere1_body">
−
<geom:sphere name="sphere1_geom">
<size>0.1</size>
−
<visual>
<scale>0.1 0.1 0.1</scale>
<mesh>unit_sphere</mesh>
<material>Gazebo/Rocky</material>
</visual>
</geom:sphere>
</body:sphere>
</model:physical>
−
<!--
Include the complete model described in the .model file
This assumes the root node is a <model:...>
-->
−
<!--
<include embedded="false">
<xi:include href="pioneer2dx.model" />
</include>
-->
−
<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="../sensors/sicklms200.model"/>
</include>
</model:physical>
−
<include embedded="true">
<xi:include href="../positions/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>
Player configuration file:
# Desc:
# Author:
# Date: 1
# load the Stage plugin simulation driver
driver
(
name "gazebo"
provides ["simulation:0" ]
plugin "libgazeboplugin"
# load the named file into the simulator
# worldfile "pioneer2dx.world"
)
# Export the map
#driver
#(
# name "stage"
# provides ["map:0" ]
# model "square"
#)
# Create a Stage driver and attach position2d and laser interfaces
# to the model "robot1"
driver
(
name "gazebo"
provides ["position2d:0" "laser:0" ]
model "robot1"
)
My dummy application:
#include <iostream>
#include <fstream>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <Time.h>
#include <CommonOptions.h>
#include <libplayerc++/playerc++.h>
#include <libplayercore/player.h>
#define DEBUG 0
using namespace PlayerCc;
using namespace std;
int main(int argc,const char* argv[])
{
cout << "test Gazebo" << endl;
static const int MY_PLAYER_CLIENT_START_PORT = 6665;
static const int MY_PLAYER_CLIENT_TIMEOUT_USECS = 150000;
int n = 0;
Decimal XPos;
Decimal YPos;
Decimal ZPos;
Decimal Roll;
Decimal Pitch;
Decimal Yaw;
string _hostname; /**< hostname, ip of the machine in
which robot-player
runs*/
uint _port; /**< port, port which robot-player use
*/
Position2dProxy *_position2dProxy;/** proxy of the position2d*/
PlayerClient* _playerClient; /**< playerClient, pointer to the
playerstructure*/
string playerHost = string("localhost");
int playerTrans = PLAYERC_TRANSPORT_TCP;
unsigned int playerPort = 6665;
// unsigned int playerPort = MY_PLAYER_CLIENT_START_PORT +
commonOptions.robotId->getValue();
// int playerTrans = PLAYERC_TRANSPORT_TCP;
cout << "Creating Player Client object" << endl;
_playerClient = new PlayerClient(playerHost,playerPort,playerTrans);
_hostname = _playerClient->GetHostname();
_port = _playerClient->GetPort();
cout << "host name = " << _hostname << endl;
cout << "host port = " << _port << endl;
cout << "_playerClient value = " << _playerClient << endl;
// cout << "Going to sleep 5 seconds." << _port << endl;
sleep(5);
cout << "Creating Position2dProxy object" << endl;
_position2dProxy = new Position2dProxy(_playerClient,0);
cout << "Position2dProxy object Created." << endl;
// for(n=0;n++;n<10)
// {
// cout << "Acquiring data from pioneer robot. Step: " << n <<
endl;
// XPos = _position2dProxy->GetXPos();
// YPos = _position2dProxy->GetYPos();
// ZPos = _position2dProxy->GetZPos();
// Roll = _position2dProxy->GetRoll();
// Pitch = _position2dProxy->GetPitch();
// Yaw = _position2dProxy->GetYaw();
// cout << "XPos = " << XPos << endl;
// cout << "YPos = " << YPos << endl;
// cout << "ZPos = " << ZPos << endl;
// cout << "Roll = " << Roll << endl;
// cout << "Pitch = " << Pitch << endl;
// cout << "Yaw = " << Yaw << endl;
// sleep(5);
// }
// by default in push mode with thread activated
// _playerClient->SetDataMode(PLAYER_DATAMODE_PUSH );
// _playerClient->StartThread();
cout << "END" << endl;
return 0;
}
Generated errors:
Gazebo
ma...@mauro-linux:~/Desktop/Tesi/MIP/gazeboWorlds/environments$ gazebo
pioneer2dx.world
Gazebo multi-robot simulator, version 0.8-pre3
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:101]
Unable to find the file ~/.gazeborc. Using default paths. This may cause
OGRE to fail.
creating /tmp/gazebo-mauro-0
found a pid file: pid=9345
The gazebo process is not alive.
creating /tmp/gazebo-mauro-0/simulation.default 112 144496
creating /tmp/gazebo-mauro-0/position.position_iface_0 112 228
creating /tmp/gazebo-mauro-0/laser.laser_iface_0 112 12444
creating /tmp/gazebo-mauro-0/fiducial.fiducial_iface_0 112 20932
Killed
ma...@mauro-linux:~/Desktop/Tesi/MIP/gazeboWorlds/environments$
Player
ma...@mauro-linux:~/Desktop/Tesi/MIP/gazeboWorlds/environments$ player
pioneer2dx.cfg
Registering driver
Player v.2.1.1
* Part of the Player/Stage/Gazebo Project
[http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public
License.
* Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.
trying to load
/home/mauro/Desktop/Tesi/MIP/gazeboWorlds/environments/./libgazeboplugin...
failed
(/home/mauro/Desktop/Tesi/MIP/gazeboWorlds/environments/./libgazeboplugin.so:
cannot open shared object file: No such file or directory)
trying to load /usr/local/lib/libgazeboplugin...
success
invoking player_driver_init()...
* Part of the Player/Stage Project [http://playerstage.sourceforge.net]
* Copyright 2000-2006 Richard Vaughan, Andrew Howard, Brian Gerkey, Nathan
Koenig
* and contributors. Released under the GNU General Public License v2.
success
Gazebo Plugin driver creating 1 device
6665.31.0 is a simulation interface.
opening /tmp/gazebo-mauro-0
opening /tmp/gazebo-mauro-0/simulation.default 112 144496
Gazebo Plugin driver creating 2 devices
6665.4.0 is a position2d interface.
6665.6.0 is a laser interface.
listening on 6665
Added file watch 5
Added file watch 6
Listening on ports: 6665
Added file watch 7
accepted TCP client 0 on port 6665, fd 7
Error Subscribing to Gazebo Position2d Interface
error opening device file /tmp/gazebo-mauro-0/position. : No such file or
directory
ma...@mauro-linux:~/Desktop/Tesi/MIP/gazeboWorlds/environments$
testGazebo
ma...@mauro-linux:~/Desktop/Tesi/MIP/bin$ ./testGazebo
test Gazebo
Creating Player Client object
host name = localhost
host port = 6665
_playerClient value = 0x804f9e0
Creating Position2dProxy object
playerc error : failed to get response
terminate called after throwing an instance of 'PlayerCc::PlayerError'
Aborted
ma...@mauro-linux:~/Desktop/Tesi/MIP/bin$
--
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