Hi,
I'm trying to execute the stereocamera.world, but I'm having some problems. I'm able to lauch gazebo and player, but the code example "stereo.cc" breaks gazebo. this is my world: <?xml version="1.0"?> <gazebo:world 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: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: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>0.008</cfm> <erp>0.2</erp> </physics:ode> <rendering:gui> <type>fltk</type> <size>800 600</size> <pos>0 0</pos> </rendering:gui> <rendering:ogre> <ambient>1.0 1.0 1.0 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> </rendering:ogre> <model:physical name="sphere1_model"> <xyz>90 -1 1.5</xyz> <rpy>0.0 0.0 0.0</rpy> <static>false</static> <body:sphere name="sphere1_body"> <geom:sphere name="sphere1_geom"> <size>0.5</size> <mass>1.0</mass> <visual> <scale>0.5 0.5 0.5</scale> <mesh>unit_sphere</mesh> <material>Gazebo/Rocky</material> </visual> </geom:sphere> </body:sphere> </model:physical> <model:physical name="box1_model"> <xyz>4 1 0.5</xyz> <canonicalBody>box1_body</canonicalBody> <static>false</static> <body:box name="box1_body"> <geom:box name="box1_geom"> <size>1 1 1</size> <mass>1.0</mass> <visual> <mesh>unit_box</mesh> <material>Gazebo/Red</material> </visual> </geom:box> </body:box> </model:physical> <!-- 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/GrassFloor</material> </geom:plane> </body:plane> </model:physical> <model:physical name="cam1_model"> <xyz>0 0 1</xyz> <rpy>0 0 0</rpy> <static>true</static> <body:empty name="cam1_body"> <sensor:stereocamera name="cam1_sensor"> <imageSize>320 240</imageSize> <hfov>60</hfov> <nearClip>0.1</nearClip> <farClip>1000</farClip> <saveFrames>false</saveFrames> <saveFramePath>frames</saveFramePath> <baseline>0.2</baseline> <controller:stereocamera name="stereo_camera_controller"> <interface:stereocamera name="stereo_iface_0" /> <interface:camera name="camera_iface_0" /> <interface:camera name="camera_iface_1" /> <leftcamera>camera_iface_0</leftcamera> <rightcamera>camera_iface_1</rightcamera> </controller:stereocamera> </sensor:stereocamera> </body:empty> </model:physical> </gazebo:world> this is my player.cfg file: driver ( name "gazebo" provides ["simulation:0"] plugin "libgazeboplugin" server_id "default" alwayson 1 ) driver ( name "gazebo" provides ["camera:0"] gz_id "camera_iface_0" ) driver ( name "gazebo" provides ["camera:1"] gz_id "camera_iface_1" ) And when running ~/gazebo/examples/libgazebo/stereo/stereo.cc gazebo breaks with this message: 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:84] Gazebo Path[/usr/local/share/gazebo] [server/GazeboConfig.cc:92] Ogre Path[/usr/local/lib/OGRE] creating /tmp/gazebo-rcorreal-0 Error in libgazebo Server. found a pid file: pid=8341 The gazebo process is not alive. creating /tmp/gazebo-rcorreal-0/simulation.default 112 151696 creating /tmp/gazebo-rcorreal-0/graphics3d.default 112 1629744 creating /tmp/gazebo-rcorreal-0/graphics3d.plane1_model 112 1629744 creating /tmp/gazebo-rcorreal-0/stereo.stereo_iface_0 112 2458220 creating /tmp/gazebo-rcorreal-0/camera.camera_iface_0 112 921724 creating /tmp/gazebo-rcorreal-0/camera.camera_iface_1 112 921724 creating /tmp/gazebo-rcorreal-0/graphics3d.cam1_model 112 1629744 terminate called after throwing an instance of 'Ogre::InternalErrorException' what(): OGRE EXCEPTION(7:InternalErrorException): Error linking GLSL Program Object : Error linking GLSL Program Object : in GLSLLinkProgram::Activate at OgreGLSLExtSupport.cpp (line 66) Abort I'm using ogre 1.6, gazebo svn7597 and player svn7599 Thanks. _________________________________________________________________ El nuevo Windows Live te une a los que más quieres http://www.windowslive.es ------------------------------------------------------------------------------ Register Now & Save for Velocity, the Web Performance & Operations Conference from O'Reilly Media. Velocity features a full day of expert-led, hands-on workshops and two days of sessions from industry leaders in dedicated Performance & Operations tracks. Use code vel09scf and Save an extra 15% before 5/3. http://p.sf.net/sfu/velocityconf _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
