Hi,
When I am starting gazebo 0.9 it creates this:
creating /tmp/gazebo-vogt-0/position.SEMPROM_M1::position_iface_0
112 156
Error Loading Controller[controller1]
/home/vogt/gazebo/server/XMLConfig.cc:498 : Exception: unable to
find required string attribute[wheelSeparation] in world file
node[differential_position2d]
creating /tmp/gazebo-vogt-0/graphics3d.SEMPROM_M1 112 1630256
creating
/tmp/gazebo-vogt-0/laser.SEMPROM_M1::lasertest::laser_iface_0 112 8352
creating
/tmp/gazebo-vogt-0/fiducial.SEMPROM_M1::lasertest::fiducial_iface_0 112
11308
creating /tmp/gazebo-vogt-0/graphics3d.SEMPROM_M1::lasertest 112
1630256
creating /tmp/gazebo-vogt-0/graphics3d.directional_white 112 1630256
creating /tmp/gazebo-vogt-0/graphics3d.point_white 112 1630256
after that i start player 3.0.0 with a cfg-file (look attachment)
Gazebo Plugin driver creating 1 device
6665.31.0 is a simulation interface.
opening /tmp/gazebo-vogt-0
opening /tmp/gazebo-vogt-0/simulation.default 112 33842332
opening /tmp/gazebo-vogt-0/simulation.default +112 33842332
Gazebo Plugin driver creating 1 device
6665.4.0 is a position2d interface.
Gazebo Plugin driver creating 1 device
6665.6.0 is a laser interface.
opening /tmp/gazebo-vogt-0/simulation.default +112 33842332
listening on 6665
Listening on ports: 6665
and then I start playernav but playernav can not find the laser
interface:
accepted TCP client 0 on port 6665, fd 8
MapFile loading image file: /home/vogt/maps/labor-flur.pgm...Done.
MapFile read a 392 X 613 map, at 0.050 m/pix
opening /tmp/gazebo-vogt-0/position.SEMPROM_M1::position_iface_0 +112 156
opening /tmp/gazebo-vogt-0/laser.SEMPROM_M1::lasertest::laser_iface_0
+112 8352
robot radius: 0.265
Wavefront: Loading map from map:0...
scale: 0.050
error : tried to connect to self (127.0.0.1:16777343:6665)
error : unable to subscribe to laser device
error : failed to setup sensor 1
error : Driver failed to Setup (-1)
Generating C-space....
Done.
What is wrong? Thanks for any help.
Regards
Andreas
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
alwayson 1
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "SEMPROM_M1::position_iface_0"
)
driver
(
name "gazebo"
provides ["laser:0"]
gz_id "SEMPROM_M1::lasertest::laser_iface_0"
)
driver
(
name "mapfile"
provides ["map:0"]
filename "/home/vogt/TelDaBot/trunk/player-TelDaBot/maps/labor-flur.pgm"
resolution 0.05
)
driver
(
name "vfh"
provides ["position2d:1"]
requires ["position2d:0" "laser:0"]
# safety_dist 0.1
safety_dist_1ms 0.1
max_speed 0.2
min_turnrate 15
max_turnrate_0ms 40
max_turnrate_1ms 40
distance_epsilon 0.3
angle_epsilon 5
)
driver
(
name "amcl"
provides ["localize:0" "position2d:2"]
requires ["odometry:::position2d:1" "laser:1" "laser:::map:0"]
#init_pose [-3.900 -8.288 -2.105]
laser_max_beams 10
# laser_range_max 4.095
laser_range_bad 0.2
)
driver
(
name "wavefront"
provides ["planner:0"]
requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
safety_dist 0.15
distance_epsilon 0.3
angle_epsilon 10
)------------------------------------------------------------------------------
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