Hello All,
I have the same problem on gazebo 0.10. When using the wizbot.world and in
/tmp/gazebo-tomas-0 directory I
dont see an interface file created and I get this error:
error opening device file
/tmp/gazebo-tomas-0/position.pioneer2dx_model1::position_iface_0 : No such
file or directory
So I figured a problem with the holonome controler in that model...
If I try to use the ~/gazebo-0.10.0/worlds$ gazebo pioneer2dx.world
I see the interface file created and I can connect fine to the interface but
there is no response from the robot when trying to set cmd velocity it just
sits there:
to...@tomas-desktop:/tmp/gazebo-tomas-0$ ls
factory.default
gazebo.pid
graphics3d.box1_model
graphics3d.default
graphics3d.pioneer2dx_model1
graphics3d.pioneer2dx_model1::laser
graphics3d.pioneer2dx_model2
graphics3d.pioneer2dx_model2::laser
graphics3d.plane1_model
graphics3d.point_white
graphics3d.ramp_model
graphics3d.ramp_model2
graphics3d.sphere1_model
position.pioneer2dx_model1::position_iface_0
position.pioneer2dx_model2::position_iface_0
simulation.default
Here is a code fragment:
/// Open the Position interface
try
{
posIface->Open(client, "pioneer2dx_model1::position_iface_0");
}
catch (std::string e)
{
std::cout << "Gazebo error: Unable to connect to the position
interface\n" << e << "\n";
return -1;
}
...
while(1)
{
posIface->Lock(1);
std::cout << "Cmd Velocity (x,y,z)" << posIface->data->cmdVelocity.pos.x
<< " " << posIface->data->cmdVelocity.pos.y << " " <<
posIface->data->cmdVelocity.pos.z << std::endl;
posIface->Unlock();
posIface->Lock(1);
std::cout << "Velocity (x,y,z):" << posIface->data->velocity.pos.x << "
" << posIface->data->velocity.pos.y << " " <<
posIface->data->velocity.pos.z << std::endl;
posIface->Unlock();
posIface->Lock(1);
std::cout << "Roll,pitch,yaw:" << posIface->data->pose.roll << " " <<
posIface->data->pose.pitch << " " << posIface->data->pose.yaw << std::endl;
posIface->Unlock();
std::cout << "Press u,d or s" << std::endl;
c=getchar();
if (c=='u')
{
posIface->Lock(1);
posIface->data->cmdEnableMotors = 1;
posIface->data->cmdVelocity.pos.x += 0.5;
posIface->Unlock();
}
else
if (c=='d')
{
posIface->Lock(1);
posIface->data->cmdEnableMotors = 1;
posIface->data->cmdVelocity.pos.x -= 0.5;
posIface->Unlock();
}
if (c=='s')
{
posIface->Lock(1);
posIface->data->cmdEnableMotors = 1;
posIface->data->cmdVelocity.pos.x = 0;
posIface->Unlock();
}
usleep(100000);
}
I looked around for other postings and found nothing that helped. Thanks for
any info.
Tomas
Kamil Muszyński wrote:
>
> Hi all,
>
> I've moved from gazebo 0.8 to svn version of gazebo 0.9. I've been trying
> to run wizbot.world (just a wizbot model - so I removed cam, cylinder and
> pioneer models). My aim was to apply speed to wizbot's wheels using only
> libgazebo and position interface (without player). This is the client code
> used:
>
> #include <iostream>
> #include <string>
> #include <gazebo.h>
> #include <stdio.h>
>
> int main(int argc, char * argv[]){
> if (argc != 3) return 1;
>
> float x = atof(argv[1]);
> float y = atof(argv[2]);
>
> gazebo::Client * client = new gazebo::Client();
> gazebo::SimulationIface * simIface = new gazebo::SimulationIface();
> int serverId = 0;
> std::string id("default");
>
> try {
> /// Connect to the libgazebo server
> client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
> /// Open the Simulation Interface
> simIface->Open(client, id);
> simIface->Unpause();
> } catch (std::string e) {
> std::cout<<"Gazebo error: Unable to connect to the sim
> interface\n";
> exit(0);
> }
>
> gazebo::PositionIface * posIface = new gazebo::PositionIface();
> try {
> posIface->Open(client, "wizbot_model1::position_iface_0");
> } catch (std::string ex) {
> std::cout<<ex<<std::endl;
> exit(0);
> }
>
> std::cout<<"Applying speed\n";
> posIface->Lock(1);
> posIface->data->cmdEnableMotors = 1;
> posIface->data->cmdVelocity.pos.x = x;
> posIface->data->cmdVelocity.pos.y = y;
> posIface->Unlock();
>
>
> while(true){
> usleep(20000);
> }
>
>
> posIface->Destroy();
> delete posIface;
> simIface->Close();
> delete simIface;
> client->Disconnect();
> delete client;
>
> return 0;
> }
>
> -------------
>
> It turns out that this code has no effect - when I checked void
> Holonome3Sw_Position2d::UpdateChild() code that is used for controlling
> wizbot, some speed values (different than 0) are applied to joints, but
> wizbot is not moving. After some investigation I think I found a bug in
> method (file gazebo/server/physics/ode/ODEHingeJoint.cc)
>
> void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
> {
> this->SetParam(angle, dParamVel); // shouldn't be
> this->SetParam(dParamVel, angle) ?
> }
>
> but this fix didn't help and robot is still not moving (like if simulation
> was paused, which is not ;) ).
>
> I am using ogre 1.6.4 and ode 0.11.1 and ubuntu 9.10, if that could be
> useful. Can anyone give me some hints? :)
>
>
>
>
> Also I get segmentation fault after clicking on robot model (wizbot,
> pionieer and others - ctrl + rmb) or on model's name in the gazebo menu,
> here is some backtrace
>
> Program received signal SIGSEGV, Segmentation fault.
> 0x04f7ce85 in Fl_Menu_::add(char const*, int, void (*)(Fl_Widget*, void*),
> void*, int) () from /usr/lib/libfltk.so.1.1
> (gdb) bt
> #0 0x04f7ce85 in Fl_Menu_::add(char const*, int, void (*)(Fl_Widget*,
> void*), void*, int) () from /usr/lib/libfltk.so.1.1
> #1 0x00632735 in gazebo::Sidebar::Update() () from
> /usr/local/lib/libgazebo_gui.so.0.9.0
> #2 0x006264ab in gazebo::Gui::Update() () from
> /usr/local/lib/libgazebo_gui.so.0.9.0
> #3 0x005ded7e in gazebo::Simulator::MainLoop() () from
> /usr/local/lib/libgazebo_server.so.0.9.0
> #4 0x0804a464 in main ()
>
> Should I get newest fltk version?
>
> Best regards,
>
> Kamil
>
>
>
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