Hi All, Some more info on my configuration:Ubuntu 9.10, ode 0.11.1, ogre v1-7-0, bullet-2.76, gazebo 0.10.0.
I tried a new world file it is the empty.world with the pioneer robot added (included below). to...@tomas-desktop:~/gazebo-0.10.0/worlds$ gazebo tomas-test3.world Gazebo multi-robot simulator, version 0.10.0 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. [/home/tomas/gazebo-0.10.0/server/GazeboConfig.cc:103] Gazebo Path[/usr/local/share/gazebo] [/home/tomas/gazebo-0.10.0/server/GazeboConfig.cc:115] Ogre Path[/usr/local/lib/OGRE] Gazebo successfully initialized deleting /tmp/gazebo-tomas-0/graphics3d.default Segmentation fault (when I do a File Quit) The code can connect but when I send a new commands with velocity nothing happens: Cmd Velocity (x,y,z)+0.00000 +0.00000 +0.00000 Velocity (x,y,z):+0.00000 +0.00000 +0.00000 Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 Press u,d or s u Cmd Velocity (x,y,z)+0.500000 +0.00000 +0.00000 Velocity (x,y,z):+0.00000 +0.00000 +0.00000 Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 Press u,d or s (.....) Cmd Velocity (x,y,z)+30.5000 +0.00000 +0.00000 Velocity (x,y,z):+0.00000 +0.00000 +0.00000 Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 Press u,d or s Here is the world file I used: <?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: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>0.001</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-2</cfm> <erp>0.2</erp> <!-- updateRate: <0 == throttle simTime to match realTime. 0 == No throttling >0 == Frequency at which to throttle the sim --> <updateRate>0</updateRate> </physics:ode> <rendering:gui> <type>fltk</type> <size>800 600</size> <pos>0 0</pos> </rendering:gui> <rendering:ogre> <ambient>1 1 1 1</ambient> <shadowTechnique>stencilAdditive</shadowTechnique> <grid>false</grid> </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>100 100</size> <segments>10 10</segments> <uvTile>100 100</uvTile> <material>Gazebo/GrayGrid</material> <mu1>109999.0</mu1> <mu2>1000.0</mu2> </geom:plane> </body:plane> </model:physical> <model:physical name="pioneer2dx_model1"> <xyz>1 1 0.5</xyz> <rpy>0 0 0</rpy> <include embedded="true"> <xi:include href="models/pioneer2dx.model" /> </include> </model:physical> </gazebo:world> Thanks, Tomas tarredondo wrote: > > 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 >> >> >> > > -- View this message in context: http://old.nabble.com/Few-issues-with-latest-gazebo-%28svn%2C-rev-8432%29-tp26468941p28378230.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
