namespace errors for pioneer2at.model

logicalguy

2011-07-13 15:33:00 UTC

Okay, I managed to fix the namespace errors, and now player creates a file
called position.pioneer2at_model::position_iface_0 in /tmp/gazebo-xx-0.

So, now I am able to subscribe to and command the position2d:0 interface,
but when I try to move the pioneer using my mouse in the playerv window,
nothing happens.

I'm just wondering, is there a position3d interface available that I should
maybe try connecting to? Position2d just doesn't work. Works in Stage,
though.

Hopefully someone can suggest something... Thanks for looking.

Post by logicalguy
Hi,
I'm following the gazebo quick-start guide
http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/
-------------------------
$ gazebo pioneer2at.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.
models/pioneer2at.model:19: namespace error : Namespace prefix controller
on differential_position2d is not defined
<controller:differential_position2d name="controller1">
^
models/pioneer2at.model:25: namespace error : Namespace prefix interface
on position is not defined
<interface:position name="position_iface_0"/>
^
[/home/ro/playerstagegazebo/gazebo-0.10.0/server/GazeboConfig.cc:103]
Gazebo Path[/usr/local/share/gazebo]
[/home/ro/playerstagegazebo/gazebo-0.10.0/server/GazeboConfig.cc:115]
Ogre Path[/usr/local/lib/OGRE]
Gazebo successfully initialized
--------------------------------------
So, when I run player with the player_cgfs/gazebo.cfg located in my
----------------------------------
$player player_cfgs/gazebo.cfg
Registering driver
Player v.3.0.2
* Part of the Player/Stage/Gazebo Project
[http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 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.
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-ro-0/simulation.default 112 33842432
opening /tmp/gazebo-ro-0/simulation.default +112 33842432
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.
Gazebo Plugin driver creating 1 device
6665.10.0 is a fiducial interface.
listening on 6665
Listening on ports: 6665
--------------------------------------------------
-------------------------------------------------------
$ ls /tmp/gazebo-ro-0/
factory.default graphics3d.directional_white
simulation.default
gazebo.pid graphics3d.pioneer2at_model
graphics3d.default graphics3d.plane1_model
-------------------------------------------------------
As you can see, file for position_iface_0 is not created, and when I try
to subscribe to this service via playerv, it crashes with the following
------------------------------------------------------
accepted TCP client 0 on port 6665, fd 9
Error Subscribing to Gazebo Position2d Interface
error opening device file
/tmp/gazebo-ro-0/position.pioneer2at_model::position_iface_0 : No such
file or directory
------------------------------------------------
------------------------------------------------
$ playerv
PlayerViewer 3.0.2
Connecting to [localhost:6665]
playerc warning : warning : [Player v.3.0.2] connected on
[localhost:6665] wit h sock 6
Available devices: localhost:6665
simulation:0 gazebo unsupported
position2d:0 gazebo ready
laser:0 gazebo ready
position2d:1 vfh ready
fiducial:0 gazebo ready
playerc error : timed out waiting for server reply to request
player:0:request :3
playerc error : failed to get response
playerv : error in
/home/ro/playerstagegazebo/player-3.0.2/utils/playerv/pv_dev_
position2d.c
libplayerc error: failed to get response
playerc error : socket disconnected
playerc warning : warning : failed to reconnect
playerv : error in
/home/ro/playerstagegazebo/player-3.0.2/utils/playerv/pv_dev_
position2d.c
libplayerc error: warning : failed to reconnect
playerc warning : warning : no socket to peek at
playerc warning : warning : no socket to peek at
playerc error : close failed with error [Bad file descriptor]
playerv : error in
/home/ro/playerstagegazebo/player-3.0.2/utils/playerv/playerv .c
close failed with error [Bad file descriptor]
-----------------------------------------------------------------------------
----------------------------------------------
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "pioneer2at_model::position_iface_0"
)
driver
(
name "gazebo"
provides ["laser:0"]
# gz_id "laser_iface_0"
gz_id "pioneer2at_model::laser"
)
driver
(
name "vfh"
provides ["position2d:1"]
requires ["position2d:0" "laser:0"]
cell_size 0.1
window_diameter 61
sector_angle 1
safety_dist_0ms 0.2
safety_dist_1ms 0.4
max_speed 0.3
max_turnrate_0ms 75
max_turnrate_1ms 50
weight_desired_dir 5.0
weight_current_dir 3.0
)
driver
(
name "gazebo"
provides ["fiducial:0"]
gz_id "fiducial_iface_0"
)
---------------------------------------------------
Can anyone please tell me where it's going wrong and what can I do to fix
it?
All help appreciated much.
Thanks.

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