From: Neil M. <nm...@ec...> - 2006-01-24 22:44:12
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Hi All, I am running AMCL on stage 1.6.2 (with player 1.6.4). When I run the following configuration file (two.cfg), and playernav:localhost:6666 I get the following output. The playernav console tells me that it failed to subscribe to localize, and the player console tells me that it is unable to locate a suitable position driver. However, if I remove the 6666 port specification i the cfg file and start player on the default port and run playernav localhost:6665, I do not get these messages. Could anyone throw some light on this? Thanks in advance, Neil */nmen005@ee4079cp:~/WorkingDirectory$ player two.cfg ** Player v1.6.4 ** * Part of the Player/Stage Project [http://playerstage.sourceforge.net]. * Copyright 2000-2005 Brian Gerkey, Richard Vaughan, Andrew Howard, * Nate Koenig and contributors. * Released under the GNU General Public License. Startup options: [TCP] Parsing configuration file "two.cfg" trying to load /home/nmen005/WorkingDirectory/./libstage...failed (/home/nmen005/WorkingDirectory/./libstage.so: cannot open shared object file: No such file or directory) trying to load libstage...success invoking player_driver_init()...success Stage driver creating 1 device mapping device 6666.31.0 => "simple.world" [Include pioneer.inc][Include map.inc] done. Stage driver creating 1 device mapping device 6666.4.0 => "robot" Stage driver creating 1 device mapping device 6666.6.0 => "robot.laser:0" Using device table: ------------------------------------------------------------ 0 driver stage id 6666:simulation:0 1 driver stage id 6666:position:0 2 driver stage id 6666:laser:0 3 driver mapfile id 6666:map:0 4 driver amcl id 6666:localize:0 5 driver writelog id 6666:log:0 ------------------------------------------------------------ listening on port 6666 ** Player [port 6666] client accepted from 127.0.0.1 on socket 9 ** MapFile loading image file: /home/nmen005/WorkingDirectory/./cave.png...Done. MapFile read a 500 X 500 map, at 0.030 m/pix error : unable to locate suitable position driver warning : not allowing subscription to unknown device "6666:planner:0" nmen005@ee4079cp:~/WorkingDirectory$ playernav localhost:6666 Warning: Failed to subscribe to localize on robot 0; you won't be able to set its pose. Warning: Failed to subscribe to planner on robot 0; you won't be able to give it goals. requesting map done (two.cfg) driver ( name "stage" provides ["6666:simulation:0"] plugin "libstage" worldfile "simple.world" ) driver( name "stage" provides ["6666:position:0"] model "robot" ) driver( name "stage" provides ["6666:laser:0"] model "robot" ) driver ( name "mapfile" provides ["6666:map:0"] filename "cave.png" #using 'cave' map resolution 0.03 # 3cm per pixel #3 cm/pixel negate 1 # alwayson 1 ) driver ( name "amcl" provides ["6666:localize:0"] requires ["odometry::position:0" "laser:0" "laser::map:0"] init_pose [-4 -4 0] init_pose_var [.1 .1 2] ) driver ( name "writelog" requires ["laser:0" "position:0"] provides ["6666:log:0"] filename "stage_map.log" #alwayson 1 #autorecord 1 ) |