Re: [PlayerStage-Gazebo] Gripper Interface

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Hello,

The Player Gripper interface is now in gazebo SVN.

-nate

On Wed, Jun 4, 2008 at 10:06 AM, Nate Koenig <nk...@us...> wrote:
> Hello,
>
> I'll try and get the gripper interface into Gazebo today. I'll send
> out an email when it's integrated.
>
> Thanks for the info.
>
> -nate
>
> On Sun, Jun 1, 2008 at 1:03 PM, Sanchit Sood <san...@gm...> wrote:
>> update : tried svn versions of both player and gazebo without success.
>>
>> My aim is to enable the GripperInterfce in the lastest SVN versions of
>> Player and Gazebo.
>>
>> I tried to make changes in SConscript file to include Gripper
>> Interface but scons encountered these errors:
>>
>> player/GripperInterface.hh:37: error: expected class-name before '{' token
>> player/GripperInterface.hh:39: error: 'GazeboDriver' has not been declared
>> player/GripperInterface.cc:46: error: 'GazeboDriver' has not been declared
>> player/GripperInterface.cc: In constructor
>> 'GripperInterface::GripperInterface(player_devaddr_t, int*,
>> ConfigFile*, int)':
>> player/GripperInterface.cc:47: error: class 'GripperInterface' does
>> not have any field named 'GazeboInterface'
>> player/GripperInterface.cc:56: error: 'gz_gripper_alloc' was not
>> declared in this scope
>> player/GripperInterface.cc: In destructor 'virtual
>> GripperInterface::~GripperInterface()':
>> player/GripperInterface.cc:66: error: 'gz_gripper_free' was not
>> declared in this scope
>> player/GripperInterface.cc: In member function 'virtual int
>> GripperInterface::ProcessMessage(QueuePointer&, player_msghdr_t*,
>> void*)':
>> player/GripperInterface.cc:78: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:80: error: 'gz_gripper_lock' was not
>> declared in this scope
>> player/GripperInterface.cc:81: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:82: error: 'gz_gripper_unlock' was not
>> declared in this scope
>> player/GripperInterface.cc:87: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:89: error: 'gz_gripper_lock' was not
>> declared in this scope
>> player/GripperInterface.cc:90: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:91: error: 'gz_gripper_unlock' was not
>> declared in this scope
>> player/GripperInterface.cc:96: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:98: error: 'gz_gripper_lock' was not
>> declared in this scope
>> player/GripperInterface.cc:99: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:100: error: 'gz_gripper_unlock' was not
>> declared in this scope
>> player/GripperInterface.cc:105: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:107: error: 'gz_gripper_lock' was not
>> declared in this scope
>> player/GripperInterface.cc:108: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:109: error: 'gz_gripper_unlock' was not
>> declared in this scope
>> player/GripperInterface.cc:114: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:116: error: 'gz_gripper_lock' was not
>> declared in this scope
>> player/GripperInterface.cc:117: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:118: error: 'gz_gripper_unlock' was not
>> declared in this scope
>> player/GripperInterface.cc:125: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:148: error: 'class GripperInterface' has no
>> member named 'driver'
>> player/GripperInterface.cc:148: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc: In member function 'virtual void
>> GripperInterface::Update()':
>> player/GripperInterface.cc:168: error: 'gz_gripper_lock' was not
>> declared in this scope
>> player/GripperInterface.cc:171: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:173: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:175: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:176: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:183: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:184: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:185: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:186: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:187: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:188: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:193: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:195: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:197: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:199: error: invalid use of undefined type
>> 'struct gz_gripper'
>> player/GripperInterface.hh:33: error: forward declaration of 'struct gz_gripper'
>> player/GripperInterface.cc:203: error: 'class GripperInterface' has no
>> member named 'driver'
>> player/GripperInterface.cc:203: error: 'class GripperInterface' has no
>> member named 'device_addr'
>> player/GripperInterface.cc:209: error: 'gz_gripper_unlock' was not
>> declared in this scope
>> player/GripperInterface.cc: In member function 'virtual void
>> GripperInterface::Subscribe()':
>> player/GripperInterface.cc:219: error: 'gz_gripper_open' was not
>> declared in this scope
>> player/GripperInterface.cc: In member function 'virtual void
>> GripperInterface::Unsubscribe()':
>> player/GripperInterface.cc:229: error: 'gz_gripper_close' was not
>> declared in this scope
>> scons: *** [player/GripperInterface.o] Error 1
>> scons: building terminated because of errors.
>>
>>
>>
>>
>>
>>
>>
>> On Sun, Jun 1, 2008 at 4:17 PM, Sanchit Sood <san...@gm...> wrote:
>>> Hi
>>> I have installed Player v 2.1.0rc2 and Gazebo v0.8 pre2. I tried
>>> adding gripper to the existing pioneer2dx.
>>> In the file named pioneer2dx.model i added this
>>>
>>>  <joint:slider name="right_slider_joint">
>>>  <body1>right_gripper_body</body1>
>>>  <body2>left_gripper_body</body2>
>>>  <anchor>chassis_body</anchor>
>>>  <axis>0 1 0</axis>
>>>  <lowStop>0</lowStop>
>>>  <highStop>30</highStop>
>>>  </joint:slider>
>>>
>>>  <joint:slider name="left_slider_joint">
>>>  <body1>left_gripper_body</body1>
>>>  <body2>right_gripper_body</body2>
>>>  <anchor>chassis_body</anchor>
>>>  <axis>0 1 0</axis>
>>>  <lowStop>0</lowStop>
>>>  <highStop>30</highStop>
>>>  </joint:slider>
>>>
>>>  <body:cylinder name="left_gripper_body">
>>>  <xyz>0.277 0.07 -0.0725</xyz>
>>>  <rpy>0 90 90</rpy>
>>>  <geom:cylinder name="left_gripper_geom">
>>>  <size>.04 0.05</size>
>>>  <mass>0.1</mass>
>>>  <visual>
>>>  <size>.05 .2 .05</size>
>>>  <rpy>0 0 0</rpy>
>>>  <material>Gazebo/BumpyMetal</material>
>>>  <mesh>wheel.mesh</mesh>
>>>  </visual>
>>>  </geom:cylinder>
>>>  </body:cylinder>
>>>
>>>  <body:cylinder name="right_gripper_body">
>>>  <xyz>0.277 -0.07 -0.0725</xyz>
>>>  <rpy>0 90 90</rpy>
>>>
>>>  <geom:cylinder name="right_gripper_geom">
>>>  <size>0.04 0.05</size>
>>>  <mass>0.1</mass>
>>>  <visual>
>>>  <size>.05 .2 .05</size>
>>>  <rpy>0 0 0</rpy>
>>>  <material>Gazebo/BumpyMetal</material>
>>>  <mesh>wheel.mesh</mesh>
>>>  </visual>
>>>  </geom:cylinder>
>>>  </body:cylinder>
>>>
>>>
>>>
>>>  In the world file I used:
>>>  <controller:pioneer2_gripper name="gripper_controller">
>>>  <leftJoint>left_slider_joint</leftJoint>
>>>  <rightJoint>right_slider_joint</rightJoint>
>>>  <interface:gripper name="gripper1"/>
>>>  </controller:pioneer2_gripper>
>>>
>>>  <include embedded="true">
>>>  <xi:include href="models/pioneer2dx.model" />
>>>  </include>
>>>
>>>
>>>
>>> The gripper was rendered by gazebo but when i started player I got this message
>>>
>>>  Gazebo Plugin driver creating 1 device
>>>    6667.31.0 is  a simulation interface.
>>> opening /tmp/gazebo-sood-0
>>> opening /tmp/gazebo-sood-0/simulation.default 112 688
>>>  Gazebo Plugin driver creating 1 device
>>>    6667.4.0 is  a position2d interface.
>>>  Gazebo Plugin driver creating 1 device
>>>    6667.6.0 is  a laser interface.
>>>  Gazebo Plugin driver creating 1 device
>>>    6667.3.0 is error: Gazebo driver doesn't support interface type 3
>>> error   : Initialization failed for driver "gazebo"
>>> error   : failed to parse config file Desktop/gazebo.cfg driver blocks
>>>
>>>
>>> Interface 3 here is the gripper. The corresponding lines in gazebo.cfg file are
>>>
>>> driver
>>> (
>>>  name "gazebo"
>>>  provides ["gripper:0"]
>>>  gz_id "gripper1"
>>> )
>>>
>>>
>>> Please help me find a solution
>>> Sanchit
>>>
>>
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