From: Ather S. S. (Shiraz) <ath...@gm...> - 2011-11-28 20:10:41
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Thank you Mr. Chliveros, I unzipped the folder in the top level directory and ran player simple_mricp.cfg and I got the same error saying that it didn't recognize the mricp driver. s@ubuntu:~/mricp$ player simple_mricp.cfg Registering driver Player v.3.0.2 invoking player_driver_init()... Stage driver plugin init ** Stage plugin v3.2.1 ** * Part of the Player Project [http://playerstage.sourceforge.net] success Stage plugin: 6665.simulation.0 is a Stage world [Loading ./simple.world][Include pioneer.inc][Include map.inc][Include sick.inc] Stage plugin: 6665.position2d.0 is "r0" Stage plugin: 6665.laser.0 is "r0.laser:0" Stage plugin: 6665.graphics2d.0 is "r0" Stage plugin: 6665.graphics3d.0 is "r0" error : Couldn't find driver "mricp" error : failed to parse config file simple_mricp.cfg driver blocks s@ubuntu:~/mricp$ -- Am I doing something wrong ? Did I not install the application correctly ? I ask because I went through quite a bit of work to install it previously. I greped for mricp under the player installation root directory and got : CMakeCache.txt://Build driver mricp CMakeCache.txt:PLAYER_NOT_BUILT_REASONS_mricp:INTERNAL=Could not find package gtk+-2.0 When I go to synaptic manager I see that libgtk+2.0-dev is greened out (meaning I installed it). When I go and type cmake ../ in the build directory I get the message : -- mricp - Could not find package gtk+-2.0 I did a make clean and then did cmake again but same problem. When do apt-get install it tells me that gtk+2.0 is already installed s@ubuntu:~/player-3.0.2$ sudo apt-get install libgtk2.0-dev Reading package lists... Done Building dependency tree Reading state information... Done libgtk2.0-dev is already the newest version. The following packages were automatically installed and are no longer required: linux-headers-2.6.38-8-generic linux-headers-2.6.38-8 Use 'apt-get autoremove' to remove them. 0 upgraded, 0 newly installed, 0 to remove and 131 not upgraded. On Mon, Nov 28, 2011 at 9:40 AM, George C <geo...@gm...> wrote: > From: George C <geo...@gm...> > Date: 28 November 2011 14:35 > Subject: Re: [Playerstage-users] Example MRICP simulation Please? > To: pla...@li... > > > Hello, > >> If someone knows of an example that would work (like simple.cfg) that >> would be great! > > see attached tarball, then > > $ cd /your/path/to/Stage-3.2.1-Source/worlds > > untar therein > > $ tar xf mricp.tar.gz > > and then > > $ cd mricp > > $ player simple_mricp.cfg > > it should perform ok... > > ** note that you can view the produced occ.grids as images in the > directory cd /your/path/to/Stage-3.2.1-Source/worlds/mricp/maps > >> Lastly does anyone know of any books which cover ICP (NOT papers >> / publications but books). > > see here: http://tosca.cs.technion.ac.il/book/ (also within the readme file) > > > George > > > > > On 28 November 2011 00:42, Ather Shiraz Sidiki (Shiraz) > <ath...@gm...> wrote: >> After digging through the MRICP 2.0 folder I found stage_test folder >> which is now included in the standard player install. >> >> However when I run it I get a bunch of errors because apparently the >> example is for an older version and has dated syntax. >> Using stage-3.2.1 and Player 3.0.2 >> I read this link : >> http://www-users.cs.york.ac.uk/jowen/player/playerstage-manual-update.html >> >> and discovered that I needed to alter the pose and size and I went >> ahead and changed that but now it cannot find the mricp driver. >> >> If you want to see the project it is uploaded at : >> >> https://docs.google.com/open?id=0BwG45lg3wcwnMDQ3ZjI1YzItNjc3Zi00YmVjLTlkYWYtZjgzNDQyNjJlNWFi >> >> If someone knows of an example that would work (like simple.cfg) that >> would be great! (by the way the example player simple.cfg works ). >> >> >> WHEN using player stage MRICP : >> s@ubuntu:~/player-3.0.2/server/drivers/mixed/mricp/stage_test$ ls -al >> total 56 >> drwxr-xr-x 2 s s 4096 2010-06-28 00:32 . >> drwxr-xr-x 7 s s 4096 2011-10-22 05:31 .. >> -rw-r--r-- 1 s s 25759 2007-11-21 05:51 casarea.jpeg >> -rw-r--r-- 1 s s 1103 2007-11-21 05:51 homer.inc >> -rw-r--r-- 1 s s 81 2007-11-21 05:51 map.inc >> -rw-r--r-- 1 s s 1177 2007-11-21 05:51 rescue.world >> -rw-r--r-- 1 s s 596 2009-05-13 07:46 stage_mricp.cfg >> -rw-r--r-- 1 s s 1138 2007-11-21 05:51 wheelchair.inc >> s@ubuntu:~/player-3.0.2/server/drivers/mixed/mricp/stage_test$ player >> stage_mricp.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()... >> Stage driver plugin init >> >> ** Stage plugin v3.2.1 ** >> * Part of the Player Project [http://playerstage.sourceforge.net] >> * Copyright 2000-2009 Richard Vaughan, Brian Gerkey and contributors. >> * Released under the GNU General Public License v2. >> >> success >> Stage plugin: 6665.simulation.0 is a Stage world >> [Loading ./rescue.world][Include homer.inc][Include map.inc] >> err: Loading size. Need a vector of length 3: found 2. >> (/home/s/Stage-3.2.1-Source/libstage/model.cc Load) >> >> http://www-users.cs.york.ac.uk/jowen/player/playerstage-manual-update.html >> >> >> -- >> >> Changed various pose/size but get this error : >> >> Stage plugin: 6665.simulation.0 is a Stage world >> [Loading ./rescue.world][Include homer.inc][Include map.inc] >> warn: worldfile ./rescue.world:3 : property [interval_real] is defined >> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:18 : property [size] is defined but not >> used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc WarnUnused) >> warn: worldfile ./rescue.world:22 : property [gui_movemask] is defined >> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:25 : property [gui_movemask] is defined >> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:41 : property [polygon[0].point[0]] is >> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:42 : property [polygon[0].point[1]] is >> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:43 : property [polygon[0].point[2]] is >> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:44 : property [polygon[0].point[3]] is >> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:40 : property [polygon[0].points] is >> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> warn: worldfile ./rescue.world:39 : property [polygons] is defined but >> not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc WarnUnused) >> warn: worldfile ./rescue.world:46 : property [range_min] is defined >> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc >> WarnUnused) >> >> Stage plugin: 6665.position2d.0 is "robot" >> Stage plugin: 6665.laser.0 is "robot.laser:0" >> error : Failed to load plugin MrIcpDriver.so. >> error : libtool reports error: file not found >> error : plugin search path: >> /usr/local/lib:/home/s/stage_test:.:/usr/local/lib/ >> error : failed to load plugin: MrIcpDriver.so >> error : failed to parse config file stage_mricp.cfg driver blocks >> >> >> -- >> >> Tried adding following block to simple.cfg but got error (this is >> Claudio's suggestion) : >> http://old.nabble.com/Help-with-SLAM-td28813883i20.html >> >> >> driver >> ( >> name "mricp" >> provides ["position2d:1" "map:0"] >> requires ["position2d:0" "laser:0"] >> number_of_lasers 1 >> laser0_ranges [-90 90] >> playerv_debug 0 >> period 0.2 >> MAXR 5 >> MINR 0.05 >> gate1 0.5 >> gate2 0.6 >> map_resolution 0.05 >> map_saving_period 1 >> map_size 40 >> use_max_range 1 >> sparse_scans_rate 2 >> map_path "logs/" >> debug 0 >> alwayson 1 >> log 1 >> use_odom 1 >> ) >> success >> Stage plugin: 6665.simulation.0 is a Stage world >> [Loading ./simple.world][Include pioneer.inc][Include map.inc][Include sick.inc] >> >> Stage plugin: 6665.position2d.0 is "r0" >> Stage plugin: 6665.laser.0 is "r0.laser:0" >> Stage plugin: 6665.speech.0 is "r0" >> Stage plugin: 6665.graphics2d.0 is "r0" >> Stage plugin: 6665.graphics3d.0 is "r0" >> error : Couldn't find driver "mricp" >> error : failed to parse config file simple.cfg driver blocks >> -- >> >> I looked at the following example by sebastian : >> http://old.nabble.com/Help-with-SLAM-td28813883i20.html >> >> and got the following error : >> >> success >> Stage plugin: 6665.simulation.0 is a Stage world >> [Loading ./simple.world][Include pioneer.inc][Include >> map.inc][Include sick.inc] >> >> Stage plugin: 6665.position2d.0 is "r0" >> Stage plugin: 6665.ranger.0 is err: error: stage driver doesn't >> support interface type 62 >> (/home/s/Stage-3.2.1-Source/libstageplugin/p_driver.cc StgDriver) >> error : Initialization failed for driver "stage" >> error : failed to parse config file icp_test.cfg driver blocks >> >> >> Currently I am in favor of getting Sebastian's icp_test to work that >> would be great following is his icp_test.cfg : >> # load the Stage plugin simulation driver >> >> driver >> >> ( >> >> name "stage" >> >> provides [ "simulation:0" ] >> >> plugin "stageplugin" >> >> >> >> # load the named file into the simulator >> >> worldfile "simple.world" >> >> ) >> >> >> >> # Create a Stage driver and attach position2d and laser interfaces >> >> # to the model "r0" >> >> driver >> >> ( >> >> name "stage" >> >> provides [ "position2d:0" "ranger:0" "ranger:1" ] >> >> model "r0" >> >> ) >> >> driver >> >> ( >> >> name "rangertolaser" >> >> requires ["ranger:1"] >> >> provides ["laser:0"] >> >> ) >> >> driver >> >> ( >> >> name "mricp" >> >> provides ["position2d:1" "map:0"] >> >> requires ["position2d:0" "laser:0"] >> >> number_of_lasers 1 >> >> laser0_ranges [-90 90] >> >> playerv_debug 0 >> >> period 0.2 >> >> MAXR 5 >> >> MINR 0.05 >> >> gate1 0.5 >> >> gate2 0.6 >> >> #map_resolution 0.05 >> >> map_resolution 0.032 >> >> map_saving_period 10 >> >> map_size 20 >> >> use_max_range 1 >> >> sparse_scans_rate 1 >> >> #interpolate 0 >> >> >> >> map_path "logs/" >> >> debug 0 >> >> alwayson 0 >> >> log 1 >> >> use_odom 1 >> >> ) >> >> driver >> >> ( >> >> name "mapfile" >> >> provides ["map:1"] >> >> filename "/home/s/Stage-3.2.1-Source/worlds/simple/cave.png" >> >> resolution 0.032 # meters per pixel >> >> origin [-8 -8 ] # real-world location of the bottom-left-hand corner >> of the map >> >> ) >> >> -- >> >> Lastly does anyone know of any good books which cover ICP (NOT papers >> / publications but books). >> >> Shiraz >> >> ------------------------------------------------------------------------------ >> All the data continuously generated in your IT infrastructure >> contains a definitive record of customers, application performance, >> security threats, fraudulent activity, and more. Splunk takes this >> data and makes sense of it. IT sense. And common sense. >> http://p.sf.net/sfu/splunk-novd2d >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > |