[Playerstage-users] Player permission to command devices

[Drew S. <din...@cs...>]

God day to all,

I hate to be the guy who hops on the list only to immediately ask a 
question, but I've looked through the documentation, list archives, and 
scoured Google to no avail.  The situation is that I have Gazebo running 
(the .world file is at the bottom of this message), and player connected 
  to it (the .cfg is at the bottom of this message).  When I attempt to 
interact with the player server using the C++ library (playerclient.h), 
the program runs and receives position data but is not able to move the 
robot and responds with the message:

WARNING: tried to get 'w' access to device 6665:4:0 but got 'e' access.

and each time the program attempts to do something (command the motors), 
the player server complains:

warning : No permissions to command 4:0

Are there permission settings that I'm missing somewhere?  I hope this 
isn't a completely stupid question, as I've been struggling with this 
problem for some time now.

.world file, invoked with "wxgazebo foo.world":

<?xml version="1.0"?>
<gz:world
   xmlns:gz='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:window='http://playerstage.sourceforge.net/gazebo/xmlschema/#window'
xmlns:param='http://playerstage.sourceforge.net/gazebo/xmlschema/#params'
xmlns:ui='http://playerstage.sourceforge.net/gazebo/xmlschema/#params'>

<param:Global>
     <gravity>0.0 0.0 -9.8</gravity>
</param:Global>

<model:ObserverCam>
     <id>UserCam1</id>
     <xyz>-0.506 0.894 0.865</xyz>
     <rpy>0 26 -23</rpy>
     <displayRays>true</displayRays>
     <updatePeriod>.10</updatePeriod>
     <window>
       <title>Robot World Viewer</title>
       <size>640 480</size>
     </window>
</model:ObserverCam>

<model:LightSource>
     <id>lights1</id>
     <xyz>0.0 10.0 100.0</xyz>
</model:LightSource>

<model:GroundPlane>
     <id>ground1</id>
     <rpy>0 0 0</rpy>
     <color>0 1 0</color>
     <texture2D>grid.ppm</texture2D>
</model:GroundPlane>

<model:SimpleSolid>
     <id>object1</id>
     <xyz>5 0 0 </xyz>
     <shape>box</shape>
     <mass> 200 </mass>
     <size>2 2 2</size>
</model:SimpleSolid>


<model:ClodBuster>
     <id>robo1</id>
     <xyz>1.0 0.0 0.25</xyz>
     <raw_encoder_position>true</raw_encoder_position>

     <model:SonyVID30>
     <id>camera1</id>
     <xyz>0.0 0.0 0.27</xyz>
         <rpy>0 0 0</rpy>
         <updatePeriod>.1</updatePeriod>
     <displayRays>true</displayRays>
     <window>
         <title>RoboCam</title>
         <size>320 200</size>
     </window>
     </model:SonyVID30>

     <model:SickLMS200>
     <id>laser1</id>
     <xyz>0.0 0.0 0.16</xyz>
     <rpy>0 9 0</rpy>
     </model:SickLMS200>

     <model:GarminGPS>
     <id>GPS1</id>
     </model:GarminGPS>
</model:ClodBuster>
</gz:world>
--------------------end foo.world--------------------

and the player config file, invoked with "player -g 0 foo.cfg":

driver (
     name "gz_position"
     provides ["position:0"]
     gz_id "robot1_position"
)

driver (
     name "gz_camera"
     provides ["camera:0"]
     gz_id "camera1"
)

driver (
     name "gz_laser"
     provides ["laser:0"]
     gz_id "laser1"
)

driver (
     name "gz_gps"
     provides ["gps:0"]
     gz_id "GPS1"
)

driver (
     name "vfh"
     requires ["position:0" "laser:0"]
     provides ["position:1"]
     safety_dist 0.1
     distance_epsilon 0.3
     angle_epsiolon 5
)
----------------end foo.cfg---------------

-- 
Drew Stephens <din...@cs...>
http://dinomite.net