Re: [PlayerStage-Gazebo] Problem with infra red interface

[Jonas L. <jo...@we...>]

Hello,
you are right, there IS a libgazebo.so. Sorry, I was blind :-)
This is my worldfile:

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

    <model:ObserverCam xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
        <id>userCam0</id>
        <xyz>0.660 7.433 2.545</xyz>
        <rpy>0 15 -96</rpy>
        <imageSize>640 400</imageSize>
      </model:ObserverCam>
      <model:LightSource xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
        <id>light1</id>
        <xyz>30.000 30.000 100.000</xyz>
      </model:LightSource>
      <model:LightSource xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
        <id>light2</id>
        <xyz>-30.000 -30.000 100.000</xyz>
      </model:LightSource>
      <model:GroundPlane xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
        <id>ground1</id>
        <xyz>-10.000 -10.000 0.000</xyz>
        <color>0.5 0.5 0.5</color>
         <textureFile>grid.ppm</textureFile>
      </model:GroundPlane>

          <model:SimpleSolid xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
                <id>cyl1</id>
                <xyz>91.975 -2.152 0.127</xyz>
                <shape>sphere</shape>
                <size>0.6</size>
            </model:SimpleSolid>

    <model:SimpleSolid xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
        <id>wall1</id>
        <shape>box</shape>
        <xyz>0.533 10.013 0.385</xyz>
        <rpy>-79 0 0</rpy>
        <size>1.3 0.0010 2</size>
        <fiducial>5</fiducial>
        <retro>1</retro>
        <gravity>false</gravity>
        <enable>true</enable>
    </model:SimpleSolid>
    <model:MosroModel xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model">
        <plugin>MosroModel.so</plugin>
        <id>robot</id>
        <xyz>-0.388 0.139 0</xyz>
        <rpy>0 90 0</rpy>
        <debug>true</debug>
    </model:MosroModel>

</gz:world>

(Yes, I want my robot do lay on the back )

Maybe gazebo uses the libgazeboplugin? The nm tool says, that there is no gz_ir_* in it.
But why can I build it?



Nate Koenig schrieb:
> Hello,
>
> What does your world file look like? And there should be libgazebo.so
> where ever you installed gazebo.
>
> -nate
>
> On 10/16/07, rantanplan <jo...@we...> wrote:
>> Hello,
>>
>> can anyone help me?
>> I implemented a simple Robot with sonars in gazebo and everything worked.
>> Now I'm trying to add infra red sensors and get undefined references when I
>> want to load my model/worldfile in wxgazebo.
>> Building the model (make) works without any errors.
>>
>> Commenting out all references to gz_ir_* (i.e: gz_ir_alloc();) makes the
>> errors on loading the model/worldfile disappear.
>> Here's the output:
>> starting server
>> waiting for server
>> ** Gazebo 0.7.0 **
>> * 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.
>> using display [:0]
>> rendering: [GLXP pbuffer] direct [yes] RGBA [8 8 8 0] depth [24]
>> loading /home/rante/mosroSim/worlds/./MosroModel.so...
>> error   : error loading plugin: /home/rante/mosroSim/worlds/./MosroModel.so:
>> undefined symbol: gz_ir_alloc
>>
>> /// I think here, gazebo tries to load my model from another location, but
>> the real error is the one above.
>> loading /home/rante/local/lib/gazebo/plugins/MosroModel.so...
>> error   : error loading plugin:
>> /home/rante/local/lib/gazebo/plugins/MosroModel.so: cannot open shared
>> object file: No such file or directory
>> Initialization failed
>> server died
>> stopping server
>>
>> My Gazebo installation worked fine, checking my libs with the nm tool to
>> verify that the lib is complete brought following output:
>> nm libgazebo.a | grep ir
>>          U mkdir
>>          U rmdir
>> gz_ir.o:
>> 00000000 T gz_ir_alloc
>> 0000012e T gz_ir_close
>> 0000004d T gz_ir_create
>> 000000c9 T gz_ir_destroy
>> 0000002c T gz_ir_free
>> 00000146 T gz_ir_lock
>> 000000e1 T gz_ir_open
>> 00000168 T gz_ir_post
>> 00000157 T gz_ir_unlock
>>
>> This looks good, doesn't it?
>> There is NO libgazebo.so file in my lib-dir, I think that's okay, but to
>> test it i created an .so file.
>> Works fine without any gz_ir_* stuff.
>>
>> Any idea?
>> --
>> View this message in context: http://www.nabble.com/Problem-with-infra-red-interface-tf4634277.html#a13233834
>> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>>
>>
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>
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