From: Carle C. <car...@us...> - 2004-03-02 06:23:14
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Hi, I am a master student at Universit=C3=A9 de Sherbrooke (Qu=C3=A9bec, = Canada), under the supervision of Fran=C3=A7ois Michaud, and we are planning u= sing Gazebo as our 3D simulator for mobile robots in the lab.=20 I have developed two new models and one sensor for Gazebo that might interest some Gazebo users : Pionner2 Gripper, Pioneer2 sonars and a simple Ray Proximity sensor. There is still work to do on those devic= es=20 and they have not been extensively used yet. I would like to submit t= hem anyway and see if you are interested to add them in an eventual relea= se. If some Gazebo users are interested to test them, it would help getti= ng to a more stable version very soon. Some bugs are already identified, please see code documentation for more details (and before sending bu= g report! ;-) I've created world and config file that gives example on how they can= be used. There is also a very simple program to control the Gripper manually in player's c++ examples. Unfortunately, current models are only functional for latest stable release of Gazebo (0.3.0). I've tri= ed to use CVS version, but it seem that too many modifications occured since I started those models and, for some reason, it seems that some functionnalities are broken with CVS version ?? (rays are not traced = at all and collision detection don't work well??) I will investigate further on this in a near future. If you are interested by those mode= ls, I can offer to maintain them for future releases. I also tried to create Gripper and Sonars gazebo drivers for Player. Everything went fine for the Gripper, but I did'nt get the same luck with Sonars! Maybe someone can check the code to see what's wrong. Here's the problem description : After starting gazebo world with sonars : ]$ gazebo pioneer2dxSonars.world=20 and starting a player server : ]$ player -g default pioneer2dxSonars.config I try to start player c++ example sonarobstacleavoid : ]$ ./sonarobstacleavoid Here's the output : Unknown protocol WARNING: player_read() errored =2E..and then exits. On the server side I can see that the connection have been establishe= d=20 but get killed as soon as robot.Read() is called. Having investigate a little bit further, it seems that it is related = to a protocol problem on client side that kills the socket connection := =20 player_read(): read() errored while looking for STX=20 coming from playercclient.c in function player_read_tcp(). That's it...any clue on what I did wrong? Attached are the two patchs containing all new and modified files to = add gazebo models and sensor, and gazebo drivers for player. They should work on clean gazebo-src-0.3.0 release and player-src-1.4rc2 release. Any comments are welcomed! :-) Thanks Carle --=20 Carle C=C3=B4t=C3=A9, master student Universit=C3=A9 de Sherbrooke, Qu=C3=A9bec, Canada Department of Electrical Engineering and Computer Engineering LABORIUS (http://www.gel.usherb.ca/laborius) Email : Carle.Cote@USherbrooke.ca |
From: Nathan K. <nk...@ro...> - 2004-03-02 08:27:17
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Hello Carle, Excellent! Additions to Gazebo are always welcome. While we take a look at your contributions, would you be able to give some specifics reguarding the broken aspects of the CVS version of Gazebo? Any info will help in tracking down weird behavior. Thanks a lot. -nate On Mon, 2004-03-01 at 22:18, Carle Cote wrote: > Hi, >=20 > I am a master student at Universit=C3=A9 de Sherbrooke (Qu=C3=A9bec= , Canada), > under the supervision of Fran=C3=A7ois Michaud, and we are planning= using > Gazebo as our 3D simulator for mobile robots in the lab.=20 >=20 > I have developed two new models and one sensor for Gazebo that migh= t > interest some Gazebo users : Pionner2 Gripper, Pioneer2 sonars and = a > simple Ray Proximity sensor. There is still work to do on those dev= ices=20 > and they have not been extensively used yet. I would like to submit= them > anyway and see if you are interested to add them in an eventual rel= ease. > If some Gazebo users are interested to test them, it would help get= ting > to a more stable version very soon. Some bugs are already identifie= d, > please see code documentation for more details (and before sending = bug > report! ;-) >=20 > I've created world and config file that gives example on how they c= an be > used. There is also a very simple program to control the Gripper > manually in player's c++ examples. Unfortunately, current models ar= e > only functional for latest stable release of Gazebo (0.3.0). I've t= ried > to use CVS version, but it seem that too many modifications occured > since I started those models and, for some reason, it seems that so= me > functionnalities are broken with CVS version ?? (rays are not trace= d at > all and collision detection don't work well??) I will investigate > further on this in a near future. If you are interested by those mo= dels, > I can offer to maintain them for future releases. >=20 > I also tried to create Gripper and Sonars gazebo drivers for Player= . > Everything went fine for the Gripper, but I did'nt get the same luc= k > with Sonars! Maybe someone can check the code to see what's wrong. > Here's the problem description : >=20 > After starting gazebo world with sonars : > ]$ gazebo pioneer2dxSonars.world=20 >=20 > and starting a player server : > ]$ player -g default pioneer2dxSonars.config >=20 > I try to start player c++ example sonarobstacleavoid : > ]$ ./sonarobstacleavoid >=20 > Here's the output : >=20 > Unknown protocol > WARNING: player_read() errored >=20 > ...and then exits. >=20 > On the server side I can see that the connection have been establis= hed=20 > but get killed as soon as robot.Read() is called. >=20 > Having investigate a little bit further, it seems that it is relate= d to > a protocol problem on client side that kills the socket connection = :=20 >=20 > player_read(): read() errored while looking for STX=20 >=20 > coming from playercclient.c in function player_read_tcp(). >=20 > That's it...any clue on what I did wrong? >=20 > Attached are the two patchs containing all new and modified files t= o add > gazebo models and sensor, and gazebo drivers for player. They shoul= d > work on clean gazebo-src-0.3.0 release and player-src-1.4rc2 releas= e. >=20 > Any comments are welcomed! :-) >=20 > Thanks >=20 > Carle |
From: Carle C. <car...@us...> - 2004-03-02 12:30:18
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Hello Nathan, Just to be sure, I'll resend gazebo's patch because last email attachements seem corrupted somehow on reception. strange... For more specific info regarding broken aspects of CVS, it will take couple of days until I can work on this. As soon I'll get those info, I'll post them here. Thanks, Carle --=20 Carle C=C3=B4t=C3=A9, Master student Universit=C3=A9 de Sherbrooke, Qu=C3=A9bec, Canada Department of Electrical Engineering and Computer Engineering LABORIUS (http://www.gel.usherb.ca/laborius) Email : Carle.Cote@USherbrooke.ca |
From: Carle C. <car...@us...> - 2004-03-02 12:40:51
Attachments:
gazebo-src-0.3.0-patch-0.1.0.tar.gz
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Hmm...I think the very long filename is the problem. Here's another t= ry with shorter filename. Sorry for double-triple post! Carle > Hello Nathan, >=20 > Just to be sure, I'll resend gazebo's patch because last email > attachements seem corrupted somehow on reception. strange... >=20 > For more specific info regarding broken aspects of CVS, it will tak= e > couple of days until I can work on this. As soon I'll get those inf= o, > I'll post them here. >=20 > Thanks, >=20 > Carle --=20 Carle C=C3=B4t=C3=A9, Master student Universit=C3=A9 de Sherbrooke, Qu=C3=A9bec, Canada Department of Electrical Engineering and Computer Engineering LABORIUS (http://www.gel.usherb.ca/laborius) Email : Carle.Cote@USherbrooke.ca |