[Playerstage-users] Re: Problems with playernav

[Neil M. <nm...@ec...>]

Hi All,
I solved this by specifying the port that player will listen. i.e. 
$player -p 6666 two.cfg
Regards, Neil

Neil Menzies wrote:

> Hi All,
>
> I am running AMCL on stage 1.6.2 (with player 1.6.4). When I run the
> following configuration file (two.cfg), and playernav:localhost:6666 I
> get the following output. The playernav console tells me that it failed
> to subscribe to localize, and the player console tells me that it is
> unable to locate a suitable position driver. However, if I remove the
> 6666 port specification i the cfg file and start player on the default
> port and run playernav localhost:6665, I do not get these messages.
> Could anyone throw some light on this?
>
> Thanks in advance,
> Neil
>
> */nmen005@ee4079cp:~/WorkingDirectory$ player two.cfg
> ** Player v1.6.4 **
> * 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.
> Startup options: [TCP]
>
> Parsing configuration file "two.cfg"
> trying to load /home/nmen005/WorkingDirectory/./libstage...failed
> (/home/nmen005/WorkingDirectory/./libstage.so: cannot open shared object
> file: No such file or directory)
> trying to load libstage...success
> invoking player_driver_init()...success
> Stage driver creating 1 device
> mapping device 6666.31.0 => "simple.world" [Include pioneer.inc][Include
> map.inc] done.
> Stage driver creating 1 device
> mapping device 6666.4.0 => "robot"
> Stage driver creating 1 device
> mapping device 6666.6.0 => "robot.laser:0"
> Using device table:
> ------------------------------------------------------------
> 0 driver stage id 6666:simulation:0
> 1 driver stage id 6666:position:0
> 2 driver stage id 6666:laser:0
> 3 driver mapfile id 6666:map:0
> 4 driver amcl id 6666:localize:0
> 5 driver writelog id 6666:log:0
> ------------------------------------------------------------
> listening on port 6666
> ** Player [port 6666] client accepted from 127.0.0.1 on socket 9 **
> MapFile loading image file:
> /home/nmen005/WorkingDirectory/./cave.png...Done.
> MapFile read a 500 X 500 map, at 0.030 m/pix
> error : unable to locate suitable position driver
> warning : not allowing subscription to unknown device "6666:planner:0"
>
> nmen005@ee4079cp:~/WorkingDirectory$ playernav localhost:6666
> Warning: Failed to subscribe to localize on robot 0; you won't be able
> to set its pose.
> Warning: Failed to subscribe to planner on robot 0; you won't be able to
> give it goals.
> requesting map
> done
>
> (two.cfg)
> driver
> (       
>   name "stage"
>   provides ["6666:simulation:0"]
>   plugin "libstage"
>   worldfile "simple.world"   
> )
>
> driver( name "stage"  provides ["6666:position:0"] model "robot" )
> driver( name "stage"  provides ["6666:laser:0"] model "robot" )
>
> driver
> (
>   name "mapfile"
>   provides ["6666:map:0"]
>   filename "cave.png"            #using 'cave' map
>   resolution 0.03  # 3cm per pixel    #3 cm/pixel
>   negate 1
> #  alwayson 1
> )
>
> driver
> (
>   name "amcl"
>   provides ["6666:localize:0"]
>   requires ["odometry::position:0" "laser:0" "laser::map:0"]
>     
>     init_pose [-4 -4 0]
>     init_pose_var [.1 .1 2]
> )
>
> driver
> (
>   name "writelog"
>   requires ["laser:0" "position:0"]
>   provides ["6666:log:0"]
>   filename "stage_map.log"
>   #alwayson 1
>   #autorecord 1
> )
>
>