[Playerstage-users] could not subscribe to any device

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Hi,

I am using stage 2.0.3 with player 2.0 on Ubuntu  Hardy Heron. I am working
a on a predator-prey project. I am planning to use a lot of devices. For
some reason whenever, I try to run my code it says cannot subscribe. I know
it might something silly but I cant figure it out. Here is my cfg, world and
cc files:

driver
(		
  name "stage"
  provides ["simulation:0"]
  plugin "libstageplugin"
  worldfile "worldfile.world"	
)

driver( name "stage" provides ["map:0"  "6666:map:0" "6667:map:0"
"6668:map:0" ] model "autolab" )

# predator 1 robot 
driver( 
 name "stage"
 provides ["6666:position2d:0" "6666:laser:0" "6666:gripper:0"
"6666:fiducial:0"]
 model "predator1" 
)

driver(
  name "vfh"
  requires ["6666:position2d:0" "6666:laser:0"]
  provides ["6666:position2d:1"]
  safety_dist 0.10
  distance_epsilon 0.3
  angle_epsilon 5
)

driver
(
  name "amcl"
  provides ["6666:localize:0" "6666:position2d:2"]
  requires ["odometry::6666:position2d:0" "6666:laser:0"
"laser::6666:map:0"]
)

driver(
  name "wavefront"
  provides ["6666:planner:0"]
  requires ["output::6666:position2d:1" "input::6666:position2d:0"
"6666:map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)

# predator 2 robot 
driver( 
 name "stage"
 provides ["6667:position2d:0" "6667:laser:0" "6667:gripper:0"
"6667:fiducial:0"]
 model "predator2" 
)

driver(
  name "vfh"
  requires ["6667:position2d:0" "6667:laser:0"]
  provides ["6667:position2d:1"]
  safety_dist 0.10
  distance_epsilon 0.3
  angle_epsilon 5
)

driver
(
  name "amcl"
  provides ["6667:localize:0" "6667:position2d:2"]
  requires ["odometry::6667:position2d:0" "6667:laser:0"
"laser::6667:map:0"]
)

driver(
  name "wavefront"
  provides ["6667:planner:0"]
  requires ["output::6667:position2d:1" "input::6667:position2d:0"
"6667:map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)

# prey robot 
driver( 
 name "stage"
 provides ["6668:position2d:0" "6668:laser:0" "6668:gripper:0"
"6668:fiducial:0"]
 model "prey" 
)

driver(
  name "vfh"
  requires ["6668:position2d:0" "6668:laser:0"]
  provides ["6668:position2d:1"]
  safety_dist 0.10
  distance_epsilon 0.3
  angle_epsilon 5
)

driver
(
  name "amcl"
  provides ["6668:localize:0" "6668:position2d:2"]
  requires ["odometry::6668:position2d:0" "6668:laser:0"
"laser::6668:map:0"]
)

driver(
  name "wavefront"
  provides ["6668:planner:0"]
  requires ["output::6668:position2d:1" "input::6668:position2d:0"
"6668:map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)

# defines Pioneer-like robots
include "pioneer.inc"

# defines 'map' object used for floorplans
include "map.inc"

# defines the laser model `sick_laser' configured like a Sick LMS-200
include "sick.inc"

# set the resolution of the underlying raytrace model in meters
resolution 0.04

interval_sim 100  # milliseconds per update step
interval_real 100 # real-time milliseconds per update step

size [25 25]

gui_disable 0
gui_interval 100
gui_menu_interval 20

window( 
  size [ 850 900 ]
  center [0  0] 
  scale 0.03
)

map( 
  bitmap "autolab.png" 
  map_resolution 0.02
  size [24 24] 
  name "autolab"
)

# define a robot type
define predator pioneer2dx
(
  sick_laser
  (
    pose [0.030 0.000 0.000]
    fiducialfinder(range_max 8 range_max_id 8)
  )

  fiducial_return 1
  gripper_return 0
  localization "gps"
  localization_origin [0 0 0]
)

# define a robot type
define prey pioneer2dx
(
  sick_laser
  (
    pose [0.030 0.000 0.000]
    fiducialfinder(range_max 8 range_max_id 8)
  )

  fiducial_return 2
  gripper_return 0
  localization "gps"
  localization_origin [0 0 0]
)

# create a predator robot
predator
(
  color "red"
  name "predator1"
  #pose [-7  4.5 10]
  pose [-10  4.5 0]
  gripper(pose [0.200 0.000 0.000] color "gray")
)

# create a predator robot
predator
(
  color "red"
  name "predator2"
  #pose [-10 2 100]
  pose [-10 2.5 0]
  gripper(pose [0.200 0.000 0.000] color "gray")
)

# create a prey robot
prey
(
  color "green"
  name "prey"
  #pose [-3 2 250]
  pose [-10 6.5 270]
  gripper(pose [0.200 0.000 0.000] color "gray")
)

#include <libplayerc++/playerc++.h>
#include <iostream>
#include <cstdlib>
#include <cmath>
#include "prey.h"

using namespace PlayerCc;
using namespace std;

#include "args.h"

int main(int argc, char** argv)
{
	parse_args(argc, argv);
	try
	{
		PlayerClient robot(gHostname, gPort);
		Position2dProxy pdp(&robot, gIndex);
		PlannerProxy pp(&robot, gIndex);
		LaserProxy lp(&robot, gIndex);
		FiducialProxy fp(&robot, gIndex);

		//pp.SetEnable (true);
		//pp.SetGoalPose(0,0,0);

		while(1)
		{
			robot.Read();
			cout << "fp.getcount = " << fp.GetCount() << endl;
			cout << "fp.id = " << fp.GetFiducialItem(0).id << endl;
			sleep(10);
		} // while
	} // try
	catch (PlayerCc::PlayerError e)
	{
		cerr << e << endl;
		return -1;
	} // catch
} 

Here is my makefile just in case you need to review it:
SRCS     = prey.cc

DEBUG    = -g
CXXFLAGS = $(DEBUG) -Wall
INCLUDES = -I/usr/include/player-2.0
LDPATH   =
LIBS     = -lplayerc++ -lplayercore

EXEC     = prey 
DEP_FILE = .depend_prey
OBJS     = $(SRCS:.cc=.o)

#
# You should not have to make any changes below this line!
#

.PHONY: all clean distclean

all: depend_prey $(EXEC)

$(EXEC): $(OBJS)
	@echo Makefile - linking $@
	@$(CXX) $(LDPATH) $(LIBS) $^ -o $@

.cc.o:
	@echo Makefile - compiling $<
	@$(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@

clean:
	$(RM) core *.o
	#$(RM) core $(OBJS)

distclean: clean
	$(RM) $(EXEC)
	$(RM) $(DEP_FILE)
	$(RM) scaled-autolab.pnm

depend_prey: $(DEP_FILE)
	@touch $(DEP_FILE)

$(DEP_FILE):
	@echo Makefile - building dependencies in: $@
	@$(CXX) -E -MM $(CXXFLAGS) $(INCLUDES) $(SRCS) >> $(DEP_FILE)

ifeq (,$(findstring clean,$(MAKECMDGOALS)))
ifeq (,$(findstring distclean,$(MAKECMDGOALS)))
-include $(DEP_FILE)
endif
endif

When I run prey it comes to Position2dProxy command and says this:
calling connect
done
playerc error   : got NACK from request
playerc error   : failed to get response
Position2dProxy::Position2dProxy()(-1) : could not subscribe

Thanks.
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