Re: [PlayerStage-Gazebo] connecting gazebo with player: gz_position Initialization failed

[Nate K. <nat...@gm...>]

Hello,

Gazebo is incompatible with Player 2.0 (and Player CVS). I'm working
on a fix for this right now, and it should be done by Friday.

-nate

On 3/2/06, so...@in... <so...@in...> wrote:
> Hi everyone,
>
> I have the following problem when I try to connect player with gazebo. I =
use the CVS version of both gazebo and player.
>
>
> $ player -g default /usr/local/share/player/config/gazebo.cfg
>
> * Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge=
.net].
> * Copyright (C) 2000 - 2005 Brian Gerkey, Richard Vaughan, Andrew Howard,
> * Nate Koenig, and contributors. Released under the GNU General Public Li=
cense.
> * Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and y=
ou
> * are welcome to redistribute it under certain conditions; see COPYING
> * for details.
>
> GzClient ServerId[0]
> gz_client.c:122 opening /tmp/gazebo-sotos-0
> gz_iface.c:214 opening /tmp/gazebo-sotos-0/sim.default 050 180
> /usr/local/share/player/config/gazebo.cfg:18 error: unknown interface: [p=
osition]
> error   : Initialization failed for driver "gz_position"
> error   : failed to parse config file /usr/local/share/player/config/gaze=
bo.cfg
> $
>
>
> The configure is as follows:
>
> $ ./configure --enable-gazebo
> checking build system type... i686-redhat-linux-gnu
> checking host system type... i686-redhat-linux-gnu
> checking target system type... i686-redhat-linux-gnu
> checking for a BSD-compatible install... /usr/bin/install -c
> checking whether build environment is sane... yes
> checking for gawk... gawk
> checking whether make sets $(MAKE)... yes
> checking how to create a ustar tar archive... gnutar
> checking whether make sets $(MAKE)... (cached) yes
> checking for gcc... gcc
> checking for C compiler default output file name... a.out
> checking whether the C compiler works... yes
> checking whether we are cross compiling... no
> checking for suffix of executables...
> checking for suffix of object files... o
> checking whether we are using the GNU C compiler... yes
> checking whether gcc accepts -g... yes
> checking for gcc option to accept ANSI C... none needed
> checking for style of include used by make... GNU
> checking dependency style of gcc... gcc3
> checking for g++... g++
> checking whether we are using the GNU C++ compiler... yes
> checking whether g++ accepts -g... yes
> checking dependency style of g++... gcc3
> checking how to run the C preprocessor... gcc -E
> checking for a BSD-compatible install... /usr/bin/install -c
> checking whether byte ordering is bigendian... no
> checking for a sed that does not truncate output... /bin/sed
> checking for egrep... grep -E
> checking for ld used by gcc... /usr/bin/ld
> checking if the linker (/usr/bin/ld) is GNU ld... yes
> checking for /usr/bin/ld option to reload object files... -r
> checking for BSD-compatible nm... /usr/bin/nm -B
> checking whether ln -s works... yes
> checking how to recognise dependent libraries... pass_all
> checking for ANSI C header files... yes
> checking for sys/types.h... yes
> checking for sys/stat.h... yes
> checking for stdlib.h... yes
> checking for string.h... yes
> checking for memory.h... yes
> checking for strings.h... yes
> checking for inttypes.h... yes
> checking for stdint.h... yes
> checking for unistd.h... yes
> checking dlfcn.h usability... yes
> checking dlfcn.h presence... yes
> checking for dlfcn.h... yes
> checking how to run the C++ preprocessor... g++ -E
> checking for g77... g77
> checking whether we are using the GNU Fortran 77 compiler... yes
> checking whether g77 accepts -g... yes
> checking the maximum length of command line arguments... 32768
> checking command to parse /usr/bin/nm -B output from gcc object... ok
> checking for objdir... .libs
> checking for ar... ar
> checking for ranlib... ranlib
> checking for strip... strip
> checking if gcc static flag  works... yes
> checking if gcc supports -fno-rtti -fno-exceptions... no
> checking for gcc option to produce PIC... -fPIC
> checking if gcc PIC flag -fPIC works... yes
> checking if gcc supports -c -o file.o... yes
> checking whether the gcc linker (/usr/bin/ld) supports shared libraries..=
. yes
> checking whether -lc should be explicitly linked in... no
> checking dynamic linker characteristics... GNU/Linux ld.so
> checking how to hardcode library paths into programs... immediate
> checking whether stripping libraries is possible... yes
> checking if libtool supports shared libraries... yes
> checking whether to build shared libraries... yes
> checking whether to build static libraries... yes
> configure: creating libtool
> appending configuration tag "CXX" to libtool
> checking for ld used by g++... /usr/bin/ld
> checking if the linker (/usr/bin/ld) is GNU ld... yes
> checking whether the g++ linker (/usr/bin/ld) supports shared libraries..=
. yes
> checking for g++ option to produce PIC... -fPIC
> checking if g++ PIC flag -fPIC works... yes
> checking if g++ supports -c -o file.o... yes
> checking whether the g++ linker (/usr/bin/ld) supports shared libraries..=
. yes
> checking dynamic linker characteristics... GNU/Linux ld.so
> checking how to hardcode library paths into programs... immediate
> checking whether stripping libraries is possible... yes
> appending configuration tag "F77" to libtool
> checking if libtool supports shared libraries... yes
> checking whether to build shared libraries... yes
> checking whether to build static libraries... yes
> checking for g77 option to produce PIC... -fPIC
> checking if g77 PIC flag -fPIC works... yes
> checking if g77 supports -c -o file.o... yes
> checking whether the g77 linker (/usr/bin/ld) supports shared libraries..=
. yes
> checking dynamic linker characteristics... GNU/Linux ld.so
> checking how to hardcode library paths into programs... immediate
> checking whether stripping libraries is possible... yes
> checking for pkg-config... yes
> checking for swig... yes
> checking for python... yes
> checking for the distutils Python package... yes
> checking for /usr/lib/j2sdk1.5-sun/include/jni.h... no
> checking for /usr/lib/j2sdk1.5-sun/include/linux/jni_md.h... no
> checking for javac... no
> checking gsl/gsl_version.h usability... yes
> checking gsl/gsl_version.h presence... yes
> checking for gsl/gsl_version.h... yes
> checking libraw1394/raw1394.h usability... no
> checking libraw1394/raw1394.h presence... no
> checking for libraw1394/raw1394.h... no
> checking libdc1394/dc1394_control.h usability... no
> checking libdc1394/dc1394_control.h presence... no
> checking for libdc1394/dc1394_control.h... no
> checking jpeglib.h usability... yes
> checking jpeglib.h presence... yes
> checking for jpeglib.h... yes
> checking linux/videodev.h usability... yes
> checking linux/videodev.h presence... yes
> checking for linux/videodev.h... yes
> checking linux/joystick.h usability... yes
> checking linux/joystick.h presence... yes
> checking for linux/joystick.h... yes
> checking for linux/wireless.h... yes
> checking for pkg-config... /usr/bin/pkg-config
> checking for gdk-pixbuf-2.0... yes
> checking GDK_PIXBUF_CFLAGS... -I/usr/include/gtk-2.0 -I/usr/include/glib-=
2.0 -I/usr/lib/glib-2.0/include
> checking GDK_PIXBUF_LIBS... -Wl,--export-dynamic -lgdk_pixbuf-2.0 -lm -lg=
object-2.0 -lgmodule-2.0 -ldl -lglib-2.0
> checking linux/serial.h usability... yes
> checking linux/serial.h presence... yes
> checking for linux/serial.h... yes
> checking for linux/serial.h... (cached) yes
> checking sphinx2/s2types.h usability... no
> checking sphinx2/s2types.h presence... no
> checking for sphinx2/s2types.h... no
> checking for linux/serial.h... (cached) yes
> checking openssl/md5.h usability... yes
> checking openssl/md5.h presence... yes
> checking for openssl/md5.h... yes
> checking for MD5_Init in -lcrypto... yes
> checking for gazebo >=3D 0.5.2... yes
> checking GAZEBO_CFLAGS... -I/usr/local/include
> checking GAZEBO_LIBS... -L/usr/local/lib -lgazebo
> checking for gz_client_wait in -lgazebo... yes
> checking for gz_fiducial_fid_t.pose... no
> checking for gz_gps_data_t.utc_time... yes
> checking for gz_sim_alloc in -lgazebo... yes
> checking for gz_camera_alloc in -lgazebo... yes
> checking for gz_factory_alloc in -lgazebo... yes
> checking for gz_fiducial_alloc in -lgazebo... yes
> checking for gz_gps_alloc in -lgazebo... yes
> checking for gz_laser_alloc in -lgazebo... yes
> checking for gz_position_alloc in -lgazebo... yes
> checking for gz_position_alloc in -lgazebo... (cached) yes
> checking for gz_power_alloc in -lgazebo... yes
> checking for gz_ptz_alloc in -lgazebo... yes
> checking for gz_truth_alloc in -lgazebo... no
> configure: WARNING: gazebo truth not found; disabled
> checking for gz_stereo_alloc in -lgazebo... yes
> checking for gz_gripper_alloc in -lgazebo... yes
> checking for gz_sonar_alloc in -lgazebo... yes
> checking for libgnomecanvas-2.0... yes
> checking GNOMECANVAS_CFLAGS... -DXTHREADS -D_REENTRANT -DXUSE_MTSAFE_API =
-I/usr/include/libgnomecanvas-2.0 -I/usr/include/libart-2.0 -I/usr/include/=
pango-1.0 -I/usr/include/freetype2 -I/usr/include/gtk-2.0 -I/usr/include/gl=
ib-2.0 -I/usr/lib/glib-2.0/include -I/usr/lib/gtk-2.0/include -I/usr/X11R6/=
include -I/usr/include/atk-1.0 -I/usr/include/freetype2/config
> checking GNOMECANVAS_LIBS... -Wl,--export-dynamic -lgnomecanvas-2 -lart_l=
gpl_2 -lpangoft2-1.0 -lgtk-x11-2.0 -lgdk-x11-2.0 -latk-1.0 -lgdk_pixbuf-2.0=
 -lm -lpangoxft-1.0 -lpangox-1.0 -lpango-1.0 -lgobject-2.0 -lgmodule-2.0 -l=
dl -lglib-2.0
> checking for gtk+-2.0... yes
> checking GTK_CFLAGS... -DXTHREADS -D_REENTRANT -DXUSE_MTSAFE_API -I/usr/i=
nclude/gtk-2.0 -I/usr/lib/gtk-2.0/include -I/usr/X11R6/include -I/usr/inclu=
de/atk-1.0 -I/usr/include/pango-1.0 -I/usr/include/freetype2 -I/usr/include=
/freetype2/config -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include
> checking GTK_LIBS... -Wl,--export-dynamic -lgtk-x11-2.0 -lgdk-x11-2.0 -la=
tk-1.0 -lgdk_pixbuf-2.0 -lm -lpangoxft-1.0 -lpangox-1.0 -lpango-1.0 -lgobje=
ct-2.0 -lgmodule-2.0 -ldl -lglib-2.0
> checking for gdk-pixbuf-2.0... yes
> checking GDK_PIXBUF_CFLAGS... -I/usr/include/gtk-2.0 -I/usr/include/glib-=
2.0 -I/usr/lib/glib-2.0/include
> checking GDK_PIXBUF_LIBS... -Wl,--export-dynamic -lgdk_pixbuf-2.0 -lm -lg=
object-2.0 -lgmodule-2.0 -ldl -lglib-2.0
> checking whether the compiler implements namespaces... yes
> checking whether the Boost::Signal library is available... yes
> checking for main in -lboost_signals... yes
> checking whether the Boost::Thread library is available... yes
> checking for main in -lboost_thread... yes
> checking for stdint.h... (cached) yes
> checking for strings.h... (cached) yes
> checking sys/soundcard.h usability... yes
> checking sys/soundcard.h presence... yes
> checking for sys/soundcard.h... yes
> checking sys/filio.h usability... no
> checking sys/filio.h presence... no
> checking for sys/filio.h... no
> checking for linux/joystick.h... (cached) yes
> checking for jpeglib.h... (cached) yes
> checking zlib.h usability... yes
> checking zlib.h presence... yes
> checking for zlib.h... yes
> checking for compress2 in -lz... yes
> checking for compressBound... yes
> checking if socklen_t is defined... yes
> checking if O_SYNC is defined... yes
> checking for poll... yes
> checking for dirname... yes
> checking for cfmakeraw... yes
> checking for round... no
> checking for sigblock... yes
> checking for getaddrinfo... yes
> checking for nanosleep in -lrt... yes
> checking for gethostbyname in -lnsl... yes
> checking for connect in -lsocket... no
> checking for lt_dlopenext in -lltdl... yes
> checking for pthread_create in -lc_r... no
> checking for jpeg_read_header in -ljpeg... yes
> checking for opencv... yes
> checking OPENCV_CFLAGS... -I/usr/local/include/opencv
> checking OPENCV_LIBS... -L/usr/local/lib -lcxcore -lcv -lhighgui -lcvaux
> checking for ImageMagick++... Package ImageMagick++ was not found in the =
pkg-config search path.
> Perhaps you should add the directory containing `ImageMagick++.pc'
> to the PKG_CONFIG_PATH environment variable
> No package 'ImageMagick++' found
> configure: creating ./config.status
> config.status: creating Makefile
> config.status: creating rtk2/Makefile
> config.status: creating replace/Makefile
> config.status: creating doc/Makefile
> config.status: creating doc/images/Makefile
> config.status: creating libplayerjpeg/Makefile
> config.status: creating libplayercore/Makefile
> config.status: creating libplayercore/bindings/Makefile
> config.status: creating libplayercore/bindings/java/Makefile
> config.status: creating libplayercore/playercore.pc
> config.status: creating libplayercore/playererror.pc
> config.status: creating libplayerxdr/Makefile
> config.status: creating libplayerxdr/playerxdr.pc
> config.status: creating libplayertcp/Makefile
> config.status: creating libplayertcp/bindings/Makefile
> config.status: creating libplayertcp/bindings/java/Makefile
> config.status: creating libplayertcp/playertcp.pc
> config.status: creating server/Makefile
> config.status: creating server/libplayerdrivers/Makefile
> config.status: creating server/libplayerdrivers/playerdrivers.pc
> config.status: creating server/drivers/Makefile
> config.status: creating server/drivers/gps/Makefile
> config.status: creating server/drivers/shell/Makefile
> config.status: creating server/drivers/mixed/Makefile
> config.status: creating server/drivers/position/Makefile
> config.status: creating server/drivers/audio/Makefile
> config.status: creating server/drivers/audiodsp/Makefile
> config.status: creating server/drivers/audiomixer/Makefile
> config.status: creating server/drivers/camera/Makefile
> config.status: creating server/drivers/camera/v4l/Makefile
> config.status: creating server/drivers/camera/1394/Makefile
> config.status: creating server/drivers/camera/compress/Makefile
> config.status: creating server/drivers/camera/imageseq/Makefile
> config.status: creating server/drivers/camera/sphere/Makefile
> config.status: creating server/drivers/fiducial/Makefile
> config.status: creating server/drivers/ptz/Makefile
> config.status: creating server/drivers/laser/Makefile
> config.status: creating server/drivers/waveform/Makefile
> config.status: creating server/drivers/blobfinder/Makefile
> config.status: creating server/drivers/blobfinder/cmvision/Makefile
> config.status: creating server/drivers/blobfinder/upcbarcode/Makefile
> config.status: creating server/drivers/blobfinder/simpleshape/Makefile
> config.status: creating server/drivers/blobfinder/acts/Makefile
> config.status: creating server/drivers/blobfinder/shapetracker/Makefile
> config.status: creating server/drivers/wifi/Makefile
> config.status: creating server/drivers/speech/Makefile
> config.status: creating server/drivers/speech/recognition/Makefile
> config.status: creating server/drivers/mixed/cmucam2/Makefile
> config.status: creating server/drivers/mixed/p2os/Makefile
> config.status: creating server/drivers/mixed/rflex/Makefile
> config.status: creating server/drivers/mixed/reb/Makefile
> config.status: creating server/drivers/mixed/khepera/Makefile
> config.status: creating server/drivers/mixed/rmp/Makefile
> config.status: creating server/drivers/mixed/garcia/Makefile
> config.status: creating server/drivers/mixed/nomad/Makefile
> config.status: creating server/drivers/mixed/botrics/Makefile
> config.status: creating server/drivers/mixed/clodbuster/Makefile
> config.status: creating server/drivers/mixed/evolution/Makefile
> config.status: creating server/drivers/mixed/evolution/er1/Makefile
> config.status: creating server/drivers/mixed/irobot/Makefile
> config.status: creating server/drivers/mixed/irobot/roomba/Makefile
> config.status: creating server/drivers/gazebo/Makefile
> config.status: creating server/drivers/planner/Makefile
> config.status: creating server/drivers/planner/wavefront/Makefile
> config.status: creating server/drivers/position/isense/Makefile
> config.status: creating server/drivers/position/microstrain/Makefile
> config.status: creating server/drivers/position/vfh/Makefile
> config.status: creating server/drivers/position/ascension/Makefile
> config.status: creating server/drivers/position/bumpersafe/Makefile
> config.status: creating server/drivers/mcom/Makefile
> config.status: creating server/drivers/localization/Makefile
> config.status: creating server/drivers/localization/amcl/Makefile
> config.status: creating server/drivers/service_adv/Makefile
> config.status: creating server/drivers/map/Makefile
> config.status: creating server/drivers/joystick/Makefile
> config.status: creating server/drivers/rfid/Makefile
> config.status: creating client_libs/Makefile
> config.status: creating client_libs/libplayerc++/Makefile
> config.status: creating client_libs/libplayerc++/playerc++.pc
> config.status: creating client_libs/libplayerc++/test/Makefile
> config.status: creating client_libs/libplayerc/Makefile
> config.status: creating client_libs/libplayerc/doc/Makefile
> config.status: creating client_libs/libplayerc/playerc.pc
> config.status: creating client_libs/libplayerc/test/Makefile
> config.status: creating client_libs/libplayerc/bindings/Makefile
> config.status: creating client_libs/libplayerc/bindings/python/Makefile
> config.status: creating examples/Makefile
> config.status: creating examples/plugins/Makefile
> config.status: creating examples/plugins/exampledriver/Makefile
> config.status: creating examples/plugins/multidriver/Makefile
> config.status: creating examples/libplayerc/Makefile
> config.status: creating examples/libplayerc++/Makefile
> config.status: creating utils/Makefile
> config.status: creating utils/playercam/Makefile
> config.status: creating utils/playerwritemap/Makefile
> config.status: creating utils/playerv/Makefile
> config.status: creating utils/playerjoy/Makefile
> config.status: creating utils/playernav/Makefile
> config.status: creating utils/playerprint/Makefile
> config.status: creating utils/playervcr/Makefile
> config.status: creating utils/dgps_server/Makefile
> config.status: creating config/Makefile
> config.status: creating config.h
> config.status: creating libplayercore/playerconfig.h
> config.status: libplayercore/playerconfig.h is unchanged
> /config.status: line 1618: libplayercore/stamp-h2: Permission denied
> config.status: creating client_libs/libplayerc++/playerc++config.h
> config.status: client_libs/libplayerc++/playerc++config.h is unchanged
> /config.status: line 1618: client_libs/libplayerc++/stamp-h3: Permission =
deniedconfig.status: executing depfiles commands
>
> *************************************************************
>
> Player will be built on a i686-redhat-linux-gnu system to run
> on a i686-redhat-linux-gnu system, with the following tools:
>     C   compiler: gcc -g -O2
>     C++ compiler: g++
>
> Support for plugin drivers will be included.
>
> To use the Python bindings, modify your PYTHONPATH variable to include
>     /usr/local/lib/python/$PYTHON_VERSION/site-packages
> For example:
>     export PYTHONPATH=3D$PYTHONPATH:/usr/local/lib/python/$PYTHON_VERSION=
/site-packages
>
> Python bindings to libplayerc will be built
>
> libplayerc++ will be built
>   signaling included
>   multithreading included
>
> Player will build Gazebo-based components using:
>     CPPFLAGS: -I/usr/local/include
>     LDFLAGS:
>
> The following device drivers will be included:
> + amcl
> + bumpersafe
> + cameracompress
> + camerav4l
> + cmucam2
> + cmvision
> + fakelocalize
> + festival
> + flockofbirds
> + garminnmea
> + khepera
> + lasercspace
> + laserposeinterpolator
> + laserrescan
> + linuxjoystick
> + linuxwifi
> + laserposeinterpolator
> + logfile
> + mapfile
> + microstrain
> + obot
> + p2os
> + ptu46
> + rflex
> + sicklms200
> + sickpls
> + sonyevid30
> + urglaser
> + vfh
> + vmapfile
> + roomba
> + wavefront
> + insideM300
> + skyetekM1
> + gazebo
>
> The following device drivers will NOT be included:
> - acoustics -- disabled by default; use --enable-acoustics to enable
> - acts -- disabled by default; use --enable-acts to enable
> - amtecpowercube -- disabled by default; use --enable-amtecpowercube to e=
nable
> - aodv -- disabled by default; use --enable-aodv to enable
> - camera1394 -- couldn't find (at least one of) libraw1394/raw1394.h libd=
c1394/dc1394_control.h
> - canonvcc4 -- disabled by default; use --enable-canonvcc4 to enable
> - clodbuster -- disabled by default; use --enable-clodbuster to enable
> - dummy -- disabled by default; use --enable-dummy to enable
> - er1 -- disabled by default; use --enable-er1 to enable
> - fixedtones -- disabled by default; use --enable-fixedtones to enable
> - garcia -- disabled by default; use --enable-garcia to enable
> - imageseq -- disabled by default; use --enable-imageseq to enable
> - isense -- disabled by default; use --enable-isense to enable
> - iwspy -- disabled by default; use --enable-iwspy to enable
> - laserbar -- disabled by default; use --enable-laserbar to enable
> - laserbarcode -- disabled by default; use --enable-laserbarcode to enabl=
e
> - laservisualbarcode -- disabled by default; use --enable-laservisualbarc=
ode to enable
> - laservisualbw -- disabled by default; use --enable-laservisualbw to ena=
ble
> - lifomcom -- disabled by default; use --enable-lifomcom to enable
> - mapcspace -- disabled by default; use --enable-mapcspace to enable
> - mapscale -- disabled by default; use --enable-mapscale to enable
> - mixer -- disabled by default; use --enable-mixer to enable
> - nomad -- disabled by default; use --enable-nomad to enable
> - passthrough -- disabled by default; use --enable-passthrough to enable
> - reb -- disabled by default; use --enable-reb to enable
> - segwayrmp -- disabled by default; use --enable-segwayrmp to enable
> - service_adv_mdns -- disabled by default; use --enable-service_adv_mdns =
to enable
> - shapetracker -- disabled by default; use --enable-shapetracker to enabl=
e
> - simpleshape -- disabled by default; use --enable-simpleshape to enable
> - sphere -- disabled by default; use --enable-sphere to enable
> - sphinx2 -- couldn't find (at least one of) sphinx2/s2types.h
> - upcbarcode -- disabled by default; use --enable-upcbarcode to enable
> - waveaudio -- disabled by default; use --enable-waveaudio to enable
>
> Player will be installed in:
>     /usr/local/
>
> To see the configuration options, do:
>     ./configure --help
>
> When you're satisfied with the configuration, type 'make install'.
>
>
> If anybody knows what's wrong, please inform me.
> thanks
>
>
> -------------------------------------------------------
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>