[PlayerStage-Gazebo] gazebo modeal for Pioneer 3DX?

[Mike Gauthier <umgaut03@cs...>]

Hi, looking through the gazebo documentation, I notice that there is no model
for the Pioneer 3DX.  I am testing my client program on a real Pioneer 3DX but
am using a Pioneer 2DX in Gazebo.  Will this give me the same results for the
sensors (eg. odometry and sonar), or is there a model in Gazebo for the Pioneer
3DX that I am just not seeing?  Thanks.

Mike Gauthier

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Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX

[Nate Koenig <natekoenig@gm...>]

Hi Prabhu,

Unfortunately you will have to do a little rewriting. In order to use
player your client code has to interface with player proxies. There
are numerous examples how to create and use player proxies in the
examples directory of the player distribution, and more info can be
found in the online documentation.

-nate

On Wed, 28 Jul 2004 18:25:43 +0000, Prabhu VijaiRengam
<tvgprabhu@...> wrote:
> Let me rephrase my earlier query. What if I had an agent program that talked
> directly to gazebo using the libgazebo interface? How can I get this agent
> to work on a robot w/o rewriting? TIA.
> 
> Cheers,
> Prabhu
> 
> ----Original Message Follows----
> From: Brian Gerkey <gerkey@...>
> To: Thanjavur V Prabhu <tvgprabhu@...>
> CC: playerstage-gazebo@...
> Subject: Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX
> Date: Wed, 28 Jul 2004 09:48:07 -0700 (PDT)
> 
> On Mon, 26 Jul 2004, Thanjavur V Prabhu wrote:
> 
>  > What is the easiest way to port a gazebo agent program into a pioneer
> robot?
>  > Are there are player/gazebo-like interface library available for the
> same?
> 
> Yep.  In fact, Player was originally written to control the Pioneer.
> 
> One of our goals is that code developed in simulation can move, without
> changes, to the real hardware.  In either case, Player is your interface.
> 
> Just run Player on the computer connected to the Pioneer, with an
> appropriate configuration file.  Then your "agent program" (we usually
> call it a "client programs") should run with few (or maybe no) changes.
> 
>          brian.
> 
> --
> Brian P. Gerkey                    gerkey@...
> Stanford AI Lab                    http://ai.stanford.edu/~gerkey
> 
> _________________________________________________________________
> Planning a family vacation? Check out the MSN Family Travel guide!
> http://dollar.msn.com
> 
> 
> 
> 
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Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX

[Prabhu VijaiRengam <tvgprabhu@ho...>]

Let me rephrase my earlier query. What if I had an agent program that talked 
directly to gazebo using the libgazebo interface? How can I get this agent 
to work on a robot w/o rewriting? TIA.

Cheers,
Prabhu




----Original Message Follows----
From: Brian Gerkey <gerkey@...>
To: Thanjavur V Prabhu <tvgprabhu@...>
CC: playerstage-gazebo@...
Subject: Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX
Date: Wed, 28 Jul 2004 09:48:07 -0700 (PDT)

On Mon, 26 Jul 2004, Thanjavur V Prabhu wrote:

 > What is the easiest way to port a gazebo agent program into a pioneer 
robot?
 > Are there are player/gazebo-like interface library available for the 
same?

Yep.  In fact, Player was originally written to control the Pioneer.

One of our goals is that code developed in simulation can move, without
changes, to the real hardware.  In either case, Player is your interface.

Just run Player on the computer connected to the Pioneer, with an
appropriate configuration file.  Then your "agent program" (we usually
call it a "client programs") should run with few (or maybe no) changes.

         brian.

--
Brian P. Gerkey                    gerkey@...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey

_________________________________________________________________
Planning a family vacation? Check out the MSN Family Travel guide! 
http://dollar.msn.com

Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX

[Prabhu VijaiRengam <tvgprabhu@ho...>]

Thanks Brian & Nate. I'm also curious to know about Gazebo. Is it just as 
simple? (I hope it is)

Cheers,
Prabhu





----Original Message Follows----
From: Brian Gerkey <gerkey@...>
To: Thanjavur V Prabhu <tvgprabhu@...>
CC: playerstage-gazebo@...
Subject: Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX
Date: Wed, 28 Jul 2004 09:48:07 -0700 (PDT)

On Mon, 26 Jul 2004, Thanjavur V Prabhu wrote:

 > What is the easiest way to port a gazebo agent program into a pioneer 
robot?
 > Are there are player/gazebo-like interface library available for the 
same?

Yep.  In fact, Player was originally written to control the Pioneer.

One of our goals is that code developed in simulation can move, without
changes, to the real hardware.  In either case, Player is your interface.

Just run Player on the computer connected to the Pioneer, with an
appropriate configuration file.  Then your "agent program" (we usually
call it a "client programs") should run with few (or maybe no) changes.

         brian.

--
Brian P. Gerkey                    gerkey@...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey

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Re: [PlayerStage-Gazebo] Porting to Pioneer 3DX

[Brian Gerkey <gerkey@ai...>]

On Mon, 26 Jul 2004, Thanjavur V Prabhu wrote:

> What is the easiest way to port a gazebo agent program into a pioneer robot?
> Are there are player/gazebo-like interface library available for the same? 

Yep.  In fact, Player was originally written to control the Pioneer.

One of our goals is that code developed in simulation can move, without
changes, to the real hardware.  In either case, Player is your interface.

Just run Player on the computer connected to the Pioneer, with an
appropriate configuration file.  Then your "agent program" (we usually
call it a "client programs") should run with few (or maybe no) changes.

        brian.

-- 
Brian P. Gerkey                    gerkey@...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey

[PlayerStage-Gazebo] Gazebo on IRC

[jacob everist <everist@us...>]

Hi folks,

Recently, in our robotics channel on IRC, we've been discussing a lot about Gazebo and we've realized how difficult it is to set the darn thing up.  However, with some collaboration, we were able to do it fairly rapidly.  So far, we got about 3 people running gazebo on their machines in just one day!

Since it's so difficult, I thought I might invite others to come if they want to discuss Gazebo programming, setup, or any other robotics subjects.

The IRC server is on irc.freenode.net

Join the channel #robotics

You can use xchat as an IRC client at http://www.xchat.org

Jacob Everist
(wildmage)

[PlayerStage-Gazebo] Porting to Pioneer 3DX

[Thanjavur V Prabhu <tvgprabhu@ho...>]

Hi,

What is the easiest way to port a gazebo agent program into a pioneer =
robot?
Are there are player/gazebo-like interface library available for the =
same?=20

Thanks,
Prabhu

Re: [PlayerStage-Gazebo] Error running segway

[ahoward <ahoward@po...>]

This is a known bug in libgazebo for 0.3.0.  See... damn, SourceForge is
down.  Ok, look in libgazebo/gz_iface.c, in the gz_iface_open() function,
and change the test following the mmap() call to check for MAP_FAILED
rather than non-zero.  I.e.:

  // Map the mmap file
  self->mmap = mmap(0, size, PROT_READ | PROT_WRITE, MAP_SHARED,
self->mmap_fd,  0);
  if (self->mmap == MAP_FAILED)
  {
    GZ_ERROR1("error mapping device file: %s", strerror(errno));
    return -1;
  }

Recompile, etc.  Should sort it out.

	A.


On Tue, 13 Jul 2004, Jack Collier wrote:

> I am attempting to run the Segway RMP undergazebo using player.  I am
> using Player ver 1.4rc2 and Gazebo 0.3.0.  When I attempt to connect
> player to Gazebo I get the following error
>
> libgazebo error : gz_iface.c:gz_iface_open():
> 	error mapping device file: Success
>
> At this point Player quits.  The commands I am using for Gazebo and
> Player are as follows:
>
> gazebo /usr/local/share/gazebo/worlds/segwayrmp.world
>
> player -g default /usr/local/share/player/config/gazebo.cfg
>
> If anyone has seen this before or can be of any assistance it would be
> greatly appreciated
>
> --
> Jack Collier
> Defence Scientist
> Autonomous Land Systems
> DRDC Suffield
> jack.collier@...
>
>
>
>
> -------------------------------------------------------
> This SF.Net email sponsored by Black Hat Briefings & Training.
> Attend Black Hat Briefings & Training, Las Vegas July 24-29 -
> digital self defense, top technical experts, no vendor pitches,
> unmatched networking opportunities. Visit http://www.blackhat.com
> _______________________________________________
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> Playerstage-gazebo@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

Andrew Howard                           email: ahoward@...
Department of Computer Science          http:  www-robotics.usc.edu/~ahoward
University of Southern California       phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781      fax:   1 (213) 821 5696
    << Insert pithy saying here >>>

[PlayerStage-Gazebo] Error running segway

[Jack Collier <jack.collier@dr...>]

I am attempting to run the Segway RMP undergazebo using player.  I am
using Player ver 1.4rc2 and Gazebo 0.3.0.  When I attempt to connect
player to Gazebo I get the following error

libgazebo error : gz_iface.c:gz_iface_open():
	error mapping device file: Success

At this point Player quits.  The commands I am using for Gazebo and
Player are as follows:

gazebo /usr/local/share/gazebo/worlds/segwayrmp.world

player -g default /usr/local/share/player/config/gazebo.cfg

If anyone has seen this before or can be of any assistance it would be
greatly appreciated

-- 
Jack Collier
Defence Scientist
Autonomous Land Systems
DRDC Suffield
jack.collier@...	

Re: [PlayerStage-Gazebo] Gazebo 0.4 installation

[Nate Koenig <natekoenig@gm...>]

Hi,

It looks like you don't have glut installed. Gazebo 0.4 uses glut as
the visualization interface - creating windows, gl rendering context,
and capturing user input.

-nate

On Tue, 13 Jul 2004 16:48:48 +0000, Prabhu VijaiRengam
<tvgprabhu@...> wrote:
> Hi,
> 
> I get the following error when I run configure for gazebo 0.4.
> 
> checking for GL/gl.h... yes
> checking GL/glu.h usability... yes
> checking GL/glu.h presence... yes
> checking for GL/glu.h... yes
> checking GL/glut.h usability... no
> checking GL/glut.h presence... no
> checking for GL/glut.h... no
> configure: error: Could not find (one of) gl.h glu.h glut.h; OpenGL is
> required to build Gazebo.
> 
> I have gazebo 0.3 installed successfully earlier, and even some CVS versions
> of gazebo 0.4. I'm not sure how I could install those w/o any such problem.
> Any tip will be appreciated. Thanks.
> 
> Cheers,
> Prabhu
> 
> ----Original Message Follows----
> From: Nathan Koenig <nkoenig@...>
> To: Prabhu VijaiRengam <tvgprabhu@...>
> CC: playerstage-gazebo@...
> Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
> Date: Fri, 23 Apr 2004 08:45:37 -0700
> 
> Hi Prabhu,
> 
> I took a look at your world file, and everything seems to be correct.
> Unfortunately, I cannot reproduce the dim texture problem (and your textures
> are abnormally dim). You mentioned that gazebo worked better before you
> upgraded your operating system. Could you run glxinfo and send the output?
> 
> For the image data, I beleive that every pixel is represented by three bytes
> of
> data. The first byte for red, second green, and third blue. The data should
> be
> in row major order. If you want to make sure that you are receiving the
> image
> data properly, just dump the data to a file with the following header:
>    "P6
>     # Gazebo
>     [imageWidth] [imageHeight]
>     255"
> The resulting file is a '.pnm' file, and should be readable by most viewing
> applications.
> 
> Generally there are two reasons the robots/objects fall when gazebo starts.
> The
> first, and most common, occurs when the initial starting position of an
> object
> is embedded within another object. I beleive this is the case for you. Your
> simple solids are placed slighltly within the ground plane causing them to
> jump
> out when Gazebo starts. The second case happens when the object is intially
> started far up in the sky. The optimal placement for an object, if you do
> not
> want it to fall, is to place it slightly (as in a few centimeters) above the
> ground plane. This will guarantee the object to be free of the ground, and
> the
> intial fall will be very slight.
> 
> I'll try looking into the texture problem some more,
> 
> -nate
> 
> Quoting Prabhu VijaiRengam <tvgprabhu@...>:
> 
> >Hi Nate,
> >
> >Sorry for bombarding you with mails like this. Why do the robots and
> >objects
> >always fall into the environment? Is there a way to place them in gently?
> >
> >Cheers,
> >Prabhu
> >
> >
> >
> >
> >----Original Message Follows----
> >From: Nathan Koenig <nkoenig@...>
> >To: tvgprabhu@...
> >CC: playerstage-gazebo@...
> >Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
> >Date: Wed, 21 Apr 2004 16:26:30 -0700
> >
> >Hi Prabhu,
> >
> >I would grab the latest version of cvs. A few fixes have been made related
> >to
> >textures and multiple cameras.
> >
> >I you want a brighter texture image, I would decrease the attenuation of
> >the
> >light source and remove any transparency from the objects. For a list of
> >available features for the various objects, look in example1.world. This
> >world
> >file contains most of the configurations parameters. In particular, the
> >last
> >model contains a "visualization" section where one can set rendering
> >parameters
> >of a model. This "visualization" section can be applied to any model.
> >
> >If you still notice problems, could you send your world file and possibly a
> >URL
> >to a sample image?
> >
> >Thanks,
> >
> >-nate
> >
> >  > > ---------- Forwarded message ----------
> >  > > Date: Mon, 19 Apr 2004 05:47:20 +0000
> >  > > From: Prabhu VijaiRengam <tvgprabhu@...>
> >  > > To: ahoward@...
> >  > > Cc: playerstage-gazebo@...
> >  > > Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
> >  > >
> >  > > Hi Andrew,
> >  > >
> >  > > I hope you got to see the images that I'd sent earlier. The message
> >that I
> >  > > sent to the group is waiting for the moderator's approval due to its
> >size.
> >  > >
> >  > > I have some more inputs to the dull image problem I reported earlier.
> >The
> >  > > image seen by the SonyVID camera seems to be unaffected by the light
> >source.
> >  > > I turned off the light source and still saw pretty much the same dull
> >image.
> >  > > The GUI camera however, showed a dark world with the lights turned
> >off.
> >The
> >  > > ambience property of the simple solid helped a bit in improving the
> >  > > brightness of the robot mounted camera. I even tried to place a light
> >source
> >  > > near a simple solid to try and increase its brightness to no avail.
> >What the
> >  > > other properties of simple solid and camera that I can tweak? Where
> >can
> >I
> >  > > find a list of attributes? Thanks.
> >  > >
> >  > > Cheers,
> >  > > Prabhu
> >  > >
> >  > > _________________________________________________________________
> >  > >> From must-see cities to the best beaches, plan a getaway with the
> >Spring
> >  > > Travel Guide! http://special.msn.com/local/springtravel.armx
> >  > >
> >  > >
> >  > >
> >  > > -------------------------------------------------------
> >  > > This SF.Net email is sponsored by: IBM Linux Tutorials
> >  > > Free Linux tutorial presented by Daniel Robbins, President and CEO of
> >  > > GenToo technologies. Learn everything from fundamentals to system
> >  > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click
> >  > > _______________________________________________
> >  > > Playerstage-gazebo mailing list
> >  > > Playerstage-gazebo@...
> >  > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >  >
> >  >
> >  >
> >  >
> >
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> >Premium!
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> >
> >
> >
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> >For a limited time only, get FREE Ground shipping on all orders of $35
> >or more. Hurry up and shop folks, this offer expires April 30th!
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> >https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> 
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>

[PlayerStage-Gazebo] Gazebo 0.4 installation

[Prabhu VijaiRengam <tvgprabhu@ho...>]

Hi,

I get the following error when I run configure for gazebo 0.4.

checking for GL/gl.h... yes
checking GL/glu.h usability... yes
checking GL/glu.h presence... yes
checking for GL/glu.h... yes
checking GL/glut.h usability... no
checking GL/glut.h presence... no
checking for GL/glut.h... no
configure: error: Could not find (one of) gl.h glu.h glut.h; OpenGL is 
required to build Gazebo.

I have gazebo 0.3 installed successfully earlier, and even some CVS versions 
of gazebo 0.4. I'm not sure how I could install those w/o any such problem. 
Any tip will be appreciated. Thanks.

Cheers,
Prabhu




----Original Message Follows----
From: Nathan Koenig <nkoenig@...>
To: Prabhu VijaiRengam <tvgprabhu@...>
CC: playerstage-gazebo@...
Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
Date: Fri, 23 Apr 2004 08:45:37 -0700

Hi Prabhu,

I took a look at your world file, and everything seems to be correct.
Unfortunately, I cannot reproduce the dim texture problem (and your textures
are abnormally dim). You mentioned that gazebo worked better before you
upgraded your operating system. Could you run glxinfo and send the output?

For the image data, I beleive that every pixel is represented by three bytes 
of
data. The first byte for red, second green, and third blue. The data should 
be
in row major order. If you want to make sure that you are receiving the 
image
data properly, just dump the data to a file with the following header:
   "P6
    # Gazebo
    [imageWidth] [imageHeight]
    255"
The resulting file is a '.pnm' file, and should be readable by most viewing
applications.

Generally there are two reasons the robots/objects fall when gazebo starts. 
The
first, and most common, occurs when the initial starting position of an 
object
is embedded within another object. I beleive this is the case for you. Your
simple solids are placed slighltly within the ground plane causing them to 
jump
out when Gazebo starts. The second case happens when the object is intially
started far up in the sky. The optimal placement for an object, if you do 
not
want it to fall, is to place it slightly (as in a few centimeters) above the
ground plane. This will guarantee the object to be free of the ground, and 
the
intial fall will be very slight.

I'll try looking into the texture problem some more,

-nate

Quoting Prabhu VijaiRengam <tvgprabhu@...>:

>Hi Nate,
>
>Sorry for bombarding you with mails like this. Why do the robots and 
>objects
>always fall into the environment? Is there a way to place them in gently?
>
>Cheers,
>Prabhu
>
>
>
>
>----Original Message Follows----
>From: Nathan Koenig <nkoenig@...>
>To: tvgprabhu@...
>CC: playerstage-gazebo@...
>Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
>Date: Wed, 21 Apr 2004 16:26:30 -0700
>
>Hi Prabhu,
>
>I would grab the latest version of cvs. A few fixes have been made related
>to
>textures and multiple cameras.
>
>I you want a brighter texture image, I would decrease the attenuation of 
>the
>light source and remove any transparency from the objects. For a list of
>available features for the various objects, look in example1.world. This
>world
>file contains most of the configurations parameters. In particular, the 
>last
>model contains a "visualization" section where one can set rendering
>parameters
>of a model. This "visualization" section can be applied to any model.
>
>If you still notice problems, could you send your world file and possibly a
>URL
>to a sample image?
>
>Thanks,
>
>-nate
>
>  > > ---------- Forwarded message ----------
>  > > Date: Mon, 19 Apr 2004 05:47:20 +0000
>  > > From: Prabhu VijaiRengam <tvgprabhu@...>
>  > > To: ahoward@...
>  > > Cc: playerstage-gazebo@...
>  > > Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
>  > >
>  > > Hi Andrew,
>  > >
>  > > I hope you got to see the images that I'd sent earlier. The message
>that I
>  > > sent to the group is waiting for the moderator's approval due to its
>size.
>  > >
>  > > I have some more inputs to the dull image problem I reported earlier.
>The
>  > > image seen by the SonyVID camera seems to be unaffected by the light
>source.
>  > > I turned off the light source and still saw pretty much the same dull
>image.
>  > > The GUI camera however, showed a dark world with the lights turned 
>off.
>The
>  > > ambience property of the simple solid helped a bit in improving the
>  > > brightness of the robot mounted camera. I even tried to place a light
>source
>  > > near a simple solid to try and increase its brightness to no avail.
>What the
>  > > other properties of simple solid and camera that I can tweak? Where 
>can
>I
>  > > find a list of attributes? Thanks.
>  > >
>  > > Cheers,
>  > > Prabhu
>  > >
>  > > _________________________________________________________________
>  > >> From must-see cities to the best beaches, plan a getaway with the
>Spring
>  > > Travel Guide! http://special.msn.com/local/springtravel.armx
>  > >
>  > >
>  > >
>  > > -------------------------------------------------------
>  > > This SF.Net email is sponsored by: IBM Linux Tutorials
>  > > Free Linux tutorial presented by Daniel Robbins, President and CEO of
>  > > GenToo technologies. Learn everything from fundamentals to system
>  > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click
>  > > _______________________________________________
>  > > Playerstage-gazebo mailing list
>  > > Playerstage-gazebo@...
>  > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>  >
>  >
>  >
>  >
>
>_________________________________________________________________
>Watch LIVE baseball games on your computer with MLB.TV, included with MSN
>Premium!
>http://join.msn.com/?page=features/mlb&pgmarket=en-us/go/onm00200439ave/direct/01/
>
>
>
>-------------------------------------------------------
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>For a limited time only, get FREE Ground shipping on all orders of $35
>or more. Hurry up and shop folks, this offer expires April 30th!
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[PlayerStage-Gazebo] RE: [Playerstage-users] reading camera image frames from gazebo

[Kratochvil, Bradley Eugene <kratochvil@ir...>]

>I am trying to use a CameraProxy object and access the image[] data =
member
directly.  Is this the right approach?  Also, I am using the blobfinder
interface with cmvision as the driver and camera  as the capture.
=20
Right now, the client libraries (both C++ AND C) for the camera do not =
work in CVS.  This is due to some memory allocation problems.  I've =
worked through it, and was planning on submitting a patch sometime mid =
next week (when I get back home).  There's some discussion on this in =
the developer forum under "[Playerstage-developers] --enable-bigmess =
yields big mess :)"
=20
If you want to do vision work, it's best to do that on the server side.  =
Otherwise, you have to pass large amounts of image data over the =
network, which is slow.  You'll have to deal with Player internals a =
little more but your code will run better.
=20
Best regards,
=20
Brad

[PlayerStage-Gazebo] reading camera image frames from gazebo

[<umgaut03@cc...>]

I am trying to be able to access image frames from my camera (SonyVID30) running
in gazebo in real time to be able to do my own blob finding and object
recognition, but I am having some problems.

I am trying to use a CameraProxy object and access the image[] data member
directly.  Is this the right approach?  Also, I am using the blobfinder
interface with cmvision as the driver and camera  as the capture.  Any help
would be great.  Thanks.

-Mike


-------------------------------------------------
This mail sent through IMP: http://horde.org/imp/

Re: [PlayerStage-Gazebo] Robot + arm

[Nate Koenig <natekoenig@gm...>]

I have added comments below.

On Wed, 07 Jul 2004 18:47:44 +0200, Daniel Poza Zamarr=F3n
<danielpoza@...> wrote:
> Hello, I have been working with my conflictive-joined arm. I am trying to
> attach it to my robot (I have two models: a Robot and the arm). All the
> components of my arm have gravity mode =3D 0 (**); But my robot have a no=
rmal
> gravity mode (I have not touched it).
>=20
> I have founded many problems:
>=20
> 1. Althought I attach both models in the xml world file, my arm separate
> from my robot.

The <xyz> parameter of your arm (which is a child of the main robot I
assume) is relative to the parent. You may have set the <xyz> of the
arm incorrectly.

> 2. With the arm attached, my robot falls! I don't understand that, becaus=
e I
> have set up  all the arm components to mass =3D 0;

Have you disabled all the bodies in your arm? body->Enable(false)

> 3. I have many segmentation faults when I try to move the arm initial
> position just for a few cms..without visible reasons..

Any more information on this one? A backtrace? Do you see a bunch of ODE er=
rors?

>=20
> (**) I set up my arm components to gravity 0 because I wanted to take car=
e
> only about the kinematics.. with normal gravity my arm joins fall down an=
d I
> can't make it stay quite in a possition.
>=20
> Can you help me? Do you have any suggestion?
>=20
> Thank you,
>=20
> -DANIEL POZA-
>=20
> _________________________________________________________________
> =BFEst=E1s pensando en cambiar de coche? Todas los modelos de serie y ext=
ras en
> MSN Motor. http://motor.msn.es/researchcentre/
>=20
> -------------------------------------------------------
> This SF.Net email sponsored by Black Hat Briefings & Training.
> Attend Black Hat Briefings & Training, Las Vegas July 24-29 -
> digital self defense, top technical experts, no vendor pitches,
> unmatched networking opportunities. Visit http://www.blackhat.com
> _______________________________________________
> Playerstage-gazebo mailing list
> Playerstage-gazebo@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

[PlayerStage-Gazebo] Robot + arm

[<danielpoza@ho...>]

Hello, I have been working with my conflictive-joined arm. I am trying to 
attach it to my robot (I have two models: a Robot and the arm). All the 
components of my arm have gravity mode = 0 (**); But my robot have a normal 
gravity mode (I have not touched it).

I have founded many problems:

1. Althought I attach both models in the xml world file, my arm separate 
from my robot.
2. With the arm attached, my robot falls! I don't understand that, because I 
have set up  all the arm components to mass = 0;
3. I have many segmentation faults when I try to move the arm initial 
position just for a few cms..without visible reasons..



(**) I set up my arm components to gravity 0 because I wanted to take care 
only about the kinematics.. with normal gravity my arm joins fall down and I 
can't make it stay quite in a possition.

Can you help me? Do you have any suggestion?

Thank you,

-DANIEL POZA-

_________________________________________________________________
¿Estás pensando en cambiar de coche? Todas los modelos de serie y extras en 
MSN Motor. http://motor.msn.es/researchcentre/

Re: [PlayerStage-Gazebo] building gazebo

[Moshe Sayag <sayag.moshe@id...>]

The player fails to access it because I can't build it with the proper 
support.

relevant output from config.log:
.....
configure:15788: result: pkg-config searching for librtk2.pc in 
/home/moshe/local/player/lib/pkgconfig:/home/moshe/local/gazebo/lib/pkgconfig:/home/moshe/local/librtk/lib/pkgconfig
configure:15890: WARNING: no suitable RTK was found
.....
configure:18491: result: Player will NOT build RTK-based components.
configure:18493: result:
configure:18530: result:
configure:18544: result: Gazebo support will not be included -- could
not find Gazebo >= 0.4.0
.....

But librtk2.pc _is_ in the search path:
moshe@...:~> find /home/moshe/ -name librtk2.pc
/home/moshe/local/librtk/lib/pkgconfig/librtk2.pc
/home/moshe/local/player/lib/pkgconfig/librtk2.pc
/home/moshe/PlayerStage/librtk-src-2.3.0/librtk2.pc

Yiannis Gatsoulis wrote:

> Hi,
>
> try the following
>
>  $ export 
> PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/home/foo/local/gazebo/lib/pkgconfig
>
> where /home/foo/local/gazebo/lib/pkgconfig
>
> have a look to the following notes as well
>
> Player/Stage/Gazebo installation instructions in a Fedora C2 machine:
> =====================================================================
>
> This notes represent the installation procedure of PSG in a Fedora C2 
> machine.
> ------------
>
> PSG webpage: http://sourceforge.net/projects/playerstage
> ------------
>
> NOTES:
>
> *PSG installation should be done with only this version of the 
> packages. Otherwise the latest version should be ok.
> ------------
>
> Required programs:
>
> Player: player-src-1.5.tar.gz : PSG webpage
> Stage: stage-src-1.3.4.tar.gz : PSG webpage
> Gazebo: gazebo-src-0.4.0.tar.gz : PSG webpage
> OpenSceneGraph: OSG_OP_OT-0.9.6-2.tar.gz : 
> http://openscenegraph.sourceforge.net
> Geospatial Data Abstraction Library (GDAL) : gdal-1.2.0.tar.gz : 
> http://www.remotesensing.org/gdal
> *OpenDynamicsEngine (ODE) : ode-0.039.tgz : http://opende.sourceforge.net
> Robotic Toolkit Library : librtk-src-2.3.0.tar.gz : PSG webpage
> GNU Scientific Library : gsl-1.4.tar.gz : http://www.gnu.org/software/gsl
> OpenGL Utility Toolkit : glut-3.7.tar.gz : 
> http://opengl.org/resources/libraries/glut.html
> ------------
>
>
> Gazebo installation
> ===================
> (taken from gazebo README file written by A. Howard and N. Koenig; and 
> modified accordingly)
>
> OSG and ODE are mandatory. GDAL is required only for specific features
> such as the MapExtruder and Terrain models, but is highly recommended.
>
> If GLUT or parts of it missing from your system then GLUT is also 
> mandatory. Look at /usr/include/GL if there is glut.h and in /usr/lib/ 
> for libglut.so.3.7 (you may need the symbolink links libglut.so and 
> libglut.so.3 pointing to this).
>
> If a local install is performed, be sure to set your LD_LIBRARY_PATH and
> CPATH environment variables accordingly.
>
>  bash:
>    $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/foo/local/lib
>    $ export CPATH=$CPATH:/home/foo/local/include
>
> OpenSceneGraph (OSG) Installation
> ---------------------------------
> Install OpenThreads:
>  $ cd OpenThreads
>  $ make
>  $ make [INST_LOCATION = path] install
>    ex: make INST_LOCATION=/home/foo/local
>
> Install Producer:
>  $ cd Producer
>  $ make OPENTHREADS_INC_DIR=/home/foo/local/include/OpenThreads 
> OPENTHREADS_LIB_DIR=/home/foo/local/lib
>  $ make [INST_LOCATION = path] install
>    ex: make INST_LOCATION=/home/foo/local
>
> Install OpenSceneGraph:
>  $ cd OpenSceneGraph
>  $ make OPENTHREADS_INC_DIR=/home/foo/local/include/OpenThreads 
> OPENTHREADS_LIB_DIR=/home/foo/local/lib 
> PRODUCER_INC_DIR=/home/foo/local/include/Producer 
> PRODUCER_LIB_DIR=/home/captain/local/lib
>  $ make [INST_LOCATION = path] install
>    ex: make INST_LOCATION=/home/foo/local
>
> OpenDynamicsEngine (ODE) Installation
> -------------------------------------
> NOTE: Only v.0.39 works with gazebo 0.4
>
> Install OPCODE:
>  $ cd OPCODE
>  $ make
>  $ mkdir <include path/opcode
>    ex: mkdir /home/foo/local/include/opcode
>  $ cp -r Ice *.h <include path>/opcode
>    ex: cp -r Ice *.h /home/foo/local/include/opcode
>  $ cp libopcode.a <library path>/lib
>
> Install ODE:
>  $ sed 's/#OPCODE/OPCODE/; s/DOUBLE/SINGLE/' config/user-settings > 
> config/user-settings.new
>  $ mv config/user-settings.new config/user-settings
>  $ make OPCODE_DIRECTORY=/home/captain/local/lib
>  $ cp -r include/ode <include path>/ode
>    ex: $ cp -r include/ode /home/nate/local/include/ode
>  $ cp lib/libode.a <library path>
>
> Geospatial Data Abstraction Library (GDAL) Installation
> -------------------------------------------------------
>  $ ./configure --prefix=/home/foo/local --without-python
>  $ make
>  $ make install
>
> OpenGL Utility Toolkit local installation
> -----------------------------------------
> (taken from glut <glut dir>/linux/README file written by P.F. Martone, 
> updated by M. Kilgard; and modified accordingly)
>
> Some files included in this archive:
>
>    Glut.cf -- file required by imake-- use this to replace the
>      stock version that came with GLUT.
>
>    Makefile -- Makefile required to build ELF library,  belongs in
>      the $GLUT_HOME/lib/glut/. directory.
>
> The steps to make this work are:
>
>     1) Change into $GLUT_HOME/. and make a backup copy of the
>    Glut.cf file. Then, take the copy from this archive and move it
>    into $GLUT_HOME.
>
>     2) Run the script to build all the makefiles:
>
>      ./mkmkfiles.imake
>
>     3) Change into $GLUT_HOME/lib/glut/. and make a backup copy of
>    the Makefile.  Now, take the Makefile out of the archive and
>    replace the old one.
>
>     4) WHILE STILL IN THE $GLUT_HOME/lib/glut/. DIRECTOR, RUN:
>
>      make
>      This should build the shared library 'libglut.so.3.7'.
>
>    IF YOU HAVE PROBLEMS WITH HEADER FILE DEPENDENCIES, try
>    doing:
>
>      make depend
>      make
>
>    This should rebuild the Makefile dependencies.
>
>    If this does not work, remove all the lines in "Makefile" below
>    the line saying "DO NOT DELETE" (yes, disregard what the line
>    says).  Then try "make depend; make"
>
>     5) copy the files to your include and lib directories
>    $ cp <glut home>/lib/glut/libglut.so.3.7 /home/foo/local/lib
>    $ cp -r <glut home>/include/* /home/foo/local/include
>
>     6) Go to the directory were libglut.so.3.7 was copied and make two 
> symbolic links:
>
>    $ cd /home/foo/local/lib
>    $ ln -s libglut.so.3.7 libglut.so.3
>    $ ln -s libglut.so.3.7 libglut.so
>
> For further information refer to the <glut home>/linux/README file.
>
>
> -------------------------
> GAZEBO Local Installation
> -------------------------
> Export your library path:
>  $ export LIBRARY_PATH=/home/foo/local/lib
>
> Install gazebo:
>  $ ./configure --prefix=/home/foo/local/gazebo
>  $ make
>  $ make install
>
>
> Robotic Toolkit Library (librtk) installation
> ---------------------------------------------
>  $ ./configure --prefix=/home/foo/local/librtk
>  $ make
>  $ make install
>
>
> -------------------------
> PLAYER Local Installation
> -------------------------
> Export gazebo and librtk paths:
>  $ export 
> PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/home/foo/local/gazebo/lib/pkgconfig:/home/foo/local/librtk/lib/pkgconfig 
>
>
> Install player:
>  $ ./configure --prefix=/home/foo/local/player --enable-gazebo
>  $ make
>  $ make install
>
>
> ------------------------
> STAGE Local Installation
> ------------------------
> Install stage:
>  $ ./configure --prefix=/home/foo/local/stage 
> --with-player=/home/foo/local/player
>  $ make
>  $ make install
>
> -yiannis
> There are two paths in life, I am looking for the middle one.
>
>
>
> Moshe Sayag wrote:
>
>> I am trying to build P/S/G for the first time and have some errors.
>> I downloaded the latest packages and followed the orders.
>>
>> 1.
>> The 'configure' of the player prints
>> ...
>> configure:18544: result: Gazebo support will not be included -- could 
>> not find Gazebo >= 0.4.0
>> ....
>>
>> Although I do use 0.4.0.
>> How do I tell the system where to find gazebo?
>>
>> 2.
>> The 'make' of gazebo fails with the following output:
>> ...
>> Making all in .
>> make[3]: Entering directory 
>> `/home/moshe/PlayerStage/gazebo-src-0.4.0/server'
>> g++  -g -g -O2  -o gazebo -L. -L/usr/X11R6/lib -L../libgazebo main.o 
>> World.o WorldFile.o Model.o ModelFactory.o Sensor.o ContactParams.o 
>> -lX11 -lXi -lXmu -lm -lpthread -L/usr/lib -lxml2 -lz -lm 
>> -L/usr/X11R6/lib -lode  -lGL -lGLU -lglut  
>> models/AvatarHeli/libavatarheli.a  models/ClodBuster/libclodbuster.a 
>> models/Factory/libfactory.a models/GarminGPS/libgarmingps.a 
>> models/GroundPlane/libgroundplane.a 
>> models/LightSource/liblightsource.a  
>> models/Pioneer2AT/libpioneer2at.a models/Pioneer2DX/libpioneer2dx.a 
>> models/PointSet/libpointset.a models/SegwayRMP/libsegwayrmp.a  
>> models/SickLMS200/libsicklms200.a models/SimpleSolid/libsimplesolid.a 
>> models/SonyVID30/libsonyvid30.a  models/TotemPole/libtotempole.a 
>> models/TruthWidget/libtruthwidget.a  
>> models/Pioneer2Gripper/libpioneer2gripper.a 
>> models/Pioneer2Sonars/libpioneer2sonars.a 
>> models/ObserverCam/libobservercam.a  sensors/Camera/libcamera.a 
>> sensors/RayProximity/librayproximity.a                              
>> -lgazebo bodies/libbodies.a ../replace/libreplace.a 
>> ../toolkit/libtoolkit.a  -lode
>> ContactParams.o: In function 
>> `ContactParams::ContactParams[not-in-charge]()':
>> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
>> undefined reference to `dInfinityValue'
>> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
>> undefined reference to `dInfinityValue'
>> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
>> undefined reference to `dInfinityValue'
>> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
>> undefined reference to `dInfinityValue'
>> ContactParams.o: In function 
>> `ContactParams::ContactParams[in-charge]()':
>> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
>> undefined reference to `dInfinityValue'
>> ContactParams.o:/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
>> more undefined references to `dInfinityValue' follow
>> collect2: ld returned 1 exit status
>> make[3]: *** [gazebo] Error 1
>> ...
>>
>> Can anyone help?
>>
>> TIA,
>>
>> Moshe
>>
>>
>>
>> -------------------------------------------------------
>> This SF.Net email sponsored by Black Hat Briefings & Training.
>> Attend Black Hat Briefings & Training, Las Vegas July 24-29 - digital 
>> self defense, top technical experts, no vendor pitches, unmatched 
>> networking opportunities. Visit http://www.blackhat.com
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> Playerstage-gazebo@...
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
>
>

Re: [PlayerStage-Gazebo] building gazebo

[Yiannis Gatsoulis <menig@le...>]

Hi,

try the following

  $ export 
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/home/foo/local/gazebo/lib/pkgconfig

where /home/foo/local/gazebo/lib/pkgconfig

have a look to the following notes as well

Player/Stage/Gazebo installation instructions in a Fedora C2 machine:
=====================================================================

This notes represent the installation procedure of PSG in a Fedora C2 
machine.
------------

PSG webpage: http://sourceforge.net/projects/playerstage
------------

NOTES:

*PSG installation should be done with only this version of the packages. 
Otherwise the latest version should be ok.
------------

Required programs:

Player: player-src-1.5.tar.gz : PSG webpage
Stage: stage-src-1.3.4.tar.gz : PSG webpage
Gazebo: gazebo-src-0.4.0.tar.gz : PSG webpage
OpenSceneGraph: OSG_OP_OT-0.9.6-2.tar.gz : 
http://openscenegraph.sourceforge.net
Geospatial Data Abstraction Library (GDAL) : gdal-1.2.0.tar.gz : 
http://www.remotesensing.org/gdal
*OpenDynamicsEngine (ODE) : ode-0.039.tgz : http://opende.sourceforge.net
Robotic Toolkit Library : librtk-src-2.3.0.tar.gz : PSG webpage
GNU Scientific Library : gsl-1.4.tar.gz : http://www.gnu.org/software/gsl
OpenGL Utility Toolkit : glut-3.7.tar.gz : 
http://opengl.org/resources/libraries/glut.html
------------


Gazebo installation
===================
(taken from gazebo README file written by A. Howard and N. Koenig; and 
modified accordingly)

OSG and ODE are mandatory. GDAL is required only for specific features
such as the MapExtruder and Terrain models, but is highly recommended.

If GLUT or parts of it missing from your system then GLUT is also 
mandatory. Look at /usr/include/GL if there is glut.h and in /usr/lib/ 
for libglut.so.3.7 (you may need the symbolink links libglut.so and 
libglut.so.3 pointing to this).

If a local install is performed, be sure to set your LD_LIBRARY_PATH and
CPATH environment variables accordingly.

  bash:
    $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/foo/local/lib
    $ export CPATH=$CPATH:/home/foo/local/include

OpenSceneGraph (OSG) Installation
---------------------------------
Install OpenThreads:
  $ cd OpenThreads
  $ make
  $ make [INST_LOCATION = path] install
    ex: make INST_LOCATION=/home/foo/local

Install Producer:
  $ cd Producer
  $ make OPENTHREADS_INC_DIR=/home/foo/local/include/OpenThreads 
OPENTHREADS_LIB_DIR=/home/foo/local/lib
  $ make [INST_LOCATION = path] install
    ex: make INST_LOCATION=/home/foo/local

Install OpenSceneGraph:
  $ cd OpenSceneGraph
  $ make OPENTHREADS_INC_DIR=/home/foo/local/include/OpenThreads 
OPENTHREADS_LIB_DIR=/home/foo/local/lib 
PRODUCER_INC_DIR=/home/foo/local/include/Producer 
PRODUCER_LIB_DIR=/home/captain/local/lib
  $ make [INST_LOCATION = path] install
    ex: make INST_LOCATION=/home/foo/local

OpenDynamicsEngine (ODE) Installation
-------------------------------------
NOTE: Only v.0.39 works with gazebo 0.4

Install OPCODE:
  $ cd OPCODE
  $ make
  $ mkdir <include path/opcode
    ex: mkdir /home/foo/local/include/opcode
  $ cp -r Ice *.h <include path>/opcode
    ex: cp -r Ice *.h /home/foo/local/include/opcode
  $ cp libopcode.a <library path>/lib

Install ODE:
  $ sed 's/#OPCODE/OPCODE/; s/DOUBLE/SINGLE/' config/user-settings > 
config/user-settings.new
  $ mv config/user-settings.new config/user-settings
  $ make OPCODE_DIRECTORY=/home/captain/local/lib
  $ cp -r include/ode <include path>/ode
    ex: $ cp -r include/ode /home/nate/local/include/ode
  $ cp lib/libode.a <library path>

Geospatial Data Abstraction Library (GDAL) Installation
-------------------------------------------------------
  $ ./configure --prefix=/home/foo/local --without-python
  $ make
  $ make install

OpenGL Utility Toolkit local installation
-----------------------------------------
(taken from glut <glut dir>/linux/README file written by P.F. Martone, 
updated by M. Kilgard; and modified accordingly)

Some files included in this archive:

    Glut.cf -- file required by imake-- use this to replace the
      stock version that came with GLUT.

    Makefile -- Makefile required to build ELF library,  belongs in
      the $GLUT_HOME/lib/glut/. directory.

The steps to make this work are:

     1) Change into $GLUT_HOME/. and make a backup copy of the
    Glut.cf file. Then, take the copy from this archive and move it
    into $GLUT_HOME.

     2) Run the script to build all the makefiles:

      ./mkmkfiles.imake

     3) Change into $GLUT_HOME/lib/glut/. and make a backup copy of
    the Makefile.  Now, take the Makefile out of the archive and
    replace the old one.

     4) WHILE STILL IN THE $GLUT_HOME/lib/glut/. DIRECTOR, RUN:

      make
   
    This should build the shared library 'libglut.so.3.7'.

    IF YOU HAVE PROBLEMS WITH HEADER FILE DEPENDENCIES, try
    doing:

      make depend
      make

    This should rebuild the Makefile dependencies.

    If this does not work, remove all the lines in "Makefile" below
    the line saying "DO NOT DELETE" (yes, disregard what the line
    says).  Then try "make depend; make"

     5) copy the files to your include and lib directories
    $ cp <glut home>/lib/glut/libglut.so.3.7 /home/foo/local/lib
    $ cp -r <glut home>/include/* /home/foo/local/include

     6) Go to the directory were libglut.so.3.7 was copied and make two 
symbolic links:

    $ cd /home/foo/local/lib
    $ ln -s libglut.so.3.7 libglut.so.3
    $ ln -s libglut.so.3.7 libglut.so

For further information refer to the <glut home>/linux/README file.


-------------------------
GAZEBO Local Installation
-------------------------
Export your library path:
  $ export LIBRARY_PATH=/home/foo/local/lib

Install gazebo:
  $ ./configure --prefix=/home/foo/local/gazebo
  $ make
  $ make install


Robotic Toolkit Library (librtk) installation
---------------------------------------------
  $ ./configure --prefix=/home/foo/local/librtk
  $ make
  $ make install


-------------------------
PLAYER Local Installation
-------------------------
Export gazebo and librtk paths:
  $ export 
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/home/foo/local/gazebo/lib/pkgconfig:/home/foo/local/librtk/lib/pkgconfig

Install player:
  $ ./configure --prefix=/home/foo/local/player --enable-gazebo
  $ make
  $ make install


------------------------
STAGE Local Installation
------------------------
Install stage:
  $ ./configure --prefix=/home/foo/local/stage 
--with-player=/home/foo/local/player
  $ make
  $ make install

-yiannis
There are two paths in life, I am looking for the middle one.



Moshe Sayag wrote:

> I am trying to build P/S/G for the first time and have some errors.
> I downloaded the latest packages and followed the orders.
>
> 1.
> The 'configure' of the player prints
> ...
> configure:18544: result: Gazebo support will not be included -- could 
> not find Gazebo >= 0.4.0
> ....
>
> Although I do use 0.4.0.
> How do I tell the system where to find gazebo?
>
> 2.
> The 'make' of gazebo fails with the following output:
> ...
> Making all in .
> make[3]: Entering directory 
> `/home/moshe/PlayerStage/gazebo-src-0.4.0/server'
> g++  -g -g -O2  -o gazebo -L. -L/usr/X11R6/lib -L../libgazebo main.o 
> World.o WorldFile.o Model.o ModelFactory.o Sensor.o ContactParams.o 
> -lX11 -lXi -lXmu -lm -lpthread -L/usr/lib -lxml2 -lz -lm 
> -L/usr/X11R6/lib -lode  -lGL -lGLU -lglut  
> models/AvatarHeli/libavatarheli.a  models/ClodBuster/libclodbuster.a 
> models/Factory/libfactory.a models/GarminGPS/libgarmingps.a 
> models/GroundPlane/libgroundplane.a 
> models/LightSource/liblightsource.a  models/Pioneer2AT/libpioneer2at.a 
> models/Pioneer2DX/libpioneer2dx.a models/PointSet/libpointset.a 
> models/SegwayRMP/libsegwayrmp.a  models/SickLMS200/libsicklms200.a 
> models/SimpleSolid/libsimplesolid.a models/SonyVID30/libsonyvid30.a  
> models/TotemPole/libtotempole.a models/TruthWidget/libtruthwidget.a  
> models/Pioneer2Gripper/libpioneer2gripper.a 
> models/Pioneer2Sonars/libpioneer2sonars.a 
> models/ObserverCam/libobservercam.a  sensors/Camera/libcamera.a 
> sensors/RayProximity/librayproximity.a                              
> -lgazebo bodies/libbodies.a ../replace/libreplace.a 
> ../toolkit/libtoolkit.a  -lode
> ContactParams.o: In function 
> `ContactParams::ContactParams[not-in-charge]()':
> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
> undefined reference to `dInfinityValue'
> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
> undefined reference to `dInfinityValue'
> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
> undefined reference to `dInfinityValue'
> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
> undefined reference to `dInfinityValue'
> ContactParams.o: In function `ContactParams::ContactParams[in-charge]()':
> /home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
> undefined reference to `dInfinityValue'
> ContactParams.o:/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
> more undefined references to `dInfinityValue' follow
> collect2: ld returned 1 exit status
> make[3]: *** [gazebo] Error 1
> ...
>
> Can anyone help?
>
> TIA,
>
> Moshe
>
>
>
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[PlayerStage-Gazebo] building gazebo

[Moshe Sayag <sayag.moshe@id...>]

I am trying to build P/S/G for the first time and have some errors.
I downloaded the latest packages and followed the orders.

1.
The 'configure' of the player prints
...
configure:18544: result: Gazebo support will not be included -- could 
not find Gazebo >= 0.4.0
....

Although I do use 0.4.0.
How do I tell the system where to find gazebo?

2.
The 'make' of gazebo fails with the following output:
...
Making all in .
make[3]: Entering directory 
`/home/moshe/PlayerStage/gazebo-src-0.4.0/server'
g++  -g -g -O2  -o gazebo -L. -L/usr/X11R6/lib -L../libgazebo main.o 
World.o WorldFile.o Model.o ModelFactory.o Sensor.o ContactParams.o 
-lX11 -lXi -lXmu -lm -lpthread -L/usr/lib -lxml2 -lz -lm 
-L/usr/X11R6/lib -lode  -lGL -lGLU -lglut  
models/AvatarHeli/libavatarheli.a  models/ClodBuster/libclodbuster.a 
models/Factory/libfactory.a models/GarminGPS/libgarmingps.a 
models/GroundPlane/libgroundplane.a models/LightSource/liblightsource.a  
models/Pioneer2AT/libpioneer2at.a models/Pioneer2DX/libpioneer2dx.a 
models/PointSet/libpointset.a models/SegwayRMP/libsegwayrmp.a  
models/SickLMS200/libsicklms200.a models/SimpleSolid/libsimplesolid.a 
models/SonyVID30/libsonyvid30.a  models/TotemPole/libtotempole.a 
models/TruthWidget/libtruthwidget.a  
models/Pioneer2Gripper/libpioneer2gripper.a 
models/Pioneer2Sonars/libpioneer2sonars.a 
models/ObserverCam/libobservercam.a  sensors/Camera/libcamera.a 
sensors/RayProximity/librayproximity.a                              
-lgazebo bodies/libbodies.a ../replace/libreplace.a 
../toolkit/libtoolkit.a  -lode
ContactParams.o: In function 
`ContactParams::ContactParams[not-in-charge]()':
/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
undefined reference to `dInfinityValue'
/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
undefined reference to `dInfinityValue'
/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
undefined reference to `dInfinityValue'
/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
undefined reference to `dInfinityValue'
ContactParams.o: In function `ContactParams::ContactParams[in-charge]()':
/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
undefined reference to `dInfinityValue'
ContactParams.o:/home/moshe/PlayerStage/gazebo-src-0.4.0/server/ContactParams.cc:35: 
more undefined references to `dInfinityValue' follow
collect2: ld returned 1 exit status
make[3]: *** [gazebo] Error 1
...

Can anyone help?

TIA,

Moshe

[PlayerStage-Gazebo] RE: [Playerstage-developers] gz_position/3d and c/c++ client inconsistencies

[Kratochvil, Bradley Eugene <kratochvil@ir...>]

Hello all, =20

>Hmmm, I think it is the gz_position3d driver in the Player server that
is
borked.  According to player.h, position3d should be reporting angles
and
angular rates in arc-seconds (1/3600 of a degree), while
gz_position3d.cc
is reporting these in whole degrees.  Please go ahead and fix this, if
you
are so inclined.  Both libplayerc and the c++ client appear to be
correct.


I submitted a patch ([ 970301 ] motor, position2d, position3d
interfaces) to Brian a couple of days ago that will influence this.

For the position2d & position3d I changed the interface description, the
C client, and the C++ client to use milliradians when passing over the
network (as opposed to arcseconds).  This nicely fits in with the rest
of the units for the position interfaces (mm).  Plus this allows people
who write their drivers in standard units to not have to change from
rad-degrees-rad. =20

Since this change could break a lot of things, I provided the position2d
interface as an upgrade path from the current position interface.  From
the client side nothing much will really change, but server code will
need to.  The position3d interface did change though, so a couple of the
drivers will need to be rewritten.

I'm not sure if this patch will be included in Player, but I hope so.  I
think down the road, it will make life much easier in terms of units.=20

Best regards,

Brad

[PlayerStage-Gazebo] gazebo get_device_list error?

[Douglas S. Blank <dblank@br...>]

Gazebo developers,

I'm trying to get a device list back from gazebo, via Python, like so:

 >>> r = player()
 >>> r.start("laser")
'gz_laser'
 >>> r.get_device_list()
Traceback (most recent call last):
   File "<stdin>", line 1, in ?
   File "/home/dblank/pyro/robot/driver/player.py", line 411, in 
get_device_list
     return unpack_player_devlist(payload)
   File "/home/dblank/pyro/robot/driver/ppmessage.py", line 147, in 
unpack_player_devlist
     list.append((devicestr[data[idx]], data[idx+1], data[idx+2]))
KeyError: 40

This works when connecting to Stage:

 >>> r = player()
 >>> r.start("laser")
'laser'
 >>> r.get_device_list()
(('fiducial', 0, 6665), ('comms', 0, 6665), ('power', 0, 6665), ('mcom', 
0, 6665), ('position', 0, 6665), ('sonar', 0, 6665), ('laser', 0, 6665), 
('blobfinder', 0, 6665), ('ptz', 0, 6665))

I think I'm running:

player-src-1.5
stage-src-1.3.4
current cvs co of "gazebo"

I am running my own version of a python driver, but it is the same in 
both of the above tries, so it must be something different in gazebo.

Thanks for any assistance,

-Doug

-- 
Douglas S. Blank,         Assistant Professor
dblank@...,            (610)526-6501
Bryn Mawr College,   Computer Science Program
101 North Merion Ave,       Park Science Bld.
Bryn Mawr, PA 19010  dangermouse.brynmawr.edu

[PlayerStage-Gazebo] Re: [Playerstage-developers] gz_position/3d and c/c++ client inconsistencies

[ahoward <ahoward@po...>]

Hmmm, I think it is the gz_position3d driver in the Player server that is
borked.  According to player.h, position3d should be reporting angles and
angular rates in arc-seconds (1/3600 of a degree), while gz_position3d.cc
is reporting these in whole degrees.  Please go ahead and fix this, if you
are so inclined.  Both libplayerc and the c++ client appear to be correct.

BTW, note that gazebo and libgazebo always use SI units, so there should
be no unit conversions at all on the gazebo side of things.

	A.


On Wed, 30 Jun 2004, Ben Grocholsky wrote:

>  Dear All,
>
> I noticed some inconsistencies between the player gz_position, gz_position3d
> drivers and the client libraries (scaling by 1000 &3600). Just wanted to
> check with others before changing anything in order to minimize trauma. It
> seemed sensible to change gz_position3d.cc to match gz_position.cc but I
> noticed the c client libs have been altered to reflect the difference. Is it
> OK to change the c++ client to match the c client? Was the c client change a
> temporary part of a grander scheme?
>
> Ben
>
>
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>

Andrew Howard                           email: ahoward@...
Department of Computer Science          http:  www-robotics.usc.edu/~ahoward
University of Southern California       phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781      fax:   1 (213) 821 5696
    << Insert pithy saying here >>>