[Yars-users] Directed Camera Issues - Some Progress

[Robert M. <rob...@gm...>]

Hi List,

As Arndt pointed out, the last problem was due to an XML syntax  
problem. Now I seem to get closer to actually using the camera sensor.  
Still, there is an error :)

rmaertin@earth:/work/rmaertin$ ./yarsbuild/bin/yars -d robots/ 
cambot.xml -x yars/trunk -t yars/trunk -l yarsbuild

WARNING: yars-config-file .yarsrc could not be found in:
   .
   /home/student/r/rmaertin
   /etc
Using xsd-path /work/rmaertin/yars/trunk
Using textures-path /work/rmaertin/yars/trunk
Using lib-path /work/rmaertin/yarsbuild
IN XML_FILE: path_to_xsd /work/rmaertin/yars/trunk
Using xml-sim-description /work/rmaertin/robots/cambot.xml
sending /work/rmaertin/yars/trunk to DOMParser
DOMParser::xsd: /work/rmaertin/yars/trunk/xsd/RoSiML.xsd
setting simFreq  from XML --> no data
YARS setup is now as follows:
stepSize:   0.010000
simFreq:    100
updateFreq: 25
stepTimer:  10
freeglut (./yarsbuild/bin/yars): Unable to create direct context  
rendering for window 'YARS-Simulation'
This may hurt performance.
freeglut (./yarsbuild/bin/yars): Unable to create direct context  
rendering for window 'Camera'
This may hurt performance.
RenderTexture::Initialize() creation error: Couldn't find a suitable  
pixel format
waiting for connection(s) ...

Initing UDP-Socket-Connection...

Socket port 4500 assigned,

Waiting for udpClient 0 ...

Connected to shodan.neurobiopsychologie.Uni-Osnabrueck.DE  
(131.173.35.184),
port 63264

...init done

---------------------------------------------------------------
| ### KEYS ###  (beware: might be overridden by OS)           |
|-------------------------------------------------------------|
|     + : speed up simulation (realtime has to be on)
|     - : slow down simulation (realtime has to be on)
|     0 : speed up draw update (default=1=each step)
|     9 : slow down draw update (>1 ^= every nth step)
|     L : toggle reload file on reset on/off
|     P : toggle pause on/off
|     R : reinit and reset simulation
|     T : toggle use textures on/off
|     V : printout camera viewport
|     X : exit simulation
|     c : toggle show/hide all camera windows
|     d : toggle drawing on/off
|     f : toggle follow camera mode (1st robot) on/off
|     h : help (printout this text)
|     p : toggle printout frame rate every 1000.00 [ms] on/off
|     r : toggle realtime on/off
|     s : do a single step (in pause mode)
|     t : toggle traces on/off (for those configured)
|     v : restore initial viewpoint
|-------------------------------------------------------------|
| S = SHIFT, C = CTRL, A = ALT                                |
---------------------------------------------------------------
Restoring original viewpoint!
handshake request (0), mode SIMPLE ...
...handshake sent.


As soon as I connect to Yars, the program quits with the following  
message:
RenderTexture::BeginCapture(): Texture is not initialized!

The texture path should be okay, as I see textures in the  
vizualization Window when I use only distance sensors.
In general, everything works fine when I don't use the camera sensor.

I hope this is the final obstacle.
Thanks a lot for your patience.

Best
Robert