Bumper Sensor doesn't work

classic Classic list List threaded Threaded
2 messages Options
Reply | Threaded
Open this post in threaded view
|

Bumper Sensor doesn't work

Elizabeth Duane
Hello!

I have having some problems with the bumper sensor.
When I run Gazebo .world file and player .cfg file , there are no
 problems,
but when I run playerv or my app., I got the follow errors:

from playerv:

playerv : error in
/home/duane/Documents/Programas/player-3.0.2/utils/playerv/pv_dev_bumper.c

get_geom failed : got NACK from request


and from my app.:

BumperProxy::RequestBumperConfig()(-1) : error getting geom



It seems that the simulation can't get the geom of bumper.
Part of .world and .cfg files follows below. Is it missing something?
Any idea to solver this problem?

I'm using player 3.0.2 and Gazebo 0.10.

Thanks in advance.


Part of .world file:
...

<body:cylinder name="chassis_body">
    <xyz>0.0 0.0 0.06</xyz>
    <rpy>0.0 0.0 0.0</rpy>

    <geom:cylinder name="chassis_geom">
      <size>0.165 0.068</size>
      <mass>2.0</mass>
      <mu1>0.5</mu1>
      <mu2>0.5</mu2>

      <visual>
        <scale>0.33 0.33 0.068</scale>
 <mesh>unit_cylinder</mesh>
<material>Gazebo/White</material>
      </visual>
     </geom:cylinder>

     <sensor:contact name="contact_sensor">
        <geom>chassis_geom</geom>
<updateRate>100.0</updateRate>
        <controller:bumper name="bumper_controller">
          <interface:bumper name="bumper_iface_0" />
        </controller:bumper>
      </sensor:contact>

  </body:cylinder>


...


Part of .cfg file:

driver
(
  name "gazebo"
  provides ["6665:bumper:0"]
  gz_id "robot1::bumper_iface_0"

)


Att.
--
*Elizabeth Duane*

_________________________________________________________________
Campanha Brasil - Dakar
"O amor em construção. Corra este rally!" -
http://www.oamoremconstrucao.com.br/
------------------------------------------------------------------------------
Write once. Port to many.
Get the SDK and tools to simplify cross-platform app development. Create
new or port existing apps to sell to consumers worldwide. Explore the
Intel AppUpSM program developer opportunity. appdeveloper.intel.com/join
http://p.sf.net/sfu/intel-appdev
_______________________________________________
Playerstage-gazebo mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
Reply | Threaded
Open this post in threaded view
|

Re: Bumper Sensor doesn't work

Rich Mattes-2
This error isn't anything to worry about.  playerv sends a bumper geometry
request to each driver providing a bumper interface on startup, so it knows
where to draw bumper visualizations relative to the center of the robot.
The bumper interface in this case is provided by the gazebo driver, which
doesn't implement the bumper geometry request.  Since the request isn't
handled by anything, the driver sends a NACK response back to playerv, which
shouldn't draw anything as a result.

If retrieving the bumper sensor geometry through Player is important for
you, you can modify Gazebo's Player driver to respond to the bumper geometry
request.  Otherwise, you can just ignore the messages; the bumpers should
still be triggering correctly throughout the simulation.

Also, so you know, gazebo is now hosted at gazebosim.org (it's been down for
a few days, but it really does exist.)  With the move, they've started a new
mailing list[1] for gazebo issues.

Rich

[1] https://kforge.ros.org/mailman/listinfo/gazebo-list


> -----Original Message-----
> From: Elizabeth Duane [mailto:[hidden email]]
> Sent: Tuesday, December 20, 2011 10:21 PM
> To: [hidden email]
> Subject: [PlayerStage-Gazebo] Bumper Sensor doesn't work
>
> Hello!
>
> I have having some problems with the bumper sensor.
> When I run Gazebo .world file and player .cfg file , there are no
> problems, but when I run playerv or my app., I got the follow errors:
>
> from playerv:
>
> playerv : error in
> /home/duane/Documents/Programas/player-
> 3.0.2/utils/playerv/pv_dev_bumper.c
>
> get_geom failed : got NACK from request
>
>
> and from my app.:
>
> BumperProxy::RequestBumperConfig()(-1) : error getting geom
>
>
>
> It seems that the simulation can't get the geom of bumper.
> Part of .world and .cfg files follows below. Is it missing something?
> Any idea to solver this problem?
>
> I'm using player 3.0.2 and Gazebo 0.10.
>
> Thanks in advance.
>
>
> Part of .world file:
> ...
>
> <body:cylinder name="chassis_body">
>     <xyz>0.0 0.0 0.06</xyz>
>     <rpy>0.0 0.0 0.0</rpy>
>
>     <geom:cylinder name="chassis_geom">
>       <size>0.165 0.068</size>
>       <mass>2.0</mass>
>       <mu1>0.5</mu1>
>       <mu2>0.5</mu2>
>
>       <visual>
>         <scale>0.33 0.33 0.068</scale>
>  <mesh>unit_cylinder</mesh>
> <material>Gazebo/White</material>
>       </visual>
>      </geom:cylinder>
>
>      <sensor:contact name="contact_sensor">
>         <geom>chassis_geom</geom>
> <updateRate>100.0</updateRate>
>         <controller:bumper name="bumper_controller">
>           <interface:bumper name="bumper_iface_0" />
>         </controller:bumper>
>       </sensor:contact>
>
>   </body:cylinder>
>
>
> ...
>
>
> Part of .cfg file:
>
> driver
> (
>   name "gazebo"
>   provides ["6665:bumper:0"]
>   gz_id "robot1::bumper_iface_0"
>
> )
>
>
> Att.
> --
> *Elizabeth Duane*
>
> _________________________________________________________________
> Campanha Brasil - Dakar
> "O amor em construção. Corra este rally!" -
> http://www.oamoremconstrucao.com.br/
> -----------------------------------------------------------------------
> -------
> Write once. Port to many.
> Get the SDK and tools to simplify cross-platform app development.
> Create new or port existing apps to sell to consumers worldwide.
> Explore the Intel AppUpSM program developer opportunity.
> appdeveloper.intel.com/join http://p.sf.net/sfu/intel-appdev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo


------------------------------------------------------------------------------
Write once. Port to many.
Get the SDK and tools to simplify cross-platform app development. Create
new or port existing apps to sell to consumers worldwide. Explore the
Intel AppUpSM program developer opportunity. appdeveloper.intel.com/join
http://p.sf.net/sfu/intel-appdev
_______________________________________________
Playerstage-gazebo mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo