Laser beams passing through objects

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Laser beams passing through objects

zhangqun
Hi all,

i got a problem when using a sicklms200 laser in gazebo 0.10.0. Laser beams can pass through the objects. In the old version, say gazebo 0.8pre3, the laser beams would be obstructed by object. How do i set this up in the new gazebo?

Thanks in advance.

Regards,
Zhang Qun
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Re: Laser beams passing through objects

John Hsu-2
Hi,
can you post your world file so I can try and reproduce the issue? thanks,
John

On Jun 19, 2010 7:55 AM, "zhangqun" <[hidden email]> wrote:


Hi all,

i got a problem when using a sicklms200 laser in gazebo 0.10.0. Laser beams
can pass through the objects. In the old version, say gazebo 0.8pre3, the
laser beams would be obstructed by object. How do i set this up in the new
gazebo?

Thanks in advance.

Regards,
Zhang Qun
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Re: Laser beams passing through objects

zhangqun
Hi, John, thanks for your reply. I post my world file and sicklms200 laser model below. I only put one cylinder there for test. In the laser model, the tab <displayRays>, no matter i put fan, false or lines values, the laser beams still can pass through the objects. Actually, even the example world file coming with gazebo 0.10.0, like pioneer2dx.world, the laser beams can also pass through the object. So i dont think it is the world file problem. And I further test the new laser model (gazebo 0.10.0) in my old version gazebo (0.8pre3), and the laser beems work fine. Thanks.

world file:

<?xml version="1.0"?>

<gazebo:world
  xmlns:xi="http://www.w3.org/2001/XInclude"
  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" 
  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" 
  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 
  xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window" 
  xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param" 
  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" 
  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" 
  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" 
  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 
  xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
  xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" 
  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >

  <verbosity>5</verbosity>

  <physics:ode>
    <stepTime>0.03</stepTime>
    <gravity>0 0 -9.8</gravity>
    <cfm>10e-5</cfm>
    <erp>0.3</erp>
    <updateRate>0</updateRate>
  </physics:ode>

  <rendering:gui>
    <type>fltk</type>
    <size>800 600</size>
    <pos>0 0</pos>
    <xyz>0 0 0</xyz>
    <rpy>0 0 0</rpy>
    <updateRate>20</updateRate>

    <frames>
      <row height="100%">
        <camera width="100%">
          <xyz>0.35 -0.5 0.43</xyz>
          <rpy>0 14 111.5</rpy>
        </camera>
      </row>
    </frames>
  </rendering:gui>

  <rendering:ogre>
    <ambient>0.5 0.5 0.5 1.0</ambient>
    <sky>
      <material>Gazebo/CloudySky</material>
    </sky>

    <fog>
      <color>1.0 1.0 1.0</color>
      <linearStart>10</linearStart>
      <linearEnd>100</linearEnd>
    </fog>
  </rendering:ogre>

   
  <model:physical name="plane1_model">
    <xyz>0 0 0</xyz>
    <rpy>0 0 0</rpy>
    <static>true</static>

    <body:plane name="plane1_body">
      <geom:plane name="plane1_geom">
        <normal>0 0 1</normal>
        <size>2000 2000</size>
        <segments>10 10</segments>
        <uvTile>100 100</uvTile>
        <material>Gazebo/Grey</material>
      </geom:plane>
    </body:plane>
  </model:physical>

  <model:physical name="cylinder1_model">
    <xyz>3.15 1.68 .3</xyz>
    <rpy>0.0 0.0 0.0</rpy>
    <static>true</static>

    <body:cylinder name="cylinder1_body">
      <geom:cylinder name="cylinder1_geom">
        <size>0.5 1</size>
        <mass>1.0</mass>   
        <visual>
          <scale>0.5 0.5 0.5</scale>
          <mesh>unit_cylinder</mesh>
          <material>Gazebo/Color</material>
        </visual>
        </geom:cylinder>
    </body:cylinder>
  </model:physical>

 
  <model:physical name="pioneer2dx_model1">
    <xyz>0 0 0.145</xyz>
    <rpy>0.0 0.0 0.0</rpy>


    <model:physical name="laser">
      <xyz>0.15 0 0.18</xyz>

      <attach>
        <parentBody>chassis_body</parentBody>
        <myBody>laser_body</myBody>
      </attach>

      <include embedded="true">
        <xi:include href="models/sicklms200.model" />
      </include>
    </model:physical>


    <include embedded="true">
      <xi:include href="models/pioneer2dx.model" />
    </include>
  </model:physical>

 
  <model:renderable name="directional_white">
    <light>
      <type>directional</type>
      <direction>0 -0.6 -0.4</direction>
      <diffuseColor>1.0 1.0 1.0</diffuseColor>
      <specularColor>0.2 0.2 0.2</specularColor>
      <range>20</range>
      <attenuation>1000 1.0 0.0 0</attenuation>
    </light>
  </model:renderable>


</gazebo:world>

part of laser model:

<sensor:ray name="laser_1">
      <rayCount>180</rayCount>
      <rangeCount>361</rangeCount>
      <origin>0.05 0.0 0</origin>

      <minAngle>-90</minAngle>
      <maxAngle>90</maxAngle>

      <minRange>0.1</minRange>
      <maxRange>8</maxRange>
      <displayRays>fan</displayRays>

     
     
     
      <resRange>1</resRange>
 
      <controller:sicklms200_laser name="laser_controller_1">
        <interface:laser name="laser_iface_0"/>
        <interface:fiducial name="fiducial_iface_0"/>
      </controller:sicklms200_laser>
    </sensor:ray>



<quote author="John Hsu-2">
Hi,
can you post your world file so I can try and reproduce the issue? thanks,
John

On Jun 19, 2010 7:55 AM, "zhangqun" <zhangq.rhy@gmail.com> wrote:


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Re: Laser beams passing through objects

John Hsu-2
I found a couple of things that might be giving you grief.  Attached is a
slightly modified cylinder1 model that should work.  Mainly, the visual and
collision geometry in your cylinder1 object model file do not match,
collision size is specified by <size>radius length</size> and visual scale
specifies the bounding box scale of a unit_cylinder.  Your collision
cylinder is 1m tall and 1m wide (0.5m radius), but visual cylinder is half
of that in all three dimensions.
This might be unrelated, but there appears to be a bug in gui manipulation
of static bodies as well, I'll investigate further, but quick glance it
seems that  using the gazebo gui to drag a static body around does not
actually move its collision geometry.

hope this helps.
John

On Sat, Jun 19, 2010 at 8:26 PM, zhangqun <[hidden email]> wrote:

>
> Hi, John, thanks for your reply. I post my world file and sicklms200 laser
> model below. I only put one cylinder there for test. In the laser model,
> the
> tab <displayRays>, no matter i put fan, false or lines values, the laser
> beams still can pass through the objects. Actually, even the example world
> file coming with gazebo 0.10.0, like pioneer2dx.world, the laser beams can
> also pass through the object. So i dont think it is the world file problem.
> And I further test the new laser model (gazebo 0.10.0) in my old version
> gazebo (0.8pre3), and the laser beems work fine. Thanks.
>
> world file:
>
> <?xml version="1.0"?>
>
> <gazebo:world
>  xmlns:xi="http://www.w3.org/2001/XInclude"
>  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
>  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor
> "
>  xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window
> "
>  xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>
> xmlns:interface="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>  xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>
> xmlns:rendering="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>
> xmlns:controller="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>
> xmlns:physics="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
> >
>
>  <verbosity>5</verbosity>
>
>  <physics:ode>
>    <stepTime>0.03</stepTime>
>    <gravity>0 0 -9.8</gravity>
>    <cfm>10e-5</cfm>
>    <erp>0.3</erp>
>    <updateRate>0</updateRate>
>  </physics:ode>
>
>  <rendering:gui>
>    <type>fltk</type>
>    <size>800 600</size>
>    <pos>0 0</pos>
>    <xyz>0 0 0</xyz>
>    <rpy>0 0 0</rpy>
>    <updateRate>20</updateRate>
>
>    <frames>
>      <row height="100%">
>        <camera width="100%">
>          <xyz>0.35 -0.5 0.43</xyz>
>          <rpy>0 14 111.5</rpy>
>        </camera>
>      </row>
>    </frames>
>  </rendering:gui>
>
>  <rendering:ogre>
>    <ambient>0.5 0.5 0.5 1.0</ambient>
>    <sky>
>      <material>Gazebo/CloudySky</material>
>    </sky>
>
>    <fog>
>      <color>1.0 1.0 1.0</color>
>      <linearStart>10</linearStart>
>      <linearEnd>100</linearEnd>
>    </fog>
>  </rendering:ogre>
>
>   <!-- Ground Plane -->
>  <model:physical name="plane1_model">
>    <xyz>0 0 0</xyz>
>    <rpy>0 0 0</rpy>
>    <static>true</static>
>
>    <body:plane name="plane1_body">
>      <geom:plane name="plane1_geom">
>        <normal>0 0 1</normal>
>        <size>2000 2000</size>
>        <segments>10 10</segments>
>        <uvTile>100 100</uvTile>
>        <material>Gazebo/Grey</material>
>      </geom:plane>
>    </body:plane>
>  </model:physical>
>
>  <model:physical name="cylinder1_model">
>    <xyz>3.15 1.68 .3</xyz>
>    <rpy>0.0 0.0 0.0</rpy>
>    <static>true</static>
>
>    <body:cylinder name="cylinder1_body">
>      <geom:cylinder name="cylinder1_geom">
>        <size>0.5 1</size>
>        <mass>1.0</mass>
>        <visual>
>          <scale>0.5 0.5 0.5</scale>
>          <mesh>unit_cylinder</mesh>
>          <material>Gazebo/Color</material>
>        </visual>
>        </geom:cylinder>
>    </body:cylinder>
>  </model:physical>
>
>
>  <model:physical name="pioneer2dx_model1">
>    <xyz>0 0 0.145</xyz>
>    <rpy>0.0 0.0 0.0</rpy>
>
>
>    <model:physical name="laser">
>      <xyz>0.15 0 0.18</xyz>
>
>      <attach>
>        <parentBody>chassis_body</parentBody>
>        <myBody>laser_body</myBody>
>      </attach>
>
>      <include embedded="true">
>        <xi:include href="models/sicklms200.model" />
>      </include>
>    </model:physical>
>
>
>    <include embedded="true">
>      <xi:include href="models/pioneer2dx.model" />
>    </include>
>  </model:physical>
>
>  <!-- White Directional light -->
>  <model:renderable name="directional_white">
>    <light>
>      <type>directional</type>
>      <direction>0 -0.6 -0.4</direction>
>      <diffuseColor>1.0 1.0 1.0</diffuseColor>
>      <specularColor>0.2 0.2 0.2</specularColor>
>      <range>20</range>
>      <attenuation>1000 1.0 0.0 0</attenuation>
>    </light>
>  </model:renderable>
>
>
> </gazebo:world>
>
> part of laser model:
>
> <sensor:ray name="laser_1">
>      <rayCount>180</rayCount>
>      <rangeCount>361</rangeCount>
>      <origin>0.05 0.0 0</origin>
>
>      <minAngle>-90</minAngle>
>      <maxAngle>90</maxAngle>
>
>      <minRange>0.1</minRange>
>      <maxRange>8</maxRange>
>      <displayRays>fan</displayRays>
>
>      <!--<displayRays>lines</displayRays>-->
>      <!--<displayRays>false</displayRays>-->
>
>      <resRange>1</resRange>
>
>      <controller:sicklms200_laser name="laser_controller_1">
>        <interface:laser name="laser_iface_0"/>
>        <interface:fiducial name="fiducial_iface_0"/>
>      </controller:sicklms200_laser>
>    </sensor:ray>
>
>
>
>
> Hi,
> can you post your world file so I can try and reproduce the issue? thanks,
> John
>
> On Jun 19, 2010 7:55 AM, "zhangqun" <[hidden email]> wrote:
>
>
>
> --
> View this message in context:
> http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28938580.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
>
> ------------------------------------------------------------------------------
> ThinkGeek and WIRED's GeekDad team up for the Ultimate
> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
> lucky parental unit.  See the prize list and enter to win:
> http://p.sf.net/sfu/thinkgeek-promo
> _______________________________________________
> Playerstage-gazebo mailing list
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> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Laser beams passing through objects

Nate Koenig
The problem may also be related to a "feature" that has been added to gazebo.

Sensors will not generate data unless an external program requests
data. So, if you run gazebo without connecting to the laser via shared
memory, Player, or through ROS then the laser will not generate data
and it will seem to pass through objects.

You can also add the <alwaysActive> tag to a sensor:

<sensor:ray>
  <alwaysActive>true</alwaysActive>
</sensor:ray>

Which will force the sensor on.

-nate

On Tue, Jun 22, 2010 at 2:45 AM, John Hsu <[hidden email]> wrote:

> I found a couple of things that might be giving you grief.  Attached is a
> slightly modified cylinder1 model that should work.  Mainly, the visual and
> collision geometry in your cylinder1 object model file do not match,
> collision size is specified by <size>radius length</size> and visual scale
> specifies the bounding box scale of a unit_cylinder.  Your collision
> cylinder is 1m tall and 1m wide (0.5m radius), but visual cylinder is half
> of that in all three dimensions.
> This might be unrelated, but there appears to be a bug in gui manipulation
> of static bodies as well, I'll investigate further, but quick glance it
> seems that  using the gazebo gui to drag a static body around does not
> actually move its collision geometry.
>
> hope this helps.
> John
>
> On Sat, Jun 19, 2010 at 8:26 PM, zhangqun <[hidden email]> wrote:
>
>>
>> Hi, John, thanks for your reply. I post my world file and sicklms200 laser
>> model below. I only put one cylinder there for test. In the laser model,
>> the
>> tab <displayRays>, no matter i put fan, false or lines values, the laser
>> beams still can pass through the objects. Actually, even the example world
>> file coming with gazebo 0.10.0, like pioneer2dx.world, the laser beams can
>> also pass through the object. So i dont think it is the world file problem.
>> And I further test the new laser model (gazebo 0.10.0) in my old version
>> gazebo (0.8pre3), and the laser beems work fine. Thanks.
>>
>> world file:
>>
>> <?xml version="1.0"?>
>>
>> <gazebo:world
>>  xmlns:xi="http://www.w3.org/2001/XInclude"
>>  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
>>  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>>  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor
>> "
>>  xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window
>> "
>>  xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>>  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>>  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>>  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>>
>> xmlns:interface="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>>  xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>>
>> xmlns:rendering="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>>
>> xmlns:controller="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>>
>> xmlns:physics="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
>> >
>>
>>  <verbosity>5</verbosity>
>>
>>  <physics:ode>
>>    <stepTime>0.03</stepTime>
>>    <gravity>0 0 -9.8</gravity>
>>    <cfm>10e-5</cfm>
>>    <erp>0.3</erp>
>>    <updateRate>0</updateRate>
>>  </physics:ode>
>>
>>  <rendering:gui>
>>    <type>fltk</type>
>>    <size>800 600</size>
>>    <pos>0 0</pos>
>>    <xyz>0 0 0</xyz>
>>    <rpy>0 0 0</rpy>
>>    <updateRate>20</updateRate>
>>
>>    <frames>
>>      <row height="100%">
>>        <camera width="100%">
>>          <xyz>0.35 -0.5 0.43</xyz>
>>          <rpy>0 14 111.5</rpy>
>>        </camera>
>>      </row>
>>    </frames>
>>  </rendering:gui>
>>
>>  <rendering:ogre>
>>    <ambient>0.5 0.5 0.5 1.0</ambient>
>>    <sky>
>>      <material>Gazebo/CloudySky</material>
>>    </sky>
>>
>>    <fog>
>>      <color>1.0 1.0 1.0</color>
>>      <linearStart>10</linearStart>
>>      <linearEnd>100</linearEnd>
>>    </fog>
>>  </rendering:ogre>
>>
>>   <!-- Ground Plane -->
>>  <model:physical name="plane1_model">
>>    <xyz>0 0 0</xyz>
>>    <rpy>0 0 0</rpy>
>>    <static>true</static>
>>
>>    <body:plane name="plane1_body">
>>      <geom:plane name="plane1_geom">
>>        <normal>0 0 1</normal>
>>        <size>2000 2000</size>
>>        <segments>10 10</segments>
>>        <uvTile>100 100</uvTile>
>>        <material>Gazebo/Grey</material>
>>      </geom:plane>
>>    </body:plane>
>>  </model:physical>
>>
>>  <model:physical name="cylinder1_model">
>>    <xyz>3.15 1.68 .3</xyz>
>>    <rpy>0.0 0.0 0.0</rpy>
>>    <static>true</static>
>>
>>    <body:cylinder name="cylinder1_body">
>>      <geom:cylinder name="cylinder1_geom">
>>        <size>0.5 1</size>
>>        <mass>1.0</mass>
>>        <visual>
>>          <scale>0.5 0.5 0.5</scale>
>>          <mesh>unit_cylinder</mesh>
>>          <material>Gazebo/Color</material>
>>        </visual>
>>        </geom:cylinder>
>>    </body:cylinder>
>>  </model:physical>
>>
>>
>>  <model:physical name="pioneer2dx_model1">
>>    <xyz>0 0 0.145</xyz>
>>    <rpy>0.0 0.0 0.0</rpy>
>>
>>
>>    <model:physical name="laser">
>>      <xyz>0.15 0 0.18</xyz>
>>
>>      <attach>
>>        <parentBody>chassis_body</parentBody>
>>        <myBody>laser_body</myBody>
>>      </attach>
>>
>>      <include embedded="true">
>>        <xi:include href="models/sicklms200.model" />
>>      </include>
>>    </model:physical>
>>
>>
>>    <include embedded="true">
>>      <xi:include href="models/pioneer2dx.model" />
>>    </include>
>>  </model:physical>
>>
>>  <!-- White Directional light -->
>>  <model:renderable name="directional_white">
>>    <light>
>>      <type>directional</type>
>>      <direction>0 -0.6 -0.4</direction>
>>      <diffuseColor>1.0 1.0 1.0</diffuseColor>
>>      <specularColor>0.2 0.2 0.2</specularColor>
>>      <range>20</range>
>>      <attenuation>1000 1.0 0.0 0</attenuation>
>>    </light>
>>  </model:renderable>
>>
>>
>> </gazebo:world>
>>
>> part of laser model:
>>
>> <sensor:ray name="laser_1">
>>      <rayCount>180</rayCount>
>>      <rangeCount>361</rangeCount>
>>      <origin>0.05 0.0 0</origin>
>>
>>      <minAngle>-90</minAngle>
>>      <maxAngle>90</maxAngle>
>>
>>      <minRange>0.1</minRange>
>>      <maxRange>8</maxRange>
>>      <displayRays>fan</displayRays>
>>
>>      <!--<displayRays>lines</displayRays>-->
>>      <!--<displayRays>false</displayRays>-->
>>
>>      <resRange>1</resRange>
>>
>>      <controller:sicklms200_laser name="laser_controller_1">
>>        <interface:laser name="laser_iface_0"/>
>>        <interface:fiducial name="fiducial_iface_0"/>
>>      </controller:sicklms200_laser>
>>    </sensor:ray>
>>
>>
>>
>>
>> Hi,
>> can you post your world file so I can try and reproduce the issue? thanks,
>> John
>>
>> On Jun 19, 2010 7:55 AM, "zhangqun" <[hidden email]> wrote:
>>
>>
>>
>> --
>> View this message in context:
>> http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28938580.html
>> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>>
>>
>>
>> ------------------------------------------------------------------------------
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>> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
>> lucky parental unit.  See the prize list and enter to win:
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Re: Laser beams passing through objects

zhangqun
In reply to this post by John Hsu-2
Hi, John, thanks for reply. Yes, there seems mismatch between collision geometry and visual geometry.

For the laser beams problem, as Nate mentioned below, it maybe related to the new features of gazebo.

-qun
<quote author="John Hsu-2">
I found a couple of things that might be giving you grief.  Attached is a
slightly modified cylinder1 model that should work.  Mainly, the visual and
collision geometry in your cylinder1 object model file do not match,
collision size is specified by <size>radius length</size> and visual scale
specifies the bounding box scale of a unit_cylinder.  Your collision
cylinder is 1m tall and 1m wide (0.5m radius), but visual cylinder is half
of that in all three dimensions.
This might be unrelated, but there appears to be a bug in gui manipulation
of static bodies as well, I'll investigate further, but quick glance it
seems that  using the gazebo gui to drag a static body around does not
actually move its collision geometry.

hope this helps.
John


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Re: Laser beams passing through objects

Nate Koenig
In reply to this post by Nate Koenig
Hi Qun,

You can add the <alwaysActive> flag to a sensor to force them on. Then
they will produce correct results even when a controller is not
connected to them.

-nate

On Thu, Jun 24, 2010 at 6:18 AM, zhangqun <[hidden email]> wrote:

>
> Hi nate, thanks. Does that mean if i do not connect with any controller, the
> sensors (e.g. laser beams) would not display correct in gui? May I ask, can
> we just make the laser beams look normal, say obstructed by obstacles in
> gazebo gui without a controller, as in the old gazebo versions?
>
> -qun
>
>
>
> The problem may also be related to a "feature" that has been added to
> gazebo.
>
> Sensors will not generate data unless an external program requests
> data. So, if you run gazebo without connecting to the laser via shared
> memory, Player, or through ROS then the laser will not generate data
> and it will seem to pass through objects.
>
> You can also add the <alwaysActive> tag to a sensor:
>
> <sensor:ray>
>  <alwaysActive>true</alwaysActive>
> </sensor:ray>
>
> Which will force the sensor on.
>
> -nate
>
>
> --
> View this message in context: http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28982398.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
> ------------------------------------------------------------------------------
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> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
> lucky parental unit.  See the prize list and enter to win:
> http://p.sf.net/sfu/thinkgeek-promo
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Re: Laser beams passing through objects

zhangqun
In reply to this post by Nate Koenig
Hi, nate, thanks. I add the tag <alwaysActive> into the sicklms200.model like below, but seems not work. The laser beams still look passing through the objects in gazebo gui. Does that mean i have to write a controller to request the data in such a way that the laser beams would display correct?

    <sensor:ray name="laser_1">
      <rayCount>180</rayCount>
      <rangeCount>361</rangeCount>
      <origin>0.05 0.0 0</origin>

      <minAngle>-90</minAngle>
      <maxAngle>90</maxAngle>

      <minRange>0.1</minRange>
      <maxRange>8</maxRange>
      <displayRays>fan</displayRays>
     
      <resRange>1</resRange>
     
      <alwaysActive>true</alwaysActive>
   
      <controller:sicklms200_laser name="laser_controller_1">
        <interface:laser name="laser_iface_0"/>
        <interface:fiducial name="fiducial_iface_0"/>
      </controller:sicklms200_laser>
    </sensor:ray>

-qun


<quote author="Nate Koenig">
The problem may also be related to a "feature" that has been added to gazebo.

Sensors will not generate data unless an external program requests
data. So, if you run gazebo without connecting to the laser via shared
memory, Player, or through ROS then the laser will not generate data
and it will seem to pass through objects.

You can also add the <alwaysActive> tag to a sensor:

<sensor:ray>
  <alwaysActive>true</alwaysActive>
</sensor:ray>

Which will force the sensor on.

-nate

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Re: Laser beams passing through objects

Nate Koenig
Hello,

Can you send me your world file?

-nate

On Thu, Jun 24, 2010 at 6:30 AM, zhangqun <[hidden email]> wrote:

>
> Hi, nate, thanks. I add the tag <alwaysActive> into the sicklms200.model like
> below, but seems not work. The laser beams still look passing through the
> objects in gazebo gui. Does that mean i have to write a controller to
> request the data in such a way that the laser beams would display correct?
>
>    <sensor:ray name="laser_1">
>      <rayCount>180</rayCount>
>      <rangeCount>361</rangeCount>
>      <origin>0.05 0.0 0</origin>
>
>      <minAngle>-90</minAngle>
>      <maxAngle>90</maxAngle>
>
>      <minRange>0.1</minRange>
>      <maxRange>8</maxRange>
>      <displayRays>fan</displayRays>
>
>      <resRange>1</resRange>
>
>      <alwaysActive>true</alwaysActive>
>
>      <controller:sicklms200_laser name="laser_controller_1">
>        <interface:laser name="laser_iface_0"/>
>        <interface:fiducial name="fiducial_iface_0"/>
>      </controller:sicklms200_laser>
>    </sensor:ray>
>
> -qun
>
>
>
> The problem may also be related to a "feature" that has been added to
> gazebo.
>
> Sensors will not generate data unless an external program requests
> data. So, if you run gazebo without connecting to the laser via shared
> memory, Player, or through ROS then the laser will not generate data
> and it will seem to pass through objects.
>
> You can also add the <alwaysActive> tag to a sensor:
>
> <sensor:ray>
>  <alwaysActive>true</alwaysActive>
> </sensor:ray>
>
> Which will force the sensor on.
>
> -nate
>
>
> --
> View this message in context: http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28982529.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
> ------------------------------------------------------------------------------
> ThinkGeek and WIRED's GeekDad team up for the Ultimate
> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
> lucky parental unit.  See the prize list and enter to win:
> http://p.sf.net/sfu/thinkgeek-promo
> _______________________________________________
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> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Laser beams passing through objects

zhangqun
Hi, nate, pls see the world files and sicklms200.model attached. I also
attached the sample world pioneer2dx.world comes with gazebo0.10.0 where the
laser beams of the two robots got the same problem.

Thanks so much for your help.

best regards,
-qun

On Thu, Jun 24, 2010 at 6:55 AM, Nate Koenig <[hidden email]> wrote:

> Hello,
>
> Can you send me your world file?
>
> -nate
>
> On Thu, Jun 24, 2010 at 6:30 AM, zhangqun <[hidden email]> wrote:
> >
> > Hi, nate, thanks. I add the tag <alwaysActive> into the sicklms200.model
> like
> > below, but seems not work. The laser beams still look passing through the
> > objects in gazebo gui. Does that mean i have to write a controller to
> > request the data in such a way that the laser beams would display
> correct?
> >
> >    <sensor:ray name="laser_1">
> >      <rayCount>180</rayCount>
> >      <rangeCount>361</rangeCount>
> >      <origin>0.05 0.0 0</origin>
> >
> >      <minAngle>-90</minAngle>
> >      <maxAngle>90</maxAngle>
> >
> >      <minRange>0.1</minRange>
> >      <maxRange>8</maxRange>
> >      <displayRays>fan</displayRays>
> >
> >      <resRange>1</resRange>
> >
> >      <alwaysActive>true</alwaysActive>
> >
> >      <controller:sicklms200_laser name="laser_controller_1">
> >        <interface:laser name="laser_iface_0"/>
> >        <interface:fiducial name="fiducial_iface_0"/>
> >      </controller:sicklms200_laser>
> >    </sensor:ray>
> >
> > -qun
> >
> >
> >
> > The problem may also be related to a "feature" that has been added to
> > gazebo.
> >
> > Sensors will not generate data unless an external program requests
> > data. So, if you run gazebo without connecting to the laser via shared
> > memory, Player, or through ROS then the laser will not generate data
> > and it will seem to pass through objects.
> >
> > You can also add the <alwaysActive> tag to a sensor:
> >
> > <sensor:ray>
> >  <alwaysActive>true</alwaysActive>
> > </sensor:ray>
> >
> > Which will force the sensor on.
> >
> > -nate
> >
> >
> > --
> > View this message in context:
> http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28982529.html
> > Sent from the playerstage-gazebo mailing list archive at Nabble.com.
> >
> >
> >
> ------------------------------------------------------------------------------
> > ThinkGeek and WIRED's GeekDad team up for the Ultimate
> > GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
> > lucky parental unit.  See the prize list and enter to win:
> > http://p.sf.net/sfu/thinkgeek-promo
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>

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Re: Laser beams passing through objects

Nate Koenig
Hello,

The world files work just fine. I suggest you try reinstalling the SVN
version of gazebo.

-nate

On Fri, Jun 25, 2010 at 8:05 PM, zhangqun <[hidden email]> wrote:

> Hi, nate, pls see the world files and sicklms200.model attached. I also
> attached the sample world pioneer2dx.world comes with gazebo0.10.0 where the
> laser beams of the two robots got the same problem.
>
> Thanks so much for your help.
> best regards,
> -qun
>
> On Thu, Jun 24, 2010 at 6:55 AM, Nate Koenig <[hidden email]> wrote:
>>
>> Hello,
>>
>> Can you send me your world file?
>>
>> -nate
>>
>> On Thu, Jun 24, 2010 at 6:30 AM, zhangqun <[hidden email]> wrote:
>> >
>> > Hi, nate, thanks. I add the tag <alwaysActive> into the sicklms200.model
>> > like
>> > below, but seems not work. The laser beams still look passing through
>> > the
>> > objects in gazebo gui. Does that mean i have to write a controller to
>> > request the data in such a way that the laser beams would display
>> > correct?
>> >
>> >    <sensor:ray name="laser_1">
>> >      <rayCount>180</rayCount>
>> >      <rangeCount>361</rangeCount>
>> >      <origin>0.05 0.0 0</origin>
>> >
>> >      <minAngle>-90</minAngle>
>> >      <maxAngle>90</maxAngle>
>> >
>> >      <minRange>0.1</minRange>
>> >      <maxRange>8</maxRange>
>> >      <displayRays>fan</displayRays>
>> >
>> >      <resRange>1</resRange>
>> >
>> >      <alwaysActive>true</alwaysActive>
>> >
>> >      <controller:sicklms200_laser name="laser_controller_1">
>> >        <interface:laser name="laser_iface_0"/>
>> >        <interface:fiducial name="fiducial_iface_0"/>
>> >      </controller:sicklms200_laser>
>> >    </sensor:ray>
>> >
>> > -qun
>> >
>> >
>> >
>> > The problem may also be related to a "feature" that has been added to
>> > gazebo.
>> >
>> > Sensors will not generate data unless an external program requests
>> > data. So, if you run gazebo without connecting to the laser via shared
>> > memory, Player, or through ROS then the laser will not generate data
>> > and it will seem to pass through objects.
>> >
>> > You can also add the <alwaysActive> tag to a sensor:
>> >
>> > <sensor:ray>
>> >  <alwaysActive>true</alwaysActive>
>> > </sensor:ray>
>> >
>> > Which will force the sensor on.
>> >
>> > -nate
>> >
>> >
>> > --
>> > View this message in context:
>> > http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28982529.html
>> > Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>> >
>> >
>> >
>> > ------------------------------------------------------------------------------
>> > ThinkGeek and WIRED's GeekDad team up for the Ultimate
>> > GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
>> > lucky parental unit.  See the prize list and enter to win:
>> > http://p.sf.net/sfu/thinkgeek-promo
>> > _______________________________________________
>> > Playerstage-gazebo mailing list
>> > [hidden email]
>> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >
>
>

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Problem with SVN install

Luc Brunet-2
Hi, I am trying to compile the latest version of Gazebo from svn
(revision 8805) and I get the following errors at around the 92% mark.

/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc: In
static member function ‘static void GazeboClient::Init(int, const char*)’:
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:51:
error: invalid use of incomplete type ‘struct gazebo::Client’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:35:
error: forward declaration of ‘struct gazebo::Client’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:55:
error: invalid use of incomplete type ‘struct gazebo::Client’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:35:
error: forward declaration of ‘struct gazebo::Client’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:63:
error: invalid use of incomplete type ‘struct gazebo::SimulationIface’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:34:
error: forward declaration of ‘struct gazebo::SimulationIface’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:67:
error: invalid use of incomplete type ‘struct gazebo::SimulationIface’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:34:
error: forward declaration of ‘struct gazebo::SimulationIface’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc: In
static member function ‘static void GazeboClient::Fini()’:
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:92:
error: invalid use of incomplete type ‘struct gazebo::SimulationIface’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:34:
error: forward declaration of ‘struct gazebo::SimulationIface’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:94:
error: invalid use of incomplete type ‘struct gazebo::Client’
/home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:35:
error: forward declaration of ‘struct gazebo::Client’
make[2]: *** [player/CMakeFiles/gazeboplugin.dir/GazeboClient.o] Error 1
make[1]: *** [player/CMakeFiles/gazeboplugin.dir/all] Error 2
make: *** [all] Error 2


I have ogre 1.7.1 installed with ode 0.11.1.  Am I missing something?
Is there a particular revision I can revert to that would fix this error?

Thanks,

Luc

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Re: Problem with SVN install

Nate Koenig
Thanks Luc,

This was a namespace issue that I overlooked.
It should be fixed now with the latest SVN (rev. 8808).

-nate

On Mon, Jun 28, 2010 at 12:12 PM, Luc Brunet
<[hidden email]> wrote:

> Hi, I am trying to compile the latest version of Gazebo from svn
> (revision 8805) and I get the following errors at around the 92% mark.
>
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc: In
> static member function ‘static void GazeboClient::Init(int, const char*)’:
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:51:
> error: invalid use of incomplete type ‘struct gazebo::Client’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:35:
> error: forward declaration of ‘struct gazebo::Client’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:55:
> error: invalid use of incomplete type ‘struct gazebo::Client’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:35:
> error: forward declaration of ‘struct gazebo::Client’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:63:
> error: invalid use of incomplete type ‘struct gazebo::SimulationIface’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:34:
> error: forward declaration of ‘struct gazebo::SimulationIface’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:67:
> error: invalid use of incomplete type ‘struct gazebo::SimulationIface’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:34:
> error: forward declaration of ‘struct gazebo::SimulationIface’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc: In
> static member function ‘static void GazeboClient::Fini()’:
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:92:
> error: invalid use of incomplete type ‘struct gazebo::SimulationIface’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:34:
> error: forward declaration of ‘struct gazebo::SimulationIface’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.cc:94:
> error: invalid use of incomplete type ‘struct gazebo::Client’
> /home/lbrunet/Downloads/gazebo_svn/gazebo/player/GazeboClient.hh:35:
> error: forward declaration of ‘struct gazebo::Client’
> make[2]: *** [player/CMakeFiles/gazeboplugin.dir/GazeboClient.o] Error 1
> make[1]: *** [player/CMakeFiles/gazeboplugin.dir/all] Error 2
> make: *** [all] Error 2
>
>
> I have ogre 1.7.1 installed with ode 0.11.1.  Am I missing something?
> Is there a particular revision I can revert to that would fix this error?
>
> Thanks,
>
> Luc
>
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Re: Laser beams passing through objects

zhangqun
In reply to this post by Nate Koenig
Hi nate, i try the SVN version of gazebo (rev.8808 and rev.8809) which can make well with Ogre 1.7.1, but gazebo doesnot run correctly, the error is below:

Gazebo successfully initialized
terminate called after throwing an instance of 'Ogre::InvalidParametersException'
  what():  OGRE EXCEPTION(2:InvalidParametersException): Named constants have not been initialised, perhaps a compile error. in GpuProgramParameters::_findNamedConstantDefinition at /home/zhangqun/player/ogre_src_v1-7-1/OgreMain/src/OgreGpuProgramParams.cpp (line 1423)
Aborted

Then I tried old version of Ogre 1.6.4, this time with compile errors below:

[ 17%] Building CXX object server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o
/home/zhangqun/gazebo/server/rendering/OgreVisual.cc: In constructor ‘gazebo::OgreVisual::OgreVisual(gazebo::OgreVisual*, gazebo::Entity*)’:
/home/zhangqun/gazebo/server/rendering/OgreVisual.cc:73: error: no matching function for call to ‘Ogre::SceneManager::createMovableObject(const char [12])’
/usr/local/include/OGRE/OgreSceneManager.h:2883: note: candidates are: virtual Ogre::MovableObject* Ogre::SceneManager::createMovableObject(const Ogre::String&, const Ogre::String&, const Ogre::NameValuePairList*)
make[2]: *** [server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o] Error 1
make[1]: *** [server/rendering/CMakeFiles/gazebo_rendering.dir/all] Error 2
make: *** [all] Error 2

Could you pls advise which Ogre is compatible with the SVN version of gazebo?

Thanks.

-qun
<quote author="Nate Koenig">
Hello,

The world files work just fine. I suggest you try reinstalling the SVN
version of gazebo.

-nate

On Fri, Jun 25, 2010 at 8:05 PM, zhangqun <zhangq.rhy@gmail.com> wrote:
> Hi, nate, pls see the world files and sicklms200.model attached. I also
> attached the sample world pioneer2dx.world comes with gazebo0.10.0 where the
> laser beams of the two robots got the same problem.
>
> Thanks so much for your help.
> best regards,
> -qun
>
> On Thu, Jun 24, 2010 at 6:55 AM, Nate Koenig <natekoenig@gmail.com> wrote:
>>
>> Hello,
>>
>> Can you send me your world file?
>>
>> -nate
>>
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Re: Laser beams passing through objects

Nate Koenig
Hello,

This error might be due to your graphic card. I've added in a little
bit of code to gazebo to check if your card supports GLSL.

Could you please SVN up again, reinstall and try again?

-nate

On Wed, Jun 30, 2010 at 1:40 AM, zhangqun <[hidden email]> wrote:

>
> Hi nate, i try the SVN version of gazebo (rev.8808 and rev.8809) which can
> make well with Ogre 1.7.1, but gazebo doesnot run correctly, the error is
> below:
>
> Gazebo successfully initialized
> terminate called after throwing an instance of
> 'Ogre::InvalidParametersException'
>  what():  OGRE EXCEPTION(2:InvalidParametersException): Named constants
> have not been initialised, perhaps a compile error. in
> GpuProgramParameters::_findNamedConstantDefinition at
> /home/zhangqun/player/ogre_src_v1-7-1/OgreMain/src/OgreGpuProgramParams.cpp
> (line 1423)
> Aborted
>
> Then I tried old version of Ogre 1.6.4, this time with compile errors below:
>
> [ 17%] Building CXX object
> server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o
> /home/zhangqun/gazebo/server/rendering/OgreVisual.cc: In constructor
> ‘gazebo::OgreVisual::OgreVisual(gazebo::OgreVisual*, gazebo::Entity*)’:
> /home/zhangqun/gazebo/server/rendering/OgreVisual.cc:73: error: no matching
> function for call to ‘Ogre::SceneManager::createMovableObject(const char
> [12])’
> /usr/local/include/OGRE/OgreSceneManager.h:2883: note: candidates are:
> virtual Ogre::MovableObject* Ogre::SceneManager::createMovableObject(const
> Ogre::String&, const Ogre::String&, const Ogre::NameValuePairList*)
> make[2]: *** [server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o]
> Error 1
> make[1]: *** [server/rendering/CMakeFiles/gazebo_rendering.dir/all] Error 2
> make: *** [all] Error 2
>
> Could you pls advise which Ogre is compatible with the SVN version of
> gazebo?
>
> Thanks.
>
> -qun
>
> Hello,
>
> The world files work just fine. I suggest you try reinstalling the SVN
> version of gazebo.
>
> -nate
>
> On Fri, Jun 25, 2010 at 8:05 PM, zhangqun <[hidden email]> wrote:
>> Hi, nate, pls see the world files and sicklms200.model attached. I also
>> attached the sample world pioneer2dx.world comes with gazebo0.10.0 where
>> the
>> laser beams of the two robots got the same problem.
>>
>> Thanks so much for your help.
>> best regards,
>> -qun
>>
>> On Thu, Jun 24, 2010 at 6:55 AM, Nate Koenig <[hidden email]> wrote:
>>>
>>> Hello,
>>>
>>> Can you send me your world file?
>>>
>>> -nate
>>>
>
> --
> View this message in context: http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p29032123.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
> ------------------------------------------------------------------------------
> This SF.net email is sponsored by Sprint
> What will you do first with EVO, the first 4G phone?
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Re: Laser beams passing through objects

zhangqun
Hi, the new revision 8810 works fine with Ogre 1.7.1. Thanks.

Just a small problem that to minimize the gui window will always cause gazebo to close and show that "Gazebo done".

-qun


<quote author="Nate Koenig">
Hello,

This error might be due to your graphic card. I've added in a little
bit of code to gazebo to check if your card supports GLSL.

Could you please SVN up again, reinstall and try again?

-nate

On Wed, Jun 30, 2010 at 1:40 AM, zhangqun <zhangq.rhy@gmail.com> wrote:
>
> Hi nate, i try the SVN version of gazebo (rev.8808 and rev.8809) which can
> make well with Ogre 1.7.1, but gazebo doesnot run correctly, the error is
> below:
>
> Gazebo successfully initialized
> terminate called after throwing an instance of
> 'Ogre::InvalidParametersException'
>  what():  OGRE EXCEPTION(2:InvalidParametersException): Named constants
> have not been initialised, perhaps a compile error. in
> GpuProgramParameters::_findNamedConstantDefinition at
> /home/zhangqun/player/ogre_src_v1-7-1/OgreMain/src/OgreGpuProgramParams.cpp
> (line 1423)
> Aborted
>
> Then I tried old version of Ogre 1.6.4, this time with compile errors below:
>
> [ 17%] Building CXX object
> server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o
> /home/zhangqun/gazebo/server/rendering/OgreVisual.cc: In constructor
> ‘gazebo::OgreVisual::OgreVisual(gazebo::OgreVisual*, gazebo::Entity*)’:
> /home/zhangqun/gazebo/server/rendering/OgreVisual.cc:73: error: no matching
> function for call to ‘Ogre::SceneManager::createMovableObject(const char
> [12])’
> /usr/local/include/OGRE/OgreSceneManager.h:2883: note: candidates are:
> virtual Ogre::MovableObject* Ogre::SceneManager::createMovableObject(const
> Ogre::String&, const Ogre::String&, const Ogre::NameValuePairList*)
> make[2]: *** [server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o]
> Error 1
> make[1]: *** [server/rendering/CMakeFiles/gazebo_rendering.dir/all] Error 2
> make: *** [all] Error 2
>
> Could you pls advise which Ogre is compatible with the SVN version of
> gazebo?
>
> Thanks.
>
> -qun