OGRE exception with stereocamera world

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OGRE exception with stereocamera world

Hemation


Hi,

I'm trying to execute the stereocamera.world, but I'm having some problems.

I'm able to lauch gazebo and player, but the code example "stereo.cc" breaks gazebo.

this is my world:


<?xml version="1.0"?>

<gazebo:world
  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: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: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>0.008</cfm>
    <erp>0.2</erp>
  </physics:ode>

  <rendering:gui>

    <type>fltk</type>
    <size>800 600</size>
    <pos>0 0</pos>
  </rendering:gui>

  <rendering:ogre>
    <ambient>1.0 1.0 1.0 1.0</ambient>

    <sky>
      <material>Gazebo/CloudySky</material>
    </sky>

  </rendering:ogre>

  <model:physical name="sphere1_model">
    <xyz>90 -1 1.5</xyz>

    <rpy>0.0 0.0 0.0</rpy>
    <static>false</static>

    <body:sphere name="sphere1_body">
      <geom:sphere name="sphere1_geom">
        <size>0.5</size>

        <mass>1.0</mass>

        <visual>
          <scale>0.5 0.5 0.5</scale>
          <mesh>unit_sphere</mesh>
          <material>Gazebo/Rocky</material>

        </visual>
      </geom:sphere>
    </body:sphere>
  </model:physical>

  <model:physical name="box1_model">
    <xyz>4 1 0.5</xyz>
    <canonicalBody>box1_body</canonicalBody>

    <static>false</static>

    <body:box name="box1_body">

      <geom:box name="box1_geom">
        <size>1 1 1</size>
        <mass>1.0</mass>

        <visual>
          <mesh>unit_box</mesh>
          <material>Gazebo/Red</material>
        </visual>
      </geom:box>
    </body:box>
  </model:physical>


   <!-- 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/GrassFloor</material>
      </geom:plane>
    </body:plane>
  </model:physical>

 <model:physical name="cam1_model">
    <xyz>0 0 1</xyz>

    <rpy>0 0 0</rpy>
    <static>true</static>

    <body:empty name="cam1_body">
      <sensor:stereocamera name="cam1_sensor">
        <imageSize>320 240</imageSize>

        <hfov>60</hfov>
        <nearClip>0.1</nearClip>
        <farClip>1000</farClip>
        <saveFrames>false</saveFrames>
        <saveFramePath>frames</saveFramePath>

        <baseline>0.2</baseline>

        <controller:stereocamera name="stereo_camera_controller">
          <interface:stereocamera name="stereo_iface_0" />
          <interface:camera name="camera_iface_0" />

          <interface:camera name="camera_iface_1" />

          <leftcamera>camera_iface_0</leftcamera>
          <rightcamera>camera_iface_1</rightcamera>
        </controller:stereocamera>

      </sensor:stereocamera>
    </body:empty>
  </model:physical>

</gazebo:world>


this is my player.cfg file:

driver
(
  name "gazebo"
  provides ["simulation:0"]

  plugin "libgazeboplugin"
  server_id "default"
  alwayson 1
)

driver
(
  name "gazebo"
  provides ["camera:0"]
  gz_id "camera_iface_0"
)


driver
(
  name "gazebo"
  provides ["camera:1"]
  gz_id "camera_iface_1"
)

And when running ~/gazebo/examples/libgazebo/stereo/stereo.cc gazebo breaks with this message:



Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.

Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/local/lib/OGRE]
creating /tmp/gazebo-rcorreal-0

Error in libgazebo Server.
found a pid file: pid=8341
The gazebo process is not alive.
creating /tmp/gazebo-rcorreal-0/simulation.default 112 151696
creating /tmp/gazebo-rcorreal-0/graphics3d.default 112 1629744

creating /tmp/gazebo-rcorreal-0/graphics3d.plane1_model 112 1629744
creating /tmp/gazebo-rcorreal-0/stereo.stereo_iface_0 112 2458220
creating /tmp/gazebo-rcorreal-0/camera.camera_iface_0 112 921724
creating /tmp/gazebo-rcorreal-0/camera.camera_iface_1 112 921724

creating /tmp/gazebo-rcorreal-0/graphics3d.cam1_model 112 1629744
terminate called after throwing an instance of 'Ogre::InternalErrorException'
  what():  OGRE EXCEPTION(7:InternalErrorException):
Error linking GLSL Program Object : Error linking GLSL Program Object
:  in GLSLLinkProgram::Activate at OgreGLSLExtSupport.cpp (line 66)

Abort


I'm using ogre 1.6, gazebo svn7597 and player svn7599

Thanks.


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