OGRE exception with stereocamera world

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OGRE exception with stereocamera world

Raul-26
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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