Player error using GPS and IMU

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Player error using GPS and IMU

Mauro1
 Hello everybody

 
My system is configured with Player 2.1.2, Gazebo 0.9.0 and ubuntu 9.10

I need to use a GPS and imu sensors for my robot.

Starting Gazebo the output log is:

**********************
creating /tmp/gazebo-mauro-0
directory [/tmp/gazebo-mauro-0] already exists (previous crash?)
but the owner gazebo server (pid=2682) is not running.
deleting the old information of the directory [/tmp/gazebo-mauro-0]
creating /tmp/gazebo-mauro-0/simulation.default 112 33842332
creating /tmp/gazebo-mauro-0/factory.default 112 410188
creating /tmp/gazebo-mauro-0/graphics3d.default 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.plane1_model 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.sphere1_model 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.sphere2_model 112 1630256
creating /tmp/gazebo-mauro-0/position.pioneer3d_model1::position_iface_0 112 156
creating /tmp/gazebo-mauro-0/graphics3d.pioneer3d_model1 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.pioneer3d_model1::GarminGPS 112 1630256
creating /tmp/gazebo-mauro-0/imu.pioneer3d_model1::nimu::imu_iface_0 112 100
creating /tmp/gazebo-mauro-0/graphics3d.pioneer3d_model1::nimu 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.box1_model 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.directional_white 112 1630256
creating /tmp/gazebo-mauro-0/graphics3d.point_white 112 1630256
Gazebo successfully initialized

**************************************

When I start Player I get the following error:

**********************************************

...

invoking player_driver_init()...

 * Part of the Player/Stage Project [http://playerstage.sourceforge.net]
 * Copyright 2000-2006 Richard Vaughan, Andrew Howard, Brian Gerkey, Nathan Koenig
 * and contributors. Released under the GNU General Public License v2.
success
  Gazebo Plugin driver creating 1 device
    6665.31.0 is  a simulation interface.
opening /tmp/gazebo-mauro-0
opening /tmp/gazebo-mauro-0/simulation.default 112 33842332
  Gazebo Plugin driver creating 1 device
    6665.30.0 is  a position3d interface.
  Gazebo Plugin driver creating 1 device
    6665.60.0 is error: Gazebo driver doesn't support interface type 60
Error: Loading devices
error   : Initialization failed for driver "gazebo"
error   : failed to parse config file gazeboWorlds/worlds/pioneer3d.cfg driver blocks
 
********************************************************

Questions:

1: Does somebody know if  gps and imu are really implemented in the Player/Gazebo release I'm using?

2. If yes, what is wrong in my configuration files?

My Gazebo and Player configuration files are reported here below.

Thank you very much for your help

Mauro Pagliarella



------------------- Gazebo config file --------------

  <model:physical name="pioneer3d_model1">
    <xyz>0 0 .145</xyz>
    <rpy>0.0 0.0 45.0</rpy>
    <collide>all</collide>
    <bodyName>chassis_body</bodyName>

             <!-- GPS Model-->
             <model:physical name="GarminGPS">
                 <xyz>0.0 0.0 0.0</xyz>
                 <rpy>0.0 0.0 0.0</rpy>
           
                 <attach>
                     <parentBody>chassis_body</parentBody>
                     <myBody>GarminGPS_body</myBody>
                     <collide>none</collide>
                 </attach>
                 <include embedded="true">
                     <xi:include href="./models/gps.model" />
                 </include>
       </model:physical>         <!-- end of GPS -->
       
             <!-- IMU Model-->
             <model:physical name="nimu">
                 <xyz>0.0 0.0 0.0</xyz>
                 <rpy>0.0 0.0 0.0</rpy>
           
                 <attach>
                     <parentBody>chassis_body</parentBody>
                     <myBody>imu_body</myBody>
                     <collide>none</collide>
                 </attach>
                 <include embedded="true">
                     <xi:include href="./models/imu.model" />
                 </include>
       </model:physical>         <!-- end of IMU -->

<!--     The include should be last within a model.
        All previous statements will override those in the included file -->

    <include embedded="true">
      <xi:include href="./models/pioneer3d.model" />
    </include>
  </model:physical>

------------------- Player config file --------------

# Desc: Player sample configuration file for controlling Gazebo devices
# Date: 18 Apr 2003
# CVS: $Id: gazebo.cfg,v 1.4.2.1 2006/12/16 22:43:23 natepak Exp $

driver
(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazeboplugin"
  server_id "default"
)

driver
(
  name "gazebo"
  provides ["position3d:0"]
  gz_id "pioneer3d_model1::position_iface_0"
)

driver
(
  name "gazebo"
  provides ["imu:0"]
  gz_id "imu_iface_0"
  data_packet_type 2
)

driver
(
  name "gazebo"
#  plugin "libgarmingps"
  provides ["gps:0"]
  gz_id "gps_iface_0"
)


 
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