Position interface not working

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Position interface not working

Luis Manso
Hello,

I have been successfully using Gazebo rev-8335 for some time. Recently I
updated to version 0.10 and the position interface doesn't move the robot
anymore. I also have the same problem with the current svn version. If I go
back and install rev-8335 everything goes back to normal.

I tried to move the robot using libgazebo both with the software I've been
using for months and with the example in examples/libgazebo. In order to try
to find the problem I included some printf's
in Differential_Position2d::UpdateChild()
and Differential_Position2d::GetPositionCmd(), so I can see how the example
program is updating the position command. Thus, I think it is highly
improbable that is a example program related problem.

Does anyone know what is happening or what to do to find the bug?

I've tried lots of word files with different robots.

Thanks in advance
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Re: Position interface not working

Stefan May-2
Dear Luis,

I had the same problem last week and I discovered that the automatic disabling of objects in ODE (to save computation time) was the reason, why I couldn't move the robot.
A quick hack is to switch of the dWorldSetAutoDisableFlag in ODEPhysics.cc.
The disabling makes sense in principle, but it is not "re-enabled" (as far as I can see) as soon as the controller sends new commands.

Regards,

   Stefan


----- Original Nachricht ----
Von:     Luis Manso <[hidden email]>
An:      [hidden email]
Datum:   25.01.2010 17:01
Betreff: [PlayerStage-Gazebo] Position interface not working

> Hello,
>
> I have been successfully using Gazebo rev-8335 for some time. Recently I
> updated to version 0.10 and the position interface doesn't move the robot
> anymore. I also have the same problem with the current svn version. If I go
> back and install rev-8335 everything goes back to normal.
>
> I tried to move the robot using libgazebo both with the software I've been
> using for months and with the example in examples/libgazebo. In order to
> try
> to find the problem I included some printf's
> in Differential_Position2d::UpdateChild()
> and Differential_Position2d::GetPositionCmd(), so I can see how the example
> program is updating the position command. Thus, I think it is highly
> improbable that is a example program related problem.
>
> Does anyone know what is happening or what to do to find the bug?
>
> I've tried lots of word files with different robots.
>
> Thanks in advance
> ----------------------------------------------------------------------------
> --
> Throughout its 18-year history, RSA Conference consistently attracts the
> world's best and brightest in the field, creating opportunities for
> Conference
> attendees to learn about information security's most important issues
> through
> interactions with peers, luminaries and emerging and established companies.
> http://p.sf.net/sfu/rsaconf-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Position interface not working

Luis Manso
I supposed it was something like that, but since I don't have a clue about
physics simulation I didn't know were to look. Your proposal seems more than
reasonable, but surprisingly it didn't fix the problem for me. It doesn't
matter the speed I command to the robot, its bounding box keeps still.

Thank you very much for your answer.



Dear Luis,

>
> I had the same problem last week and I discovered that the automatic
> disabling of objects in ODE (to save computation time) was the reason, why I
> couldn't move the robot.
> A quick hack is to switch of the dWorldSetAutoDisableFlag in ODEPhysics.cc.
> The disabling makes sense in principle, but it is not "re-enabled" (as far
> as I can see) as soon as the controller sends new commands.
>
> Regards,
>
>   Stefan
>
>
> ----- Original Nachricht ----
> Von:     Luis Manso <[hidden email]>
> An:      [hidden email]
> Datum:   25.01.2010 17:01
> Betreff: [PlayerStage-Gazebo] Position interface not working
>
> > Hello,
> >
> > I have been successfully using Gazebo rev-8335 for some time. Recently I
> > updated to version 0.10 and the position interface doesn't move the robot
> > anymore. I also have the same problem with the current svn version. If I
> go
> > back and install rev-8335 everything goes back to normal.
> >
> > I tried to move the robot using libgazebo both with the software I've
> been
> > using for months and with the example in examples/libgazebo. In order to
> > try
> > to find the problem I included some printf's
> > in Differential_Position2d::UpdateChild()
> > and Differential_Position2d::GetPositionCmd(), so I can see how the
> example
> > program is updating the position command. Thus, I think it is highly
> > improbable that is a example program related problem.
> >
> > Does anyone know what is happening or what to do to find the bug?
> >
> > I've tried lots of word files with different robots.
> >
> > Thanks in advance
> >
> ----------------------------------------------------------------------------
> > --
> > Throughout its 18-year history, RSA Conference consistently attracts the
> > world's best and brightest in the field, creating opportunities for
> > Conference
> > attendees to learn about information security's most important issues
> > through
> > interactions with peers, luminaries and emerging and established
> companies.
> > http://p.sf.net/sfu/rsaconf-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
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> business
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Re: Position interface not working

Stefan May-2
Sorry for the late reply. Probably this issue is the reason for it:

in ODEHingeJoint.cc

void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
{
  this->SetParam(angle, dParamVel);
}

must be:

void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
{
  this->SetParam(dParamVel, angle);
}

I just added it to the Bug tracker.
... and don't forget to enable the controller.

Regards

   Stefan

Am Dienstag, den 26.01.2010, 12:44 +0100 schrieb Luis Manso:

> I supposed it was something like that, but since I don't have a clue about
> physics simulation I didn't know were to look. Your proposal seems more than
> reasonable, but surprisingly it didn't fix the problem for me. It doesn't
> matter the speed I command to the robot, its bounding box keeps still.
>
> Thank you very much for your answer.
>
>
>
> Dear Luis,
> >
> > I had the same problem last week and I discovered that the automatic
> > disabling of objects in ODE (to save computation time) was the reason, why I
> > couldn't move the robot.
> > A quick hack is to switch of the dWorldSetAutoDisableFlag in ODEPhysics.cc.
> > The disabling makes sense in principle, but it is not "re-enabled" (as far
> > as I can see) as soon as the controller sends new commands.
> >
> > Regards,
> >
> >   Stefan
> >
> >
> > ----- Original Nachricht ----
> > Von:     Luis Manso <[hidden email]>
> > An:      [hidden email]
> > Datum:   25.01.2010 17:01
> > Betreff: [PlayerStage-Gazebo] Position interface not working
> >
> > > Hello,
> > >
> > > I have been successfully using Gazebo rev-8335 for some time. Recently I
> > > updated to version 0.10 and the position interface doesn't move the robot
> > > anymore. I also have the same problem with the current svn version. If I
> > go
> > > back and install rev-8335 everything goes back to normal.
> > >
> > > I tried to move the robot using libgazebo both with the software I've
> > been
> > > using for months and with the example in examples/libgazebo. In order to
> > > try
> > > to find the problem I included some printf's
> > > in Differential_Position2d::UpdateChild()
> > > and Differential_Position2d::GetPositionCmd(), so I can see how the
> > example
> > > program is updating the position command. Thus, I think it is highly
> > > improbable that is a example program related problem.
> > >
> > > Does anyone know what is happening or what to do to find the bug?
> > >
> > > I've tried lots of word files with different robots.
> > >
> > > Thanks in advance
> > >
> > ----------------------------------------------------------------------------
> > > --
> > > Throughout its 18-year history, RSA Conference consistently attracts the
> > > world's best and brightest in the field, creating opportunities for
> > > Conference
> > > attendees to learn about information security's most important issues
> > > through
> > > interactions with peers, luminaries and emerging and established
> > companies.
> > > http://p.sf.net/sfu/rsaconf-dev2dev
> > > _______________________________________________
> > > Playerstage-gazebo mailing list
> > > [hidden email]
> > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> > >
> >
> >
> > ------------------------------------------------------------------------------
> > The Planet: dedicated and managed hosting, cloud storage, colocation
> > Stay online with enterprise data centers and the best network in the
> > business
> > Choose flexible plans and management services without long-term contracts
> > Personal 24x7 support from experience hosting pros just a phone call away.
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> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
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Re: Position interface not working

Luis Manso
I just tried with the latest version from the repository and applied the
patches you suggested. Now it works fine.
Thank you!

On Fri, Feb 5, 2010 at 12:03 PM, Stefan May <[hidden email]> wrote:

> Sorry for the late reply. Probably this issue is the reason for it:
>
> in ODEHingeJoint.cc
>
> void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
> {
>  this->SetParam(angle, dParamVel);
> }
>
> must be:
>
> void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
> {
>  this->SetParam(dParamVel, angle);
> }
>
> I just added it to the Bug tracker.
> ... and don't forget to enable the controller.
>
> Regards
>
>   Stefan
>
> Am Dienstag, den 26.01.2010, 12:44 +0100 schrieb Luis Manso:
> > I supposed it was something like that, but since I don't have a clue
> about
> > physics simulation I didn't know were to look. Your proposal seems more
> than
> > reasonable, but surprisingly it didn't fix the problem for me. It doesn't
> > matter the speed I command to the robot, its bounding box keeps still.
> >
> > Thank you very much for your answer.
> >
> >
> >
> > Dear Luis,
> > >
> > > I had the same problem last week and I discovered that the automatic
> > > disabling of objects in ODE (to save computation time) was the reason,
> why I
> > > couldn't move the robot.
> > > A quick hack is to switch of the dWorldSetAutoDisableFlag in
> ODEPhysics.cc.
> > > The disabling makes sense in principle, but it is not "re-enabled" (as
> far
> > > as I can see) as soon as the controller sends new commands.
> > >
> > > Regards,
> > >
> > >   Stefan
> > >
> > >
> > > ----- Original Nachricht ----
> > > Von:     Luis Manso <[hidden email]>
> > > An:      [hidden email]
> > > Datum:   25.01.2010 17:01
> > > Betreff: [PlayerStage-Gazebo] Position interface not working
> > >
> > > > Hello,
> > > >
> > > > I have been successfully using Gazebo rev-8335 for some time.
> Recently I
> > > > updated to version 0.10 and the position interface doesn't move the
> robot
> > > > anymore. I also have the same problem with the current svn version.
> If I
> > > go
> > > > back and install rev-8335 everything goes back to normal.
> > > >
> > > > I tried to move the robot using libgazebo both with the software I've
> > > been
> > > > using for months and with the example in examples/libgazebo. In order
> to
> > > > try
> > > > to find the problem I included some printf's
> > > > in Differential_Position2d::UpdateChild()
> > > > and Differential_Position2d::GetPositionCmd(), so I can see how the
> > > example
> > > > program is updating the position command. Thus, I think it is highly
> > > > improbable that is a example program related problem.
> > > >
> > > > Does anyone know what is happening or what to do to find the bug?
> > > >
> > > > I've tried lots of word files with different robots.
> > > >
> > > > Thanks in advance
> > > >
> > >
> ----------------------------------------------------------------------------
> > > > --
> > > > Throughout its 18-year history, RSA Conference consistently attracts
> the
> > > > world's best and brightest in the field, creating opportunities for
> > > > Conference
> > > > attendees to learn about information security's most important issues
> > > > through
> > > > interactions with peers, luminaries and emerging and established
> > > companies.
> > > > http://p.sf.net/sfu/rsaconf-dev2dev
> > > > _______________________________________________
> > > > Playerstage-gazebo mailing list
> > > > [hidden email]
> > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> > > >
> > >
> > >
> > >
> ------------------------------------------------------------------------------
> > > The Planet: dedicated and managed hosting, cloud storage, colocation
> > > Stay online with enterprise data centers and the best network in the
> > > business
> > > Choose flexible plans and management services without long-term
> contracts
> > > Personal 24x7 support from experience hosting pros just a phone call
> away.
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> >
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>
>
>
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Re: Position interface not working

pt523
Hello,

I succesfully installed Gazebo 0.10 (.tar version from Sourceforge) on Ubuntu 10.04, alongside with ode 0.11, bullet 2.76, OGRE 1.6.4 and Player 3.0.0.

However, I am encountering the same problem, the position interface doesn't move the robot.

I've tried 2 things which was recommended here:
1. Switch off dWorldSetAutoDisableFlag in ODEPhysics.cc. by changing
   from dWorldSetAutoDisableFlag(this->worldId, 1);
   to     dWorldSetAutoDisableFlag(this->worldId, 0);

2. Change ODEHingeJoint::SetVelocity in ODEHingeJoint.cc to

void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
{
  this->SetParam(dParamVel, angle);
}  

and then recompiled Gazebo.

Then I tried pioneer2at.world. Now the result is a bit odd. I still can't move the robot but more importantly the robot seems to break itself. 4 wheels of the robot slide out of the robot's body, likes someone is pulling them off.

Did I do something wrong?

Regards,
Piti
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Re: Position interface not working

Luis Manso
I used to have the same problem. The only thing that worked for me was to
avoid using gazebo 0.10. I've successfully used SVN revision 8335 (previous
to gazebo-0.10), and revision 8857 (current SVN version).

Luis

2010/8/26 pt523 <[hidden email]>

>
> Hello,
>
> I succesfully installed Gazebo 0.10 (.tar version from Sourceforge) on
> Ubuntu 10.04, alongside with ode 0.11, bullet 2.76, OGRE 1.6.4 and Player
> 3.0.0.
>
> However, I am encountering the same problem, the position interface doesn't
> move the robot.
>
> I've tried 2 things which was recommended here:
> 1. Switch off dWorldSetAutoDisableFlag in ODEPhysics.cc. by changing
>   from dWorldSetAutoDisableFlag(this->worldId, 1);
>   to     dWorldSetAutoDisableFlag(this->worldId, 0);
>
> 2. Change ODEHingeJoint::SetVelocity in ODEHingeJoint.cc to
>
> void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
> {
>  this->SetParam(dParamVel, angle);
> }
>
> and then recompiled Gazebo.
>
> Then I tried pioneer2at.world. Now the result is a bit odd. I still can't
> move the robot but more importantly the robot seems to break itself. 4
> wheels of the robot slide out of the robot's body, likes someone is pulling
> them off.
>
> Did I do something wrong?
>
> Regards,
> Piti
> --
> View this message in context:
> http://old.nabble.com/Position-interface-not-working-tp27308934p29540458.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
>
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Re: Position interface not working

pt523
Thank you so much. Actually, I've tried to install revision 8857 but I couldn't. Output from cmake looks fine apart from
-- checking for module 'OGRE-RTShaderSystem>=1.6.3'
--   package 'OGRE-RTShaderSystem>=1.6.3' not found
-- checking for module 'OGRE>=1.6.3'
--   found OGRE, version 1.6.4

I'm not sure whether I have to do anything with package 'OGRE-RTShaderSystem

However, then make generates error below
Linking CXX shared library libgazebo_physics_ode.so
[ 28%] Built target gazebo_physics_ode
[ 29%] Building CXX object server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o
/home/pitiwut/Downloads/Downloads_AMD/Gazebo/8857/gazebo/server/rendering/OgreVisual.cc: In constructor ‘gazebo::OgreVisual::OgreVisual(gazebo::OgreVisual*, gazebo::Entity*)’:
/home/pitiwut/Downloads/Downloads_AMD/Gazebo/8857/gazebo/server/rendering/OgreVisual.cc:73: error: no matching function for call to ‘Ogre::SceneManager::createMovableObject(const char [12])’
/usr/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

From http://old.nabble.com/Laser-beams-passing-through-objects-td28934167.html#a29032123, it seems like this might be due to my graphic card. I have no idea what I should do at this point.

Regards,
Piti


Luis Manso wrote
I used to have the same problem. The only thing that worked for me was to
avoid using gazebo 0.10. I've successfully used SVN revision 8335 (previous
to gazebo-0.10), and revision 8857 (current SVN version).

Luis

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Re: Position interface not working

Luis Manso
I have gazebo working with bullet-2.77 and ogre-1.7.1. You can download the
tarballs from their respective websites. The only thing that must be
manually set is the use of double precision in bullet (not in ogre). The
rest of the dependencies will probably be available as packages in your
linux distribution (they are in ubuntu).

Luis

2010/8/26 pt523 <[hidden email]>

>
> Thank you so much. Actually, I've tried to install revision 8857 but I
> couldn't. Output from cmake looks fine apart from
> -- checking for module 'OGRE-RTShaderSystem>=1.6.3'
> --   package 'OGRE-RTShaderSystem>=1.6.3' not found
> -- checking for module 'OGRE>=1.6.3'
> --   found OGRE, version 1.6.4
>
> I'm not sure whether I have to do anything with package
> 'OGRE-RTShaderSystem
>
> However, then make generates error below
> Linking CXX shared library libgazebo_physics_ode.so
> [ 28%] Built target gazebo_physics_ode
> [ 29%] Building CXX object
> server/rendering/CMakeFiles/gazebo_rendering.dir/OgreVisual.o
>
> /home/pitiwut/Downloads/Downloads_AMD/Gazebo/8857/gazebo/server/rendering/OgreVisual.cc:
> In constructor ‘gazebo::OgreVisual::OgreVisual(gazebo::OgreVisual*,
> gazebo::Entity*)’:
>
> /home/pitiwut/Downloads/Downloads_AMD/Gazebo/8857/gazebo/server/rendering/OgreVisual.cc:73:
> error: no matching function for call to
> ‘Ogre::SceneManager::createMovableObject(const char [12])’
> /usr/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
>
> From
>
> http://old.nabble.com/Laser-beams-passing-through-objects-td28934167.html#a29032123
> ,
> it seems like this might be due to my graphic card. I have no idea what I
> should do at this point.
>
> Regards,
> Piti
>
>
>
> Luis Manso wrote:
> >
> > I used to have the same problem. The only thing that worked for me was to
> > avoid using gazebo 0.10. I've successfully used SVN revision 8335
> > (previous
> > to gazebo-0.10), and revision 8857 (current SVN version).
> >
> > Luis
> >
> >
> ------------------------------------------------------------------------------
> > Sell apps to millions through the Intel(R) Atom(Tm) Developer Program
> > Be part of this innovative community and reach millions of netbook users
> > worldwide. Take advantage of special opportunities to increase revenue
> and
> > speed time-to-market. Join now, and jumpstart your future.
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> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
> >
>
> --
> View this message in context:
> http://old.nabble.com/Position-interface-not-working-tp27308934p29543977.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
>
> ------------------------------------------------------------------------------
> Sell apps to millions through the Intel(R) Atom(Tm) Developer Program
> Be part of this innovative community and reach millions of netbook users
> worldwide. Take advantage of special opportunities to increase revenue and
> speed time-to-market. Join now, and jumpstart your future.
> http://p.sf.net/sfu/intel-atom-d2d
> _______________________________________________
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>
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Be part of this innovative community and reach millions of netbook users
worldwide. Take advantage of special opportunities to increase revenue and
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Re: Position interface not working

pt523
Hello,

I've tried installing Gazebo revision 8857 (and the current svn revision 8885). Without luck, I am still facing the same problem. Gazebo can be installed without any probelm but when I tried pioneer2at.world, Gazebo showed the pioneer robot which seems to break itself (again).

However, trying pioneer2dx.world looks just fine (the robot is not breaking itself) but when player call a .cfg file, it shows errors -->
error   : Failed to load plugin libgazeboplugin.
error   : libtool reports error: file not found

So I still can't control the robot. Do you have any idea?

FYI, I installed
- OGRE 1.7.1 (follow this guide : http://www.ogre3d.org/forums/viewtopic.php?f=1&t=56799)
- bullet 2.76 (with double precision)
- ode 0.11.1 (without double precision)

By the way, which command I have to use in order to get a specific SVN version (I wanna try revision 8335 as well but not sure how to get it)

Regards,
Piti
Luis Manso wrote
I have gazebo working with bullet-2.77 and ogre-1.7.1. You can download the
tarballs from their respective websites. The only thing that must be
manually set is the use of double precision in bullet (not in ogre). The
rest of the dependencies will probably be available as packages in your
linux distribution (they are in ubuntu).

Luis
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Re: Position interface not working

Rich Mattes-2
The error you're getting indicates that Player can't find
libgazeboplugin.so, which is the plugin driver that Player loads to access
the Gazebo simulator.  Make sure the Player extensions for Gazebo are
enabled by CMake and being built.  Once you confirm that libgazeboplugin.so
is being built, you can fix this error by doing any of the below:

1. Providing an absolute path to the library in your Player config file (it
should be under the "plugin" option)
2. Providing a relative path from the directory you're running Player from
3. Add the directory where the plugin is installed to the LD_LIBRARY_PATH or
PLAYERPATH environment variables

To check out a specific revision, use the command "svn checkout -r 8335
https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/gazebo/trun
k gazebo" (the command "man svn" or a quick google search are a lot faster
than asking the mailing list).

Rich

-----Original Message-----
From: pt523 [mailto:[hidden email]]
Sent: Friday, September 10, 2010 10:41 AM
To: [hidden email]
Subject: Re: [PlayerStage-Gazebo] Position interface not working


Hello,

I've tried installing Gazebo revision 8857 (and the current svn revision
8885). Without luck, I am still facing the same problem. Gazebo can be
installed without any probelm but when I tried pioneer2at.world, Gazebo
showed the pioneer robot which seems to break itself (again).

However, trying pioneer2dx.world looks just fine (the robot is not breaking
itself) but when player call a .cfg file, it shows errors -->
error   : Failed to load plugin libgazeboplugin.
error   : libtool reports error: file not found

So I still can't control the robot. Do you have any idea?

FYI, I installed
- OGRE 1.7.1 (follow this guide :
http://www.ogre3d.org/forums/viewtopic.php?f=1&t=56799)
- bullet 2.76 (with double precision)
- ode 0.11.1 (without double precision)

By the way, which command I have to use in order to get a specific SVN
version (I wanna try revision 8335 as well but not sure how to get it)

Regards,
Piti

Luis Manso wrote:

>
> I have gazebo working with bullet-2.77 and ogre-1.7.1. You can download
> the
> tarballs from their respective websites. The only thing that must be
> manually set is the use of double precision in bullet (not in ogre). The
> rest of the dependencies will probably be available as packages in your
> linux distribution (they are in ubuntu).
>
> Luis
>
>

--
View this message in context:
http://old.nabble.com/Position-interface-not-working-tp27308934p29677566.htm
l
Sent from the playerstage-gazebo mailing list archive at Nabble.com.


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