namespace errors for pioneer2at.model

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namespace errors for pioneer2at.model

logicalguy
Hi,
I'm following the gazebo quick-start guide http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/
for the pioneer2at.model and it throws up the errors below:
-------------------------
$ gazebo pioneer2at.world
Gazebo multi-robot simulator, version 0.10.0

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.

models/pioneer2at.model:19: namespace error : Namespace prefix controller on differential_position2d is not defined
<controller:differential_position2d name="controller1">
                                                      ^
models/pioneer2at.model:25: namespace error : Namespace prefix interface on position is not defined
  <interface:position name="position_iface_0"/>
                                             ^
[/home/ro/playerstagegazebo/gazebo-0.10.0/server/GazeboConfig.cc:103]
  Gazebo Path[/usr/local/share/gazebo]
[/home/ro/playerstagegazebo/gazebo-0.10.0/server/GazeboConfig.cc:115]
  Ogre Path[/usr/local/lib/OGRE]
Gazebo successfully initialized
--------------------------------------



So, when I run player with the player_cgfs/gazebo.cfg located in my gazebo-0.10.0 directory I get the following messages:
----------------------------------
$player player_cfgs/gazebo.cfg
Registering driver
Player v.3.0.2

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

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-ro-0/simulation.default 112 33842432
opening /tmp/gazebo-ro-0/simulation.default +112 33842432
  Gazebo Plugin driver creating 1 device
    6665.4.0 is  a position2d interface.
  Gazebo Plugin driver creating 1 device
    6665.6.0 is  a laser interface.
  Gazebo Plugin driver creating 1 device
    6665.10.0 is  a fiducial interface.
listening on 6665
Listening on ports: 6665
--------------------------------------------------


And, the following files are created in my /tmp/gazebo folder:
-------------------------------------------------------
$ ls /tmp/gazebo-ro-0/
factory.default              graphics3d.directional_white               simulation.default
gazebo.pid                   graphics3d.pioneer2at_model
graphics3d.default         graphics3d.plane1_model
-------------------------------------------------------



As you can see, file for position_iface_0 is not created, and when I try to subscribe to this service via playerv, it crashes with the following errors:
------------------------------------------------------
accepted TCP client 0 on port 6665, fd 9
Error Subscribing to Gazebo Position2d Interface
error opening device file /tmp/gazebo-ro-0/position.pioneer2at_model::position_iface_0 : No such file or directory
------------------------------------------------



Also, playerv crashes with the following error output:
------------------------------------------------
$ playerv
PlayerViewer 3.0.2
Connecting to [localhost:6665]
playerc warning   : warning : [Player v.3.0.2] connected on [localhost:6665] wit         h sock 6

Available devices: localhost:6665
simulation:0     gazebo                                  unsupported
position2d:0     gazebo                                  ready
laser:0          gazebo                                  ready
position2d:1     vfh                                     ready
fiducial:0       gazebo                                  ready
playerc error   : timed out waiting for server reply to request player:0:request         :3
playerc error   : failed to get response
playerv : error in /home/ro/playerstagegazebo/player-3.0.2/utils/playerv/pv_dev_         position2d.c
  libplayerc error: failed to get response
playerc error   : socket disconnected
playerc warning   : warning : failed to reconnect
playerv : error in /home/ro/playerstagegazebo/player-3.0.2/utils/playerv/pv_dev_         position2d.c
  libplayerc error: warning : failed to reconnect
playerc warning   : warning : no socket to peek at
playerc warning   : warning : no socket to peek at
playerc error   : close failed with error [Bad file descriptor]
playerv : error in /home/ro/playerstagegazebo/player-3.0.2/utils/playerv/playerv         .c
  close failed with error [Bad file descriptor]
-----------------------------------------------------------------------------


My gazebo.cfg file, which I feed to the player command, is as follows:
----------------------------------------------
driver
(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazeboplugin"
  server_id "default"
)

driver
(
  name "gazebo"
  provides ["position2d:0"]
  gz_id "pioneer2at_model::position_iface_0"
)

driver
(
  name "gazebo"
  provides ["laser:0"]
#  gz_id "laser_iface_0"
  gz_id "pioneer2at_model::laser"
)

driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  cell_size 0.1
  window_diameter 61
  sector_angle 1
  safety_dist_0ms 0.2
  safety_dist_1ms 0.4
  max_speed 0.3
  max_turnrate_0ms 75
  max_turnrate_1ms 50
  weight_desired_dir 5.0
  weight_current_dir 3.0
)

driver
(
  name "gazebo"
  provides ["fiducial:0"]
  gz_id "fiducial_iface_0"
)
---------------------------------------------------


Can anyone please tell me where it's going wrong and what can I do to fix it?

All help appreciated much.

Thanks.
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Re: namespace errors for pioneer2at.model

logicalguy
Okay, I managed to fix the namespace errors, and now player creates a file called position.pioneer2at_model::position_iface_0 in /tmp/gazebo-xx-0.

So, now I am able to subscribe to and command the position2d:0 interface, but when I try to move the pioneer using my mouse in the playerv window, nothing happens.

I'm just wondering, is there a position3d interface available that I should maybe try connecting to?  Position2d just doesn't work.  Works in Stage, though.

Hopefully someone can suggest something... Thanks for looking.



logicalguy wrote
Hi,
I'm following the gazebo quick-start guide http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/
for the pioneer2at.model and it throws up the errors below:
-------------------------
$ gazebo pioneer2at.world
Gazebo multi-robot simulator, version 0.10.0

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.

models/pioneer2at.model:19: namespace error : Namespace prefix controller on differential_position2d is not defined
<controller:differential_position2d name="controller1">
                                                      ^
models/pioneer2at.model:25: namespace error : Namespace prefix interface on position is not defined
  <interface:position name="position_iface_0"/>
                                             ^
[/home/ro/playerstagegazebo/gazebo-0.10.0/server/GazeboConfig.cc:103]
  Gazebo Path[/usr/local/share/gazebo]
[/home/ro/playerstagegazebo/gazebo-0.10.0/server/GazeboConfig.cc:115]
  Ogre Path[/usr/local/lib/OGRE]
Gazebo successfully initialized
--------------------------------------



So, when I run player with the player_cgfs/gazebo.cfg located in my gazebo-0.10.0 directory I get the following messages:
----------------------------------
$player player_cfgs/gazebo.cfg
Registering driver
Player v.3.0.2

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

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-ro-0/simulation.default 112 33842432
opening /tmp/gazebo-ro-0/simulation.default +112 33842432
  Gazebo Plugin driver creating 1 device
    6665.4.0 is  a position2d interface.
  Gazebo Plugin driver creating 1 device
    6665.6.0 is  a laser interface.
  Gazebo Plugin driver creating 1 device
    6665.10.0 is  a fiducial interface.
listening on 6665
Listening on ports: 6665
--------------------------------------------------


And, the following files are created in my /tmp/gazebo folder:
-------------------------------------------------------
$ ls /tmp/gazebo-ro-0/
factory.default              graphics3d.directional_white               simulation.default
gazebo.pid                   graphics3d.pioneer2at_model
graphics3d.default         graphics3d.plane1_model
-------------------------------------------------------



As you can see, file for position_iface_0 is not created, and when I try to subscribe to this service via playerv, it crashes with the following errors:
------------------------------------------------------
accepted TCP client 0 on port 6665, fd 9
Error Subscribing to Gazebo Position2d Interface
error opening device file /tmp/gazebo-ro-0/position.pioneer2at_model::position_iface_0 : No such file or directory
------------------------------------------------



Also, playerv crashes with the following error output:
------------------------------------------------
$ playerv
PlayerViewer 3.0.2
Connecting to [localhost:6665]
playerc warning   : warning : [Player v.3.0.2] connected on [localhost:6665] wit         h sock 6

Available devices: localhost:6665
simulation:0     gazebo                                  unsupported
position2d:0     gazebo                                  ready
laser:0          gazebo                                  ready
position2d:1     vfh                                     ready
fiducial:0       gazebo                                  ready
playerc error   : timed out waiting for server reply to request player:0:request         :3
playerc error   : failed to get response
playerv : error in /home/ro/playerstagegazebo/player-3.0.2/utils/playerv/pv_dev_         position2d.c
  libplayerc error: failed to get response
playerc error   : socket disconnected
playerc warning   : warning : failed to reconnect
playerv : error in /home/ro/playerstagegazebo/player-3.0.2/utils/playerv/pv_dev_         position2d.c
  libplayerc error: warning : failed to reconnect
playerc warning   : warning : no socket to peek at
playerc warning   : warning : no socket to peek at
playerc error   : close failed with error [Bad file descriptor]
playerv : error in /home/ro/playerstagegazebo/player-3.0.2/utils/playerv/playerv         .c
  close failed with error [Bad file descriptor]
-----------------------------------------------------------------------------


My gazebo.cfg file, which I feed to the player command, is as follows:
----------------------------------------------
driver
(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazeboplugin"
  server_id "default"
)

driver
(
  name "gazebo"
  provides ["position2d:0"]
  gz_id "pioneer2at_model::position_iface_0"
)

driver
(
  name "gazebo"
  provides ["laser:0"]
#  gz_id "laser_iface_0"
  gz_id "pioneer2at_model::laser"
)

driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  cell_size 0.1
  window_diameter 61
  sector_angle 1
  safety_dist_0ms 0.2
  safety_dist_1ms 0.4
  max_speed 0.3
  max_turnrate_0ms 75
  max_turnrate_1ms 50
  weight_desired_dir 5.0
  weight_current_dir 3.0
)

driver
(
  name "gazebo"
  provides ["fiducial:0"]
  gz_id "fiducial_iface_0"
)
---------------------------------------------------


Can anyone please tell me where it's going wrong and what can I do to fix it?

All help appreciated much.

Thanks.