Hello,
You have to enable the motors first.
pp.SetMotorEnable(true);
-nate
On Thu, Jul 31, 2008 at 7:29 PM, mansi aneja <[EMAIL PROTECTED]> wrote:
> Hi,
>
> I have been trying to get the pp.GoTo function working in gazebo . However
> the robot fails to respond to the GoTo command. My source code , world and
> cfg files will be found below :
>
> ____________________________________________________________________
>
> #include <iostream>
> #include <libplayerc++/playerc++.h>
>
> int
> main(int argc, char *argv[])
> {
> using namespace PlayerCc;
>
> PlayerClient robot("localhost");
> Position2dProxy pp(&robot, 1);
>
>
> pp.GoTo(2,1,dtor(30));
>
>
> for (;;)
> {
> robot.Read();
> }
>
> }
> ___________________________________________________________
> Pioneer2dx.world
> ___________________________________________________________
> <?xml version="1.0"?>
>
> <gazebo:world
> xmlns:xi="http://www.w3.org/2001/XInclude";
> 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:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
> xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
> 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:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
>
> 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>10e-5</cfm>
> <erp>0.8</erp>
> </physics:ode>
>
> <rendering:gui>
> <type>fltk</type>
> <size>640 480</size>
> <pos>0 0</pos>
> </rendering:gui>
>
> <rendering:ogre>
> <ambient>0.5 0.5 0.5 1.0</ambient>
> <sky>
> <material>Gazebo/CloudySky</material>
> </sky>
> </rendering:ogre>
>
> <!-- 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>
>
> <!-- The camera -->
> <model:physical name="cam1_model">
> <xyz>0.07 -1.10 0.5</xyz>
> <rpy>0 12 52.5</rpy>
> <static>true</static>
>
> <body:empty name="cam1_body">
> <sensor:camera name="cam1_sensor">
> <imageSize>640 480</imageSize>
> <hfov>60</hfov>
> <nearClip>0.1</nearClip>
> <farClip>100</farClip>
>
> <!--<saveFrames>true</saveFrames>
> <saveFramePath>frames</saveFramePath>
> -->
> </sensor:camera>
> </body:empty>
> </model:physical>
>
> <!-- <model:physical name="cylinder1_model">
> <xyz>1 -1.5 0.5</xyz>
> <rpy>0.0 0.0 0.0</rpy>
>
> <body:cylinder name="cylinder1_body">
> <geom:cylinder name="cylinder1_geom">
> <size>0.5 1</size>
> <mass>1.0</mass>
> <visual>
> <mesh>unit_cylinder</mesh>
> <material>Gazebo/RustyBarrel</material>
> </visual>
> </geom:cylinder>
> </body:cylinder>
> </model:physical> -->
>
> <!-- <model:physical name="cylinder2_model">
> <xyz>2 0 0</xyz>
> <rpy>0.0 0.0 0.0</rpy>
>
> <body:cylinder name="cylinder2_body">
> <geom:cylinder name="cylinder2_geom">
> <size>0.5 1</size>
> <mass>1.0</mass>
> <visual>
> <mesh>unit_cylinder</mesh>
> <material>Gazebo/RustyBarrel</material>
> </visual>
> </geom:cylinder>
> </body:cylinder>
> </model:physical> -->
>
>
> <!--
> Include the complete model described in the .model file
> This assumes the root node is a <model:...>
> -->
> <!-- <include embedded="false">
> <xi:include href="pioneer2dx.model" />
> </include>
> -->
>
> <model:physical name="pioneer2dx_model1">
> <xyz>0 0 0.145</xyz>
> <rpy>0.0 0.0 0.0</rpy>
>
> <controller:differential_position2d name="controller1">
> <leftJoint>left_wheel_hinge</leftJoint>
> <rightJoint>right_wheel_hinge</rightJoint>
> <wheelSeparation>0.34</wheelSeparation>
> <wheelDiameter>0.15</wheelDiameter>
> <torque>5</torque>
> <interface:position name="position_iface_0"/>
> </controller:differential_position2d>
>
> <model:physical name="laser">
> <xyz>0.15 0 0.18</xyz>
>
> <attach>
> <parentBody>chassis_body</parentBody>
> <myBody>laser_body</myBody>
> </attach>
>
> <include embedded="true">
> <xi:include href="models/laser.model" />
> </include>
> </model:physical>
>
> <!--
> 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/pioneer2dx.model" />
> </include>
> </model:physical>
>
> <!-- White Directional light -->
> <model:renderable name="directional_white">
> <light>
> <type>directional</type>
> <direction>0 -0.6 -0.4</direction>
> <diffuseColor>1.0 1.0 1.0</diffuseColor>
> <specularColor>0.2 0.2 0.2</specularColor>
> <attenuation>1000 1.0 0.0 0</attenuation>
> </light>
> </model:renderable>
>
>
> </gazebo:world>
>
> ___________________________________________________________________________________
> .cfg file
> ___________________________________________________________________________________
> driver
> (
> name "gazebo"
> provides ["simulation:0"]
> plugin "libgazeboplugin"
> server_id "default"
> )
>
> driver
> (
> name "gazebo"
> provides ["position2d:0"]
> gz_id "position_iface_0"
> )
>
> driver
> (
> name "gazebo"
> provides ["laser:0"]
> gz_id "laser_iface_0"
> )
>
> Any help in this regard would be much appreciated.
>
> Regards
> Mansimar
>
>
>
>
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>
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