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2013-07-25 00:47:11 -0500 answered a question Light source on Gazebo/Fuerte

Hi Andrei,

I do not use multiple versions of Gazebo, I just have installed ROS Fuerte version. I have modified the CMakeLists.txt file as you said. Removing the dependency from the manifest.xml doesn't allow the compilation of the plugin. Actually I made the following in order to compile:

  • originally, i.e. even before your suggestions, when trying to compile the plugin (the one copied above ), I got the following error:

/opt/ros/fuerte/stacks/simulatorgazebo/gazebo/gazebo/include/gazebo-1.0.2/gazebo/rendering/ContactVisual.hh:58:16: error: ‘transport’ does not name a type /opt/ros/fuerte/stacks/simulatorgazebo/gazebo/gazebo/include/gazebo-1.0.2/gazebo/rendering/ContactVisual.hh:59:16: error: ‘transport’ does not name a type

  • at this point, in ./gazebo/include/gazebo-1.0.2/gazebo/rendering/Visual.hh I added a line including transport.hh, i.e. /#include "transport/transport.hh"

  • after getting the plugin compiled, I got the error

Please also note that if I put just a printf in my plugin, i.e. without the line this->userCam = gui::getactivecamera(), the plugin works.

Is it possible that the error is related to the include I made? After all this could be related to the famous call to the personal camera... Probably I am missing something..

Thanks

2013-07-24 15:50:47 -0500 commented question Light source on Gazebo/Fuerte

but I have a problem, please take a look below

2013-07-24 15:46:35 -0500 answered a question Light source on Gazebo/Fuerte

I have created the following plugin:

#include "gui/Gui.hh"
#include "rendering/rendering.hh"
#include "gazebo.hh"

    namespace gazebo
    {
      class SystemGUI : public SystemPlugin
      {
        private: rendering::UserCameraPtr userCam;
        public: void Load(int /*_argc*/, char ** /*_argv*/)
        {
        }

        private: void Init()
        {
          // Get a pointer to the active user camera
          this->userCam = gui::get_active_camera();
        }

      };
      GZ_REGISTER_SYSTEM_PLUGIN(SystemGUI)
    }

But unfortunately, after compiling it, I get at run time the following problem:

/opt/ros/fuerte/stacks/simulatorgazebo/gazebo/gazebo/bin/gzserver: symbol lookup error: ...../rosworkspace/lightPlugin/lib/liblightPlugin.so: undefined symbol: ZN6gazebo3gui17getactive_cameraEv

Any idea?

The manifest.xml is like this:

<package>
      <description brief="lightPlugin">

         lightPlugin

      </description>
      <author>maurizio</author>
      <license>BSD</license>
      <review status="unreviewed" notes=""/>
      <url>http://ros.org/wiki/lightPlugin</url>
      <depend package="gazebo"/>
     <export>
        <gazebo plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
      </export>


    </package>
2013-07-24 15:39:17 -0500 commented question Light source on Gazebo/Fuerte

unfortunately I do not have time to go with others (when/if there will be support for the turtlebot simulator we are already able to do these things with the latest version of gazebo). In the meanwhile I am trying with the solution you suggested, i.e. via plugin.

2013-07-24 13:18:16 -0500 commented question Light source on Gazebo/Fuerte

Andrei, I noticed it works doing that from the gui, so there is for sure a way to do that programmatically. Can you point where I can find the source code of the gui? I am looking for that but I can not find it. If I take a look at that it is likely I can find a way to correctly spawn a light

2013-07-24 13:04:39 -0500 commented question Light source on Gazebo/Fuerte

Thanks Andrei, but I am already involved in that discussion

2013-07-24 12:58:32 -0500 commented answer Adding light source as a model in Groovy-Gazebo

Yes I know. Unfortunately we have built a stack on Fuerte because we extensively use turtlebots in these simulated environments. We already have ported lights, sensors and actuators to the latest stand alone version of gazebo but we need to run simulations with the turtlebot, i.e. fuerte. Are you able to tell me where looking for? May be to the code of the gui? I need to do that programmatically. Thanks

2013-07-24 11:55:29 -0500 commented answer Adding light source as a model in Groovy-Gazebo

Thanks, is this the case also for Gazebo 1.0.2?

2013-07-24 11:26:14 -0500 commented answer Adding light source as a model in Groovy-Gazebo

Hi Andrei, the problem is that I want to create the light at run time. You can even imagine that this procedure should run even without displaying the GUI

2013-07-24 11:18:38 -0500 asked a question Light source on Gazebo/Fuerte

Hi there,

I have the following issue related to spawning a light in RosGazebo in Fuerte. I have posted a similar question in the ROS forum but I have been adviced to post it here.

I have took a look to the following discussions, but nothing effective so far:

http://answers.ros.org/question/10648... http://answers.gazebosim.org/question... http://answers.ros.org/question/34829...

I want to do the following:

a ROS node, after receiving a message from someone (e.g. a robot), spawns a light(possibly directional) in a location of the environment. This happens during the execution of the simulation so not at the beginning when the environment is spawned.

We have already done it in the Gazebo stand alone version and with ROS Electric but we need to do it in ROS-Fuerte because we have developed a stack that we would like to exploit also with the turtlebot1 simulator.

It is possible to do that through the GUI but we are not able to that programmatically.

Any solution?

Thanks,

M.

2013-07-24 11:00:34 -0500 answered a question Adding light source as a model in Groovy-Gazebo

Hello Andrei,

I have the same problem. I want to implement a node that upon receiving a message (e.g. a command from a robot) spawns a light within an existing gazebo world. This is doable using the GUI, but I want to achieve the same results from a node. The tutorial about the plugin seems to explain how to insert elements in the GUI which is not the case for us.

Do you have any suggestion?

Thanks,

M