Hello,

I'm trying to control Pioneer2dx with Player, and visualize in Gazebo. I'm using Gazebo 1.9.1, Player 3.0.2.

I made the model of Pioneer2dx with Hokuyo laser on it in the Gazebo world. When I the Gazebo world file, and execute 'position2d.cfg', which is one of the example file. And used simple client 'playerv'. Here is my 'position2d.cfg' file.

driver

(

name "gazebo"

provides ["simulation:0"]

plugin "libgazebo_player"

# The name of a runnign Gazebo world, specified in a .world file

world_name "default"

)

driver

(

name "gazebo"

provides ["position2d:0"]

# This name must match the name of a model in the "default" world

model_name "pioneer2dx"

)

Controlling the pioneer with gui by 'command' menu was fine. The problem is, When I subscribe position2d:0, the terminal window which executed 'position2d.cfg' emits error messages repeatedly. The error message is following.

libprotobuf ERROR google/protobuf/messagelite.cc:123] Can't parse message of type "gazebo.msgs.PoseV" because it is missing required fields: pose[0].position, pose[0].orientation

And also, I couldn't see the laser output in playerv. This time I executed 'laser.cfg', and wanted to subscribe laser:0 with playerv. Then it also emitted following errors.

libprotobuf ERROR google/protobuf/wireformat.cc:1059] Encountered string containing invalid UTF-8 data while parsing protocol buffer. Strings must contain only UTF-8; use the 'bytes' type for raw bytes. libprotobuf ERROR google/protobuf/messagelite.cc:123] Can't parse message of type "gazebo.msgs.LaserScan" because it is missing required fields: anglemin, anglemax, anglestep, rangemin, rangemax, worldpose.position, world_pose.orientation

The error messages are the same when I use my own client program to set speed of Pioneer or read from robot. I think the position2d and laser error messages come from the same cause.

I have no idea where these error come from.. Any ideas?

Thanks in advance!! :)

Joon.