XB32Z's profile - activity

The solution is to move the receiver to a thread (tested) or use the IO_service of gazebo (access via IOManager) (non-tested) The porblem is that the same thread cannot access io_services via two different boost::io_services

Hi everyone,

I'm trying top use a custom UDP socket to control a model. The outgoing (from Plugin) messages are received but the plugins doesn't receive anything from the source. The messages are being queued. It's not the port because I tried to use the code outside gazebo and it works.

Any idea why, and how to fix this?

Thx!

XB32Z

Hi happy it works! Indeed I configured the thing to work with Visual Studio and not the command-lined nmake. About altimeter I remember having this error but not how to fix it. But in a general way, I remember that only Release worked. Good luck

Hi, Which version of gazebo did you use ?

--

Try the fork: https://bitbucket.org/XB32Z/windows_g... I managed to compile gazebo 7.1 on Windows using Visual Studio Community 12 (2013) using this fork, but it really depends on so many things that I can't help you more than that.

Good luck

Hi everyone!

I was wondering if the "modern" cmake implementation for configuration file was implemented somewhere on gazebo?

By modern cmake I'm talking of this. So to use add_library(gazebo STATIC IMPORTED) instead of the traditional GAZEBO_LIBRARIES cmake varibales. It would just required to install the EXPORT target in the CMakeLists and to include the output files into the gazebo-config.cmake

I saw that ignition-math2 has this mechanism.

If it doesn't exist, would it be interesting to do it ?

All the best :D

XB32Z

Hi! I'm planing to make something cleaner soon :)

Hi, thx for your answer! This solution looks more clean than adding COLLADA to SDF! What do you mean by passing two strings?

Yes I mean to paste the COLLADA's XML directly into the .sdf file instead of referencing the .dae files. My use case would be to send complex shaped models to a server through a message without copying the COLLADA files to the model repo I didn't looked into the code how the COLLADA files are parsed when referenced but I was thinking to just use a new flag like <collada_data> //here is the COLLADA XML </collada_data> and consider things in between as a string.

Hi,

I'd like to know if it is possible to incorporate the collada files directly in the SDF files instead of calling models or files?

If not, would it be interesting to add this functionality, as a pull request?

Thank you,

Hey!

I think everything is in the title, I made a world plugin using gazebo 7 (on Windows). I'm using the Event ConnectWorldUpdateBegin to send the poses of the links to another program I made (to control the robots in the simulation) but the callback doesn't work.

#include <sdf/sdf.hh>

#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/common/common.hh>
#include <gazebo/physics/physics.hh>


namespace gazebo
{
    class MyPlugin: public WorldPlugin
    {
    private:
        physics::WorldPtr world;

        event::ConnectionPtr updateConnection;
        transport::NodePtr node;

        transport::SubscriberPtr newModel;

        physics::Model_V models;    

    public: 
        MyPlugin();
        ~MyPlugin();

    public:
        void Load(physics::WorldPtr _parent, sdf::ElementPtr /*_sdf*/);

        public:
        /**
        Function called at each step. Send the poses and joint value of each joint
        */
        void Update(const common::UpdateInfo &_info);

        virtual void NewModelAdded(ConstModelPtr &_msg);

    };

}

and the .cc

void MyPlugin::Load(physics::WorldPtr _parent, sdf::ElementPtr /*_sdf*/)
{
    world = _parent;

    this->updateConnection = event::Events::ConnectWorldUpdateBegin(boost::bind(&MyPlugin::Update, this, _1));

    this->node = transport::NodePtr(new transport::Node());
    this->node->Init();

    //To add future models
    this->newModel = this->node->Subscribe("~/model/info", &MyPlugin::NewModelAdded, this);  
}

void MyPlugin::Update(const common::UpdateInfo &_info)
{       
    std::cerr << "UPDATE";
//...
}

I can't use Debug (too hard on Windows) but I'm sure the plugin is loaded as I can print stuff from Load function. But the UPDATE string never appears and the code after is not executed.

I also changed the register by its value:

/*
Here, copy of the define macro GZ_REGISTER_WORLD_PLUGIN because gazebo isn't configure to work with windows (no __declspec(dllexport)) so dlfcn couldn't find the plugin
*/
extern "C"  __declspec(dllexport) gazebo::WorldPlugin *RegisterPlugin();
gazebo::WorldPlugin *RegisterPlugin()
{
    return new MyPlugin();
}

Could it be related? The subscriber and publisher works perfectly well from a stand alone server, so it shouldn't. However I guess that the scope is somehow wrong.

Thx for your help!

Sorry for the very late answer :/ I made my own branch available here: https://bitbucket.org/XB32Z/windows_g... It hasn't been merged with the main because it doesn't compile under linux anymore. I guess that Gazebo is just not made for Windows ...

However I got it to work: launch the client before adding any models !

Thx for your help.

it appears when gzclient is launch before publishing

Hi everyone,

I tried the example animated_box which setup the server with a box inside.Then I launch the gzclient, it connect to the server and the box appears in the "models" but not on the render. I also tried to setup other models programmatically but they don't move (it's like they're not being simulated): they don't fall down for example (gravity flag is true in the model). Is there a way to make this work?

I'm working on Windows with gazebo 7 compiled in 32bits with Visual Studio 2013. Also unlike the tutorial I use the latest version of OGRE.

Thank you!

XB32Z