[Jderobot] Ejecucion de Introrob

[JoseMaria]

Tiene pinta de que tratas de conectar todos los interfaces (camara,
motores, laser...) al mismo IP-puerto, al localhost:9999. Cuando
ejecutas gazebo con los ficheros de configuración oportunos, los plugins
del robot que cargas abre un servidor para la cámara, otro para motores,
otro para laser, etc. en IP-puertos diferentes. Echa un ojo a la
configuración de esos plugins y a la configuración de introrob, y hazlos
casar.

Ánimo,

JoseMaria
On Sun, 2013-11-24 at 12:06 -0800, jgandia wrote:
> Buenas :
> 
> Actualmente estoy intentando ejecutar introrob.
> 
> Tengo Gazebo 1.8.2 instalada. mis pasos son 
> 
> desde la terminal 1:   
> root en jaimepc:/usr/local/share/gazebo-1.8/worlds# gazebo  pioneer2dx.world 
> azebo multi-robot simulator, version 1.8.2
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
> 
> Gazebo multi-robot simulator, version 1.8.2
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
> 
> Msg Waiting for master.Msg Waiting for master
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.18
> 
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.18
> 
> 
> Se me abre el gazebo con el robot pioner.
> 
> term2:
> 
> 
> 
> introrob.cfg:
> 
> introrob.Motors.Proxy=motors1:tcp -h localhost -p 9999
> introrob.Camera1.Proxy=cameraA:tcp -h localhost -p 9999
> introrob.Camera2.Proxy=cameraB:tcp -h localhost -p 9999
> introrob.Encoders.Proxy=encoders1:tcp -h localhost -p 9999
> introrob.Laser.Proxy=laser1:tcp -h localhost -p 9999
> introrob.PTEncoders1.Proxy=ptencoders1:tcp -h localhost -p 9999
> introrob.PTEncoders2.Proxy=ptencoders2:tcp -h localhost -p 9999
> introrob.PTMotors1.Proxy=ptmotors1:tcp -h localhost -p 9999
> introrob.PTMotors2.Proxy=ptmotors2:tcp -h localhost -p 9999
> introrob.Pose3Dencoders2.Proxy=pose3dencoders2:tcp -h localhost -p 9999
> introrob.Pose3Dencoders1.Proxy=pose3dencoders1:tcp -h localhost -p 9999
> introrob.Pose3Dmotors2.Proxy=pose3dmotors2:tcp -h localhost -p 9999
> introrob.Pose3Dmotors1.Proxy=pose3dmotors1:tcp -h localhost -p 9999
> 
> root en jaimepc:/home/jaime/trunk/src/stable/components/introrob# ./introrob
> --Ice.Config=introrob.cfg
> Network.cpp:1243: Ice::ConnectionRefusedException: connection refused:
> Connection refused
> 
>  Esto por que puede ocurrir? Saludos,
> 
> 
> Por otro lado me gustaria saber otra cosa. Si quiero cargar otro mundo
> distinto que no este en http://gazebosim.org/models
> no me lo carga..
> 
> 
> Gazebo multi-robot simulator, version 1.8.2
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
> 
> Gazebo multi-robot simulator, version 1.8.2
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
> 
> Msg Waiting for master.Warning [parser.cc:361] Converting a deprecated SDF
> source[/home/jaime/trunk/src/stable/components/gazeboserver/plugins/pioneer/worlds/jaramaSigueLineas.world].
> Warning [Converter.cc:58]   Version[1.3] to Version[1.4]
>   Please use the gzsdf tool to update your SDF files.
>     $ gzsdf convert [sdf_file]
> Warning [ModelDatabase.cc:331] Getting models
> from[http://gazebosim.org/models/]. This may take a few seconds.
> ........................Error [ModelDatabase.cc:404] Unable to download
> model[model://ground_plane_sincolor]
> Error [ModelDatabase.cc:404] Unable to download
> model[model://ground_plane_sincolor]
> Error [parser.cc:544] Unable to find uri[model://ground_plane_sincolor]
> Error [ModelDatabase.cc:404] Unable to download model[model://pioneer2dxJde]
> Error [ModelDatabase.cc:404] Unable to download model[model://pioneer2dxJde]
> Error [parser.cc:544] Unable to find uri[model://pioneer2dxJde]
> Error [ModelDatabase.cc:404] Unable to download model[model://jarama]
> Error [ModelDatabase.cc:404] Unable to download model[model://jarama]
> Error [parser.cc:544] Unable to find uri[model://jarama]
> Msg Waiting for master
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.18
> 
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.18
> 
> 
> 
> Actualmente me carga el gazebo sin nada dentro con un mundo vacío.Saludos
> 
> 
> 
> 
> 
> 
> 
> 
> 
> 
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Universidad Rey Juan Carlos