[Jderobot] Ejecucion de Introrob

[jgandia]

Me he leido todos los mensajes de JdeRobot que he encontrado y he visto
muchos parecidos al mio, pero ninguno me llevan a solución
alguna.[1],[2].[3].[4]. Todos los manuales me dicen de hacer lo mismo,
ejecutar gazebo con un mundo, y lanzar el componente con la configuración
apuntando el sensor y su puerto a los de gazebo.

Intento buscar que es lo que hago mal y no lo encuentro.

Actualmente ejecuto el mundo pioneer2dxJde.world  en esta carpeta:

/home/jaime/trunk/src/stable/components/gazeboserver/plugins/pioneer:

root en jaimepc:/home/jaime/trunk/src/stable/components/gazeboserver/plugins/pioneer#
gazebo pioneer2dxJde.world

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.Gazebo multi-robot simulator, version 1.8.2
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jaime/trunk/src/stable/components/gazeboserver/plugins/pioneer/pioneer2dxJde.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 [parser.cc:361] Converting a deprecated SDF
source[/root/.gazebo/models/sun/model.sdf].
Warning [Converter.cc:58]   Version[1.2] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:361] Converting a deprecated SDF
source[/root/.gazebo/models/pioneer2dxJde/model.sdf].
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]

Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11346
Msg Publicized address: 192.168.1.18

Msg Connected to gazebo master @ http://127.0.0.1:11346
Msg Publicized address: 192.168.1.18

Error [Plugin.hh:126] Failed to load plugin libcamera_dump.so:
libcamera_dump.so: cannot open shared object file: No such file or directory
Error [Plugin.hh:126] Failed to load plugin libcamera_dump.so:
libcamera_dump.so: cannot open shared object file: No such file or directory
Error [Plugin.hh:126] Failed to load plugin liblaser.so: liblaser.so: cannot
open shared object file: No such file or directory
r300 VP: Compiler error:
Too many temporaries.
Using a dummy shader instead.
Error [Plugin.hh:126] Failed to load plugin libmotors.so: libmotors.so:
cannot open shared object file: No such file or directory
Error [Plugin.hh:126] Failed to load plugin libpose3dencoders.so:
libpose3dencoders.so: cannot open shared object file: No such file or
directory
Error [Plugin.hh:126] Failed to load plugin libencoders.so: libencoders.so:
cannot open shared object file: No such file or directory
Warning [InsertModelWidget.cc:244] The manifest.xml for a Gazebo model is
deprecated. Please rename manifest.xml to model.config for model
"/root/.gazebo/models/kinect"
Warning [InsertModelWidget.cc:244] The manifest.xml for a Gazebo model is
deprecated. Please rename manifest.xml to model.config for model
"/root/.gazebo/models/mapaSimple"
r300 VP: Compiler error:
Too many temporaries.
Using a dummy shader instead.


Me sale el robot pioner con un campo de vision azul( o eso creo),moviendose
muy lentamente.

Mirando la consola,veo que se ha ejecutado aquí : http://127.0.0.1:11346

Con lo cual supongo que cualquier componente de jdeRobot que quiera lanzar
contra el servidor tiene que ir a esa ip y a ese puerto.
Entonces decido poner en todas las lineas de introrob el puerto 11346.

root en jaimepc:/home/jaime/trunk/src/stable/components/introrob# cat
introrob.cfg
introrob.Motors.Proxy=Motors:tcp -h localhost -p 11346
introrob.Camera1.Proxy=cam_sensor_left:tcp -h localhost -p  11346
introrob.Camera2.Proxy=cam_sensor_right:tcp -h localhost -p 11346
introrob.Encoders.Proxy=Encoders:tcp -h localhost -p 11346
introrob.Laser.Proxy=Laser:tcp -h localhost -p 9998
introrob.Pose3Dencoders2.Proxy=Pose3DEncodersRight:tcp -h localhost -p 11346
introrob.Pose3Dencoders1.Proxy=Pose3DEncodersLeft:tcp -h localhost -p 11346
introrob.Pose3Dmotors2.Proxy=Pose3DMotorsRight:tcp -h localhost -p 11346
introrob.Pose3Dmotors1.Proxy=Pose3DMotorsLeft:tcp -h localhost -p 11346


Despues ejecuto mi componente introrob,(Actualmente lo probe tambien con
cameraview y daba el mismo error):

root en jaimepc:/home/jaime/trunk/src/stable/components/introrob# ./introrob
--Ice.Config=introrob.cfg
ConnectionI.cpp:2175: Ice::BadMagicException:
unknown magic number: 0x20, 0x20, 0x20, 0x20
root en jaimepc:/home/jaime/trunk/src/stable/components/introrob#


Saludos

[1]:
http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-Problema-con-los-modelos-de-gazebo-tc4641882.html
[2]:
http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-Error-de-conexion-con-introrobot-tc4641827.html
[3]:
http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-instalar-gazebo-1-8-1-tc4641820.html
[4]:
http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-dev-mundo-pioneer2dxJde-tc4641307.html#a4641615



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