[Jderobot] Problema con NAO y con rgbdViewer
jgandia
jaimerodriguezgandia en gmail.com
Lun Ene 20 23:53:03 CET 2014
*Jugando con Nao, he intentado usar el componente naoviewer, que al parecer
se llama naooperator y a la hora de lanzar el componente con gazebo en el
mundo naoworld.world , me encuentro con que falta el pluging de left hip
motors,
No puedo lanzar el componente naooperator sin este plugin:*
#> ./naooperator --Ice.Config=naooperator.cfg
/Head motors connected
Head speed connected
Left shoulder motors connected
Right shoulder motors connected
Left elbow motors connected
Right elbow motors connected
Could not create proxy with left hip motors ( )/
/jaime en jaimepc:~/trunk/src/stable/components/gazeboserver/plugins/nao$
gazebo naoworld.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
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/nao/naoworld.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[/home/jaime/.gazebo/models/nao_robot/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]
Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jaime/.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]
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.12
Load: 1868586328 default::cam_sensor_top(0)
Load: -543615712 default::cam_sensor_bottom(1)
CameraGazebo cam_sensor_top Endpoints > default -h 0.0.0.0 -p 9990
-! 01/20/14 23:07:19.601 warning: found unknown properties for object
adapter `CameraGazebo':
CameraGazebo.Camera.0.Format
CameraGazebo.Camera.0.ImageHeight
CameraGazebo.Camera.0.ImageWidth
CameraGazebo.Camera.0.Name
Constructor CameraI
safeThread
CameraGazebo cam_sensor_bottom Endpoints > default -h 0.0.0.0 -p 9991
-! 01/20/14 23:07:19.606 warning: found unknown properties for object
adapter `CameraGazebo':
CameraGazebo.Camera.0.Format
CameraGazebo.Camera.0.ImageHeight
CameraGazebo.Camera.0.ImageWidth
CameraGazebo.Camera.0.Name
Constructor CameraI
safeThread
Constructor PoseNeck
Constructor PoseRightShoulder
Constructor PoseLeftShoulder
Constructor PoseRightElbow
Constructor PoseLeftElbow
PoseNeckEncoders Endpoints > default -h localhost -p 9995
PoseNeckMotors Endpoints > default -h localhost -p 9994
PoseRightShoulderEncoders Endpoints > default -h localhost -p 9996
PoseRightShoulderMotors Endpoints > default -h localhost -p 9997
PoseLeftShoulderEncoders Endpoints > default -h localhost -p 7996
PoseRightElbowEncoders Endpoints > default -h localhost -p 9998
PoseRightElbowMotors Endpoints > default -h localhost -p 9999
PoseNeckEncoders Endpoints > default -h localhost -p 5998
PoseNeckMotors Endpoints > default -h localhost -p 5999
PoseLeftShoulderMotors Endpoints > default -h localhost -p 7997
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.12
Warning [InsertModelWidget.cc:244] The manifest.xml for a Gazebo model is
deprecated. Please rename manifest.xml to model.config for model
"/home/jaime/.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
"/home/jaime/.gazebo/models/mapaSimple"/
*por otro lado he trazado con valgrind la ejecucion del boton de camera
DEPTH de rgbdViewer y me sale lo siguiente:*
==9873== Invalid write of size 4
==9873== at 0x438B49: rgbdViewer::rgbdViewergui::updateAll(cv::Mat,
cv::Mat, std::vector<jderobot::RGBPoint,
std::allocator<jderobot::RGBPoint> >) (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x42BC88: gui_thread(void*) (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x4E39E99: start_thread (pthread_create.c:308)
==9873== by 0x94D53FC: clone (clone.S:112)
==9873== Address 0x1b9926f0 is not stack'd, malloc'd or (recently) free'd
==9873==
==9873== Invalid read of size 4
==9873== at 0x21FBDD00: ??? (in
/usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
==9873== by 0x21FBE3D2: _mesa_DrawBuffer (in
/usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
==9873== by 0x4316CF: rgbdViewer::DrawArea::my_expose_event() (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x438D73: rgbdViewer::rgbdViewergui::updateAll(cv::Mat,
cv::Mat, std::vector<jderobot::RGBPoint,
std::allocator<jderobot::RGBPoint> >) (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x42BC88: gui_thread(void*) (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x4E39E99: start_thread (pthread_create.c:308)
==9873== by 0x94D53FC: clone (clone.S:112)
==9873== Address 0x28 is not stack'd, malloc'd or (recently) free'd
==9873==
==9873==
==9873== Process terminating with default action of signal 11 (SIGSEGV)
==9873== Access not within mapped region at address 0x28
==9873== at 0x21FBDD00: ??? (in
/usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
==9873== by 0x21FBE3D2: _mesa_DrawBuffer (in
/usr/lib/x86_64-linux-gnu/libdricore9.1.7.so.1.0.0)
==9873== by 0x4316CF: rgbdViewer::DrawArea::my_expose_event() (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x438D73: rgbdViewer::rgbdViewergui::updateAll(cv::Mat,
cv::Mat, std::vector<jderobot::RGBPoint,
std::allocator<jderobot::RGBPoint> >) (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x42BC88: gui_thread(void*) (in
/home/jaime/trunk/src/stable/components/rgbdViewer/rgbdViewer)
==9873== by 0x4E39E99: start_thread (pthread_create.c:308)
==9873== by 0x94D53FC: clone (clone.S:112)
==9873== If you believe this happened as a result of a stack
==9873== overflow in your program's main thread (unlikely but
==9873== possible), you can try to increase the size of the
==9873== main thread stack using the --main-stacksize= flag.
==9873== The main thread stack size used in this run was 8388608.
==9873==
==9873== HEAP SUMMARY:
==9873== in use at exit: 50,296,582 bytes in 32,229 blocks
==9873== total heap usage: 117,223 allocs, 84,994 frees, 1,918,741,686
bytes allocated
==9873==
==9873== LEAK SUMMARY:
==9873== definitely lost: 182,332 bytes in 137 blocks
==9873== indirectly lost: 5,233,553 bytes in 4,593 blocks
==9873== possibly lost: 19,794,929 bytes in 12,214 blocks
==9873== still reachable: 25,085,768 bytes in 15,285 blocks
==9873== suppressed: 0 bytes in 0 blocks
==9873== Rerun with --leak-check=full to see details of leaked memory
==9873==
==9873== For counts of detected and suppressed errors, rerun with: -v
==9873== Use --track-origins=yes to see where uninitialised values come from
==9873== ERROR SUMMARY: 34536 errors from 28 contexts (suppressed: 2 from 2)
Terminado (killed)
*Alguien puede ayudarme con estos dos problemas? Un saludo y gracias!*
--
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