[JdeRobot] Trying launch kinect with introrob_py Gazebo.

[JoseMaria Cañas Plaza]

Javier,

you are mixing things. Introrob_py is designed for teleperating and
programming drones in Python. If you want to play with kinect try this
example in the manual [1].

If you want to use introrob_py to see kinect color images, try to
launch two gazebo instances. One with the kinect world and a second
one with a drone. Change their configuration files in order to avoid
the overlap in the ports. This way you can explore connecting
introrob_py to color images from the kinect sensor setting accordingly
the port on its configuration file, and the remainder sensors and
actuators still connecting to the drone Gazebo instance. You have to
provide a server for any of the sensor introrob_py connects to. And
then maybe change the camera source (to which introrob_py connects to)
 to come from other gazebo simulator instance, or any other source. It
is kind of weird anyway.

Maybe you should start connecting introrob_py with a regular Gazebo
instance, except for the camara images, which can come from a
cameraserver. You will have to change the ip:port pairs in the
configuration files, anyway.

Hope it helps,

JoseMaria
[1] http://jderobot.org/index.php/Running_JdeRobot#Simulated_FlyingKinect_.2B_NavigatorCamera.2FRGBDViewer

On Sun, Jan 17, 2016 at 5:14 PM, FRANCISCO JAVIER GUTIERREZ-MATURANA
SANCHEZ <fj.gutierrezs en alumnos.urjc.es> wrote:
> Hi,
>
>
> I am trying run introrob_py with world kinect.world I got the follow.
>
>
> gazebo ../gazebo/worlds/kinect.world --Ice.Config=kinectServer.cfg
>
> Kinect Endpoints > default -h localhost -p 9998
> Constructor CameraRGB
> safeThread
> Constructor CameraDepth
> safeThread
>         adapter->add(object, ic->stringToIdentity(Kinect));
>
>
>
> I run the gazebo world with the Ice config file and get the ice object
> adapter of kinect from gazebo.
>
>
> But I dont know how I have to configurate the file introrob_py.cfg to get
> the camera sensor of kinect from introrob_py.
>
>
> introrob_py --Ice.Config=kinect.cfg
>
> loading Ice.Config file ./kinect.cfg
> Interface camera not connected
> Interface cmdVel not connected
> Interface navdata not connected
> Interface ardroneExtra not connected
> Interface pose3D not connected
>
>
> Thanks I follow trying things! :).
>
> Javi,
>
>
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Universidad Rey Juan Carlos
http://gsyc.urjc.es/jmplaza