FRCSim, Gazebo v7, and GearsBot example

[nheft]

Having difficulty getting FRCsim to work.

I installed the FRC simulator in accordance with the latest WPI procedure with the exception that I installed Gazebo version 7 instead of 6.

I start frcsim as follows:

frcsim ~/wpilib/simulation/worlds/GearsBotDemo.world

Next I bring up the driver station with sim_ds.

Finally I start up eclipse neon, open up the GearsBot demo project, and run it as a WPILib Java Simulation.

The Gazebo window shows the robot on a simple playing field with a few cans and a platform similar to the video demo. However when I enable autonomous or teleop the robot does nothing.

In the console I get a few "Failed to initialize simulator/dio/1/2: does the encoder exist?" messages, eventually getting a message that ends with "Overload me!"

Meanwhile in the terminal I get a bunch of messages as follows
"Failed to load plugin /home/team533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file : No such file or directory".

Are the simulation plugins somehow hard wired to Gazebo version 6?

Any help would be appreciated.

Regards,

Neil Heft

Engineer - Mentor, Team 533

[DaveFrederick]

I noticed that some of the sensors files need to be renamed.
( e.g., cp libencoder.so libgz_encoder.so )

See lesson learned #4 below.
Watch for errors on startup and create copies of the files as required.
Stick with FRCSIM. I think this will be an important tool once we learn and document how to use it.

Dave Frederick
Team 1895 Mentor

==============================================


Limitations:
1) The FRCSIM can take a few tries to start.
2) Joystick methods are not working correctly (getX(), getY() and getZ() )
Use: Robot.oi.joystick1.getRawAxis(0)
// Robot.driveTrainSubSystem.ArcadeDrive(Robot.oi.joy stick1.getY(),Robot.oi.joystick1.getX());
Robot.driveTrainSubSystem.ArcadeDrive(Robot.oi.joy stick1.getRawAxis(0), Robot.oi.joystick1.getRawAxis(1));

Notes: Joystick
- Axis 0 - Left(-) and Right(+)
- Axis 1 - forward (-) and Back (+)
- Axis 2 - Rotate forward (-) and Back (+)
Seems like getX(), getY() and getZ() are not working - wrong order
3) The Analog Gyro does not support the “setSensitivity” method. Comment out in RoboMap.
4) Needed to rename a few sensors (one Time).
/home/robot/wpilib/simulation/plugins/
cp libencoder.so libgz_encoder.so
cp libgyro.so libgz_gyro.so