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

[nheft]

Dave,

Thank you for replying.

I Copied the two files as per your recommendation. Getting numerous errors that I can't make heads or tails of. They all seem to revolve around libgazebo_physics.so.6 and libgazebo_sensors.so.6. Following is a list of the errors I get.

Gazebo multi-robot simulator, version 7.4.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.101
Gazebo multi-robot simulator, version 7.4.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.101
[Wrn] [msgs.cc:1793] Conversion of sensor type[sonar] not suppported.
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libclock.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libencoder.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libencoder.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libgyro.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/librangefinder.so: libgazebo_sensors.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libpotentiometer.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libpotentiometer.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:165] Failed to load plugin /home/team_533/wpilib/simulation/plugins/liblimit_switch.so: libgazebo_sensors.so.6: cannot open shared object file: No such file or directory
[Wrn] [msgs.cc:1793] Conversion of sensor type[sonar] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[sonar] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[sonar] not suppported.
[Err] [Scene.cc:2928] Light [sun] not found. Use topic ~/factory/light to spawn a new light.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.

[DaveFrederick]

Neil,
The errors are not familiar.
Recommend you review file permissions in the plugin folder.
Below I have provided 3 sets of data.
1) I have listed the files and permissions in the plugin folder.
2) The permissions of the physics engine file
3 )The start up log of my Gazebo.

I am running a model that I created. (The lego car with 6 wheels)
Which model are you running?

Dave Frederick
=====================================

robot@robotCPU:~/wpilib/simulation/plugins$ pwd
/home/robot/wpilib/simulation/plugins

robot@robotCPU:~/wpilib/simulation/plugins$ ls -ltr
-rwxr-xr-x 1 robot robot 1663065 Feb 11 2016 libservo.so
-rwxr-xr-x 1 robot robot 1475620 Feb 11 2016 libclock.so
-rwxr-xr-x 1 robot robot 1659314 Feb 11 2016 libdc_motor.so
-rwxr-xr-x 1 robot robot 1781580 Feb 11 2016 libencoder.so
-rwxr-xr-x 1 robot robot 1781248 Feb 11 2016 libgyro.so
-rwxr-xr-x 1 robot robot 2093881 Feb 11 2016 liblimit_switch.so
-rwxr-xr-x 1 robot robot 1665607 Feb 11 2016 libpneumatic_piston.so
-rwxr-xr-x 1 robot robot 1486513 Feb 11 2016 libpotentiometer.so
-rwxr-xr-x 1 robot robot 1494808 Feb 11 2016 librangefinder.so
-rwxr-xr-x 1 robot robot 1659314 Apr 16 2016 libgz_dc_motor.so
-rwxr-xr-x 1 robot robot 1475620 Apr 16 2016 libgz_clock.so
-rwxr-xr-x 1 robot robot 1781248 Nov 19 17:43 libgz_gyro.so
-rwxr-xr-x 1 robot robot 1781580 Nov 23 19:20 libgz_encoder.so
-rwxr-xr-x 1 robot robot 1494808 Dec 26 11:38 libgz_rangefinder.so
robot@robotCPU:~/wpilib/simulation/plugins$

======================================
robot@robotCPU:~/wpilib/simulation/plugins$ ls -ltr /usr/lib/x86_64-linux-gnu/libgazebo_physics.so

lrwxrwxrwx 1 root root 22 Apr 7 2016 /usr/lib/x86_64-linux-gnu/libgazebo_physics.so -> libgazebo_physics.so.6

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

Gazebo multi-robot simulator, version 6.6.0
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 6.6.0
Copyright (C) 2012-2015 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: 192.168.65.130
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.65.130
[Msg] Initializing clock: /gazebo/frc/time
[Msg] Initializing gyro: /gazebo/frc/simulator/analog/0 link=CarBody axis=2 radians=0
[Msg] Initializing rangefinder: /gazebo/frc/simulator/analog/1 sensor=CarBodyUltrasonic
[Msg] Initializing motor: /gazebo/frc/simulator/pwm/1 joint=CarBody-FrontLeftWheel multiplier=25
[Msg] Initializing motor: /gazebo/frc/simulator/pwm/2 joint=CarBody-FrontRightWheel multiplier=25
[Msg] Initializing motor: /gazebo/frc/simulator/pwm/3 joint=CarBody-RearLeftWheel multiplier=25
[Msg] Initializing motor: /gazebo/frc/simulator/pwm/4 joint=CarBody-RearRightWheel multiplier=25
[Msg] Initializing motor: /gazebo/frc/simulator/pwm/5 joint=CarBody-CenterLeftWheel multiplier=25
[Msg] Initializing encoder: /gazebo/frc/simulator/dio/0/1 joint=CarBody-CenterLeftWheel radians=0
[Msg] Initializing motor: /gazebo/frc/simulator/pwm/6 joint=CarBody-CenterRightWheel multiplier=25
[Msg] Initializing encoder: /gazebo/frc/simulator/dio/2/3 joint=CarBody-CenterRightWheel radians=0