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uji-ros-pkg / underwater_simulation

UWSim-NET, the Underwater Simulator
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RangeCameraToPCL error #77

Closed vipulgarg1998 closed 4 years ago

vipulgarg1998 commented 4 years ago

I am trying to use RangeCameraToPCL Ros Interface for my project. I added a code section for this in my scene.xml file. `

rangeImage 
  <topic>/uwsim/rangepcd</topic>
  <rate>10</rate>
</RangeCameraToPCL>`

When tried to run the simulator as usual, I am facing an error which is shown below

Validity error: File /home/vipul/Vipul/uwsim_ws/src/underwater_simulation/uwsim/data/scenes/custom_scene.xml, line 464, column 19 (error): Element rosInterfaces content does not follow the DTD, expecting (ROSOdomToPAT , PATToROSOdom , WorldToROSTF , ArmToROSJointState , ROSJointStateToArm , VirtualCameraToROSImage , ROSImageToHUD , ROSTwistToPAT , RangeSensorToROSRange , ROSPoseToPAT , ImuToROSImu , PressureSensorToROS , GPSSensorToROS , DVLSensorToROS , RangeImageSensorToROSImage , multibeamSensorToLaserScan , SimulatedDeviceROS , contactSensorToROS , echoROS , ForceSensorROS , ROSPointCloudLoader , RangeCameraToPCL , CustomCommsDeviceROS , AcousticCommsDeviceROS), got (ROSOdomToPAT WorldToROSTF ArmToROSJointState ROSJointStateToArm VirtualCameraToROSImage ROSTwistToPAT RangeCameraToPCL ROSPoseToPAT RangeImageSensorToROSImage ) Please check your XML file terminate called after throwing an instance of 'pluginlib::LibraryUnloadException' what(): According to the loaded plugin descriptions the class CustomCommsDevice_Factory with base class type uwsim::SimulatedDeviceFactory does not exist. Declared types are AcousticCommsDevice_Factory CustomCommsDevice_Factory DredgeTool_Factory ForceSensor_Factory SimDev_Echo_Factory /home/vipul/Vipul/uwsim_ws/src/underwater_simulation/uwsim/src/uwsim: line 23: 20203 Aborted (core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@

vipulgarg1998 commented 4 years ago

I debugged it. I put the code at the end of the scene and it worked.