xabierolaz
commented
3 years ago Hi @wil3, changed most of things as you requested, Just some few minor things, as this
msgs/Distance.proto, line 8 at r1 (raw file): { required float ground_distance = 1; required int64 time_usec = 2; // about this line not being needed (as you say, State.proto in gymfc has the sim time) I have updated and pulled again with all the changes. if I remove it, then we get one compilation error:
cuda@cuda:~/workspace/aircraft-plugins-new/build$ cmake ..
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- system
-- thread
-- timer
-- chrono
-- date_time
-- atomic
-- Found DART: /usr/local/include (Required is at least version "6.6") found components: dart
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- thread
-- system
-- filesystem
-- program_options
-- regex
-- iostreams
-- date_time
-- chrono
-- atomic
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0")
-- Boost version: 1.65.1
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0")
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.2.5
-- Checking for module 'uuid'
-- Found uuid, version 2.31.1
-- Checking for module 'tinyxml2'
-- Found tinyxml2, version 6.0.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES
-- Checking for module 'gts'
-- Found gts, version 0.7.6
-- Checking for module 'libswscale'
-- Found libswscale, version 4.8.100
-- Checking for module 'libavdevice >= 56.4.100'
-- Found libavdevice , version 57.10.100
-- Checking for module 'libavformat'
-- Found libavformat, version 57.83.100
-- Checking for module 'libavcodec'
-- Found libavcodec, version 57.107.100
-- Checking for module 'libavutil'
-- Found libavutil, version 55.78.100
-- Checking for module 'jsoncpp'
-- Found jsoncpp, version 1.7.4
-- Checking for module 'yaml-0.1'
-- Found yaml-0.1, version 0.1.7
-- Checking for module 'libzip'
-- Found libzip, version 1.1.2
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread;-lpthread (found version "3.0.0")
Gazebo version: 10.1
-- Configuring done
-- Generating done
-- Build files have been written to: /home/cuda/workspace/aircraft-plugins-new/buildcuda@cuda:~/workspace/aircraft-plugins-new/build$ make
[ 4%] Running C++ protocol buffer compiler on msgs/Distance.proto
Scanning dependencies of target sensor_msgs
[ 8%] Building CXX object CMakeFiles/sensor_msgs.dir/Distance.pb.cc.o
[ 12%] Linking CXX shared library libsensor_msgs.so
[ 62%] Built target sensor_msgs
[ 75%] Built target control_msgs
[ 79%] Linking CXX shared library libgazebo_motor_model.so
[ 83%] Built target gazebo_motor_model
[ 87%] Linking CXX shared library libgazebo_imu_plugin.so
[ 91%] Built target gazebo_imu_plugin
Scanning dependencies of target gazebo_distance_plugin
[ 95%] Building CXX object CMakeFiles/gazebo_distance_plugin.dir/src/gazebo_distance_plugin.cpp.o
/home/cuda/workspace/aircraft-plugins-new/src/gazebo_distance_plugin.cpp: In member function ‘void gazebo::GazeboDistancePlugin::OnUpdate(const gazebo::common::UpdateInfo&)’:
/home/cuda/workspace/aircraft-plugins-new/src/gazebo_distance_plugin.cpp:132:21: error: ‘class sensor_msgs::msgs::Distance’ has no member named ‘set_time_usec’
distance_message_.set_time_usec(_info.simTime.sec * 1000000 + _info.simTime.nsec / 1000);
^~~~~~~~~~~~~
CMakeFiles/gazebo_distance_plugin.dir/build.make:62: recipe for target 'CMakeFiles/gazebo_distance_plugin.dir/src/gazebo_distance_plugin.cpp.o' failed
make[2]: *** [CMakeFiles/gazebo_distance_plugin.dir/src/gazebo_distance_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:218: recipe for target 'CMakeFiles/gazebo_distance_plugin.dir/all' failed
make[1]: *** [CMakeFiles/gazebo_distance_plugin.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
All prerequisites has been made to have the distance sensor plugin working, before getting into the actual SDF sensor
Files created:
Files updated:
Cmake output
~/workspace/aircraft-plugins-new/build$ cmake ..
make output
cuda@cuda~/workspace/aircraft-plugins-new/build$ make
This change is