0
$\begingroup$

Rosanswers logo

I have created a server and client about set model state service of gazebo. This is the error I get when I run make:

/home/phadjic/ros_workspace/pool_party/src/client.cpp: In function ‘int main(int, char*)’: /home/phadjic/ros_workspace/pool_party/src/client.cpp:36:39: error: no match for ‘operator=’ in ‘setmodelstate.gazebo_msgs::SetModelState::request.gazebo_msgs::SetModelStateRequest_std::allocator<void >::model_state = modelstate’ /opt/ros/electric/stacks/simulator_gazebo/gazebo_msgs/msg_gen/cpp/include/gazebo_msgs/ModelState.h:23:20: note: candidate is: gazebo_msgs::ModelState_std::allocator<void >& gazebo_msgs::ModelState_std::allocator<void >::operator=(const gazebo_msgs::ModelState_std::allocator<void >&) /home/phadjic/ros_workspace/pool_party/src/client.cpp:39:22: error: ‘SetModelState’ was not declared in this scope /home/phadjic/ros_workspace/pool_party/src/client.cpp:42:8: error: no matching function for call to ‘print(int, log4cxx::Logger&, ros::console::Level&, const char [54], int, const char [22], double&)’ /opt/ros/electric/stacks/ros_comm/tools/rosconsole/include/ros/console.h:132:22: note: candidates are: void ros::console::print(ros::console::FilterBase, log4cxx::Logger, ros::console::Level, const char, int, const char, const char, ...) /opt/ros/electric/stacks/ros_comm/tools/rosconsole/include/ros/console.h:136:22: note: void ros::console::print(ros::console::FilterBase, log4cxx::Logger, ros::console::Level, const std::stringstream&, const char, int, const char*)

The lines of my client file mentioned above are:

ros::ServiceClient client = n.serviceClient<gazebo_msgs::setmodelstate("/gazebo_msgs/SetModelState"); 
gazebo_msgs::SetModelState setmodelstate;
setmodelstate.request.model_state=modelstate;
client.call(setmodelstate); 

if (client.call(setModelState))
{
   ROS_INFO("BRILLIANT!!!");
   ROS_INFO(start_pose.position.x);
}
else
{
   ROS_ERROR("Failed to call service ");
   return 1;
}

Originally posted by Penny on ROS Answers with karma: 41 on 2012-02-08

Post score: 0

Original comments

Comment by Abdulbaki on 2017-12-30:
Correction for the first line; ros::ServiceClient client = n.serviceClient<gazebo_msgs::setmodelstate>("/gazebo_msgs/SetModelState");

Improve this question
$\endgroup$

2 Answers 2

Reset to default
0
$\begingroup$

Rosanswers logo

Here is a complete set of instructions to get things working,

Open a new terminal, start gazebo empty world, spawn an object:

source /opt/ros/electric/setup.bash
roslaunch gazebo_worlds empty_world.launch

Open yet another terminal, spawn a model:

source /opt/ros/electric/setup.bash
rosrun gazebo spawn_model -urdf -file `rospack find gazebo_worlds`/objects/14_4v_cordless_drill.urdf -model drill -z 1

Open a third terminal, setup ros and create a package named gazebo_test:

cd /tmp
source /opt/ros/electric/setup.bash
roscreate-pkg gazebo_test gazebo gazebo_msgs
cd gazebo_test
export ROS_PACKAGE_PATH=`pwd`:${ROS_PACKAGE_PATH}

edit CMakeLists.txt so it looks like this:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

rosbuild_add_executable(example src/example.cpp)

next, save following code to src/example.cpp:

#include <ros/ros.h>
#include <gazebo_msgs/SetModelState.h>
int main (int argc, char** argv)
{
  ros::init(argc,argv,"test_node");
  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state"); 
  gazebo_msgs::SetModelState setmodelstate;
  gazebo_msgs::ModelState modelstate;
  modelstate.model_name = "drill";
  setmodelstate.request.model_state = modelstate;

  if (client.call(setmodelstate))
  {
    ROS_INFO("BRILLIANT!!!");
    ROS_INFO("%f",modelstate.pose.position.x);
  }
  else
  {
    ROS_ERROR("Failed to call service ");
    return 1;
  }
  return 0;
}

make and run:

make
./bin/example

Output:

$ ./bin/example 
[ INFO] [1329941615.597042253]: BRILLIANT!!!
[ INFO] [1329941615.597092973]: 0.000000

Originally posted by hsu with karma: 5780 on 2012-02-08

This answer was ACCEPTED on the original site

Post score: 6

Original comments

Comment by Penny on 2012-02-22:
Thank you a lot for the code above, now I have managed to make my package and create the server and client, but I have the following prob: "Failed to call service", do you now why this happens? should I change something else?

Comment by Penny on 2012-02-22:
i rosrun again my code, now "Failed to call service" does not appear, but neither "BRILLIANT" appears.

Comment by Penny on 2012-02-22:
i made roswtf and below i posted what i get:

Comment by hsu on 2012-02-22:
I just edited my post to a fully functional tutorial, you should be able to follow step by step and see the final output :)

Comment by Penny on 2012-02-25:
Thank you very much, really your post above solved my problem :)

Improve this answer
$\endgroup$
0
$\begingroup$

Rosanswers logo

The message type is gazebo_msgs::SetModelState, not gazebo_msgs::setmodelstate. Also, the service name is probably "/gazebo/set_model_state".

Next, what type is "modelstate"?

Additionally, you call the service twice. Each instance of client.call() calls the service. You probably want to delete the first call that is not being checked for completion.

Originally posted by DimitriProsser with karma: 11163 on 2012-02-08

This answer was NOT ACCEPTED on the original site

Post score: 1

Original comments

Comment by Penny on 2012-02-08:
I corrected some things and now I get the errors I posted below as an answer:

Comment by Penny on 2012-02-08:
gazebo_msgs::ModelState modelstate; modelstate.model_name = (std::string) "my_robot"; modelstate.reference_frame = (std::string) "world"; modelstate.pose = start_pose; modelstate.twist = start_twist;

Comment by DimitriProsser on 2012-02-08:
You didn't finish your comment

Comment by Penny on 2012-02-08:
The type of modelstate is:

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.