Openrave does not open a viewer 's window

[agussc]

Hello guys,

I am using openrave 0.9 with ROS fuerte on ubuntu 12.04.
I want to display my environment using a server-client structure and for that I have writen a server using the code from this link:

http://openrave.org/docs/latest_stable/coreapihtml/orloadviewer_8cpp-example.html

I know that the environment loads correctly because I got theese debug messages:

[kinbody.cpp:3816] _ComputeInternalInformation staubli in 0.016514s
[kinbody.cpp:3816] _ComputeInternalInformation floorwalls in 0.000045s

but does not show anything by screen, I mean does not open any new window with the loaded environment.

this is the code of my server

#include "ros/ros.h"
#include "robot/planificador.h"
#include "robot/openrave-core.h"
//#include "robot/libopenrave.h"
#include <vector>
#include <cstring>
#include <sstream>
#include "robot/openrave/planningutils.h"

#include "robot/orexample.h"
#include <boost/thread/thread.hpp>
#include <boost/bind.hpp>


using namespace OpenRAVE;
using namespace std;

void SetViewer(EnvironmentBasePtr penv, const string& viewername)
{
    ViewerBasePtr viewer = RaveCreateViewer(penv,viewername);
    BOOST_ASSERT(!!viewer);

    // attach it to the environment:
    penv->Add(viewer);

    // finally call the viewer's infinite loop (this is why a separate thread is needed)
    bool showgui = true;
    viewer->main(showgui);
}


bool calculo(robot::planificador::Request  &req,
             robot::planificador::Response &res)
{
  string scenefilename = "staubli.env.xml";
  string viewername = "QtCoin";
  RaveInitialize(true);
  EnvironmentBasePtr penv = RaveCreateEnvironment();
  RaveSetDebugLevel(5);
  boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
  penv->Load(scenefilename);
  thviewer.join();
  res.sal=0;
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "planificador_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("calculo", calculo);
  ROS_INFO("Esperando coordenadas para mover robot.");
  ros::spin();

  return 0;
}

Do you Know how can I solve this problem?

[Rosen Diankov]

does the regular sample work for you?

2013/10/3 agussc <[hidden email]>

Hello guys,

I am using openrave 0.9 with ROS fuerte on ubuntu 12.04.
I want to display my environment using a server-client structure and for
that I have writen a server using the code from this link:

http://openrave.org/docs/latest_stable/coreapihtml/orloadviewer_8cpp-example.html

I know that the environment loads correctly because I got theese debug
messages:

[kinbody.cpp:3816] _ComputeInternalInformation staubli in 0.016514s
[kinbody.cpp:3816] _ComputeInternalInformation floorwalls in 0.000045s

but does not show anything by screen, I mean does not open any new window
with the loaded environment.

this is the code of my server

#include "ros/ros.h"
#include "robot/planificador.h"
#include "robot/openrave-core.h"
//#include "robot/libopenrave.h"
#include <vector>
#include <cstring>
#include <sstream>
#include "robot/openrave/planningutils.h"

#include "robot/orexample.h"
#include <boost/thread/thread.hpp>
#include <boost/bind.hpp>


using namespace OpenRAVE;
using namespace std;

void SetViewer(EnvironmentBasePtr penv, const string& viewername)
{
    ViewerBasePtr viewer = RaveCreateViewer(penv,viewername);
    BOOST_ASSERT(!!viewer);

    // attach it to the environment:
    penv->Add(viewer);

    // finally call the viewer's infinite loop (this is why a separate
thread is needed)
    bool showgui = true;
    viewer->main(showgui);
}


bool calculo(robot::planificador::Request  &req,
             robot::planificador::Response &res)
{
  string scenefilename = "staubli.env.xml";
  string viewername = "QtCoin";
  RaveInitialize(true);
  EnvironmentBasePtr penv = RaveCreateEnvironment();
  RaveSetDebugLevel(5);
  boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
  penv->Load(scenefilename);
  thviewer.join();
  res.sal=0;
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "planificador_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("calculo", calculo);
  ROS_INFO("Esperando coordenadas para mover robot.");
  ros::spin();

  return 0;
}

Do you Know how can I solve this problem?



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[agussc]

Hi Rosen, thank for your quick answer.
yes it works fine.
I have loaded my environment correctly in the following cases:

1- typing "openrave example.dae"
2- using the cppexample "./orloadviewer --scene example.env.xml qtcoin"
3- using the rosserver: "roslaunch openrave.launch; rosrun openraveros_tutorials loadscene"

but I can't load it with my program.
I think the problem is about the openrave thread or the openrave module textserver, and I don't know if I have missed something in my code, but I thought the function load() automaticaly initialize them, and if I must do it by hand I don't know which lines must be added.

Thanks in advance.