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.htmlI 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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