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As gustavo suggested, I modified src/stageros.cpp. The boolean 'stall' is set iff there is a collision at the instant. Stalled() function returns this value and can be called to check.


Other details regarding the solution

But after modifying, 'rosmake stage' does not work for some reason (just like this thread http://answers.ros.org/question/87666/no-executable-in-bin-with-rosmake-on-groovy/)

So, after modifying the permissions of the stage stack folder I ran 'make'. After downloading the md5sum tarball into the build folder, it compiled most of the code. But then, it gave out the error "undefined reference to Fl::wait(double)".

Turns out, it is a problem with gcc and ordering of flags. So, as suggested in http://player-stage-gazebo.10965.n7.nabble.com/Stage-install-error-td6455.html, I edited CMakeLists.txt towards the bottom into (I just added the 3rd line)

rosbuild_add_compile_flags(bin/stageros ${STAGE_CFLAGS_OTHERS})
target_link_libraries(bin/stageros ${STAGE_LIBRARIES})
target_link_libraries(bin/stageros fltk fltk_gl fltk_images)
rosbuild_add_link_flags(bin/stageros ${STAGE_LDFLAGS_OTHERS})