Hi,

Platform: Linux Ubuntu 8.04/ 64 bits; Webots v6.2.beta1; Matlab R2007b.

I just installed the new version, and when I try to open webots this is the terminal output:

~$ webots
*** stack smashing detected ***: /usr/local/webots/webots-bin terminated
======= Backtrace: =========
/lib/libc.so.6(__fortify_fail+0x37)[0x7f200c037617]
/lib/libc.so.6(__fortify_fail+0x0)[0x7f200c0375e0]
/usr/local/webots/webots-bin(_ZN9A_License11initKeyFileEv+0x180e)[0x60a90e]
/usr/local/webots/webots-bin(_ZN9A_License4initEv+0x32e)[0x60c8ce]
/usr/local/webots/webots-bin(_ZN13A_Application6OnInitEv+0x82d)[0x5d76cd]
/usr/local/webots/webots-bin(_ZN12wxAppConsole10CallOnInitEv+0xd)[0x5dbc9d]
/usr/local/webots/webots-bin(_Z7wxEntryRiPPw+0x1a)[0xa0d0fa]
/usr/local/webots/webots-bin(main+0xfb)[0x5d1f2b]
/lib/libc.so.6(__libc_start_main+0xf4)[0x7f200bf681c4]
/usr/local/webots/webots-bin[0x595cd9]
======= Memory map: ========
00400000-00d43000 r-xp 00000000 08:02 715818                             /usr/local/webots/webots-bin
00f43000-00fc7000 rw-p 00943000 08:02 715818                             /usr/local/webots/webots-bin
00fc7000-01130000 rw-p 00fc7000 00:00 0                                  [heap]
7f20068f7000-7f2006957000 rw-s 00000000 00:09 821690395                  /SYSV00000000 (deleted)
7f2006980000-7f2006989000 r--s 00000000 08:02 1197028                    /var/cache/fontconfig/945677eb7aeaf62f1d50efc3fb3ec7d8-x86-64.cache-2
7f2006989000-7f200698c000 r--s 00000000 08:02 1197163                    /var/cache/fontconfig/e383d7ea5fbe662a33d9b44caf393297-x86-64.cache-2
7f200698c000-7f200698e000 r--s 00000000 08:02 1197162                    /var/cache/fontconfig/e3fa16a14183b06aa45b3e009278fd14-x86-64.cache-2
7f200698e000-7f2006993000 r--s 00000000 08:02 1197161                    /var/cache/fontconfig/921a30a17f0be15c70ac14043cb7a739-x86-64.cache-2
7f2006993000-7f2006994000 r--s 00000000 08:02 1197160                    /var/cache/fontconfig/c69f04ab05004e31a6d5e715764f16d8-x86-64.cache-2
7f2006994000-7f2006995000 r--s 00000000 08:02 1197159                    /var/cache/fontconfig/4c73fe0c47614734b17d736dbde7580a-x86-64.cache-2
7f2006995000-7f2006999000 r--s 00000000 08:02 1197158                    /var/cache/fontconfig/a755afe4a08bf5b97852ceb7400b47bc-x86-64.cache-2
7f2006999000-7f20069a2000 r--s 00000000 08:02 1197157                    /var/cache/fontconfig/6d41288fd70b0be22e8c3a91e032eec0-x86-64.cache-2
7f20069a2000-7f20069a5000 r--s 00000000 08:02 1197156                    /var/cache/fontconfig/de156ccd2eddbdc19d37a45b8b2aac9c-x86-64.cache-2
7f20069a5000-7f20069ab000 r-xp 00000000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f20069ab000-7f2006bab000 ---p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f2006bab000-7f2006bac000 rw-p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f2006bac000-7f2006bbe000 r-xp 00000000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006bbe000-7f2006dbe000 ---p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006dbe000-7f2006dbf000 rw-p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006dbf000-7f2006dfe000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_US.utf8/LC_CTYPE
7f2006dfe000-7f2006edf000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_US.utf8/LC_COLLATE
7f2006edf000-7f2006ee9000 r-xp 00000000 08:02 4915608                    /lib/libnss_files-2.7.so
7f2006ee9000-7f20070e9000 ---p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7f20070e9000-7f20070eb000 rw-p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7f20070eb000-7f20070f5000 r-xp 00000000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20070f5000-7f20072f4000 ---p 0000a000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20072f4000-7f20072f6000 rw-p 00009000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20072f6000-7f200730c000 r-xp 00000000 08:02 4915605                    /lib/libnsl-2.7.so
7f200730c000-7f200750b000 ---p 00016000 08:02 4915605                    /lib/libnsl-2.7.so
7f200750b000-7f200750d000 rw-p 00015000 08:02 4915605                    /lib/libnsl-2.7.so
7f200750d000-7f200750f000 rw-p 7f200750d000 00:00 0
7f200750f000-7f2007517000 r-xp 00000000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007517000-7f2007716000 ---p 00008000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007716000-7f2007718000 rw-p 00007000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007718000-7f20077f9000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_GB.utf8/LC_COLLATE
7f20077f9000-7f20077fb000 r-xp 00000000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20077fb000-7f20079fa000 ---p 00002000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20079fa000-7f20079fc000 rw-p 00001000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20079fc000-7f2007a3b000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_GB.utf8/LC_CTYPE
7f2007a3b000-7f2007a40000 r-xp 00000000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007a40000-7f2007c3f000 ---p 00005000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007c3f000-7f2007c40000 rw-p 00004000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007c40000-7f2007c51000 r-xp 00000000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007c51000-7f2007e50000 ---p 00011000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007e50000-7f2007e51000 rw-p 00010000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007e51000-7f2007e69000 r-xp 00000000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f2007e69000-7f2008068000 ---p 00018000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f2008068000-7f200806a000 rw-p 00017000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f200806a000-7f200806c000 r-xp 00000000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200806c000-7f200826b000 ---p 00002000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200826b000-7f200826c000 rw-p 00001000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200826c000-7f200828e000 r-xp 00000000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f200828e000-7f200848e000 ---p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f200848e000-7f2008490000 rw-p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f2008490000-7f20084bc000 r-xp 00000000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20084bc000-7f20086bc000 ---p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20086bc000-7f20086be000 rw-p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20086be000-7f20086e2000 r-xp 00000000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20086e2000-7f20088e2000 ---p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20088e2000-7f20088e3000 rw-p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20088e3000-7f200890e000 r-xp 00000000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f200890e000-7f2008b0e000 ---p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f2008b0e000-7f2008b0f000 rw-p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f2008b0f000-7f2008b2a000 r-xp 00000000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008b2a000-7f2008d29000 ---p 0001b000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008d29000-7f2008d2a000 rw-p 0001a000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008d2a000-7f2008d2b000 r-xp 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008d2b000-7f2008f2a000 ---p 00001000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008f2a000-7f2008f2b000 rw-p 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008f2b000-7f200909f000 r-xp 00000000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f200909f000-7f200929f000 ---p 00174000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f200929f000-7f20092ae000 rw-p 00174000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f20092ae000-7f200960a000 r-xp 00000000 08:02 11534431                   /usr/lib/libCg.so
7f200960a000-7f200970a000 ---p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7f200970a000-7f20097b9000 rw-p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7f20097b9000-7f20097cb000 rw-p 7f20097b9000 00:00 0
7f20097cb000-7f2009828000 r-xp 00000000 08:02 7767373                    /usr/lib/libXt.so.6.0.0
7f2009828000-7f2009Aborted

Any suggestions to solve this problem?

Olivier Michel wrote:

 

Hi,

I am pleased to announce we just publicly released Webots 6.2.beta1. This is a major upgrade which introduces a much better 3D rendering engine (based on OGRE 3D) among other features and bug fixes. You can download it from here: http://www.cyberbotics.com/beta/ (Linux i386, Linux x86-64, Mac OS X and Windows versions). Please send us your feedback about this beta version as we could not test it on every combination of operating systems, CPU, graphics cards, etc. This will help us prepare the final release of Webots 6.2.0.

Here is a copy of the change log since version 6.1.5:

Released on November 19th (revision 4280)

• Added compatibility with Windows 7: fixed printf() redirection in Webots console and freeze when using Build/Compile/Clean buttons
• Removed unused API functions: wb_supervisor_field_get_mf_rotation(), wb_supervisor_field_set_mf_rotation(), wb_supervisor_field_get_mf_bool() and wb_supervisor_field_set_mf_bool()
• Removed obsolete Gripper node (mainly used in old Khepera worlds)
• Fixed texture path problem with controller rendered camera images
• Removed the useless "display" field from the Camera node
• Fixed crash and improved the behavior of the find/replace dialog with respect to multiple buffers
• Migrated the Webots rendering system to OGRE 3D (Object-Oriented Graphics Rendering Engine)
• Modified the rendering of the lights and of the materials in order to fit better the VRML specifications
• Improved the lighting model; the ambient, diffuse and specular fields can behave differently
• Improved the rendering of every worlds (mainly the worlds of the guided tour and of robotstadium)
• Added support for texturing the Cone, the Cylinder and the Sphere primitives
• Added a subdivision field to the Cone primitive
• Improved the TextureTransform node (supported in every primitive able to have a texture)
• Improved the rendering abilities
• Improved the shadows; shadows are now volumetric, transparent, additive, and are casted from and received to any renderable object
• Improved the transparent object management (the render of transparent object is no more dependent on their position in the scene tree but are sorted according to their center)
• Added the "Wireframe" rendering mode which allows to display the segments of the renderable primitives
• Added the experimental "High Quality" rendering mode which allow to render the diffuse and specular lights per-pixel instead of per-vertex
• Refactored the Preferences dialog box and the View menu
• Added the lineScale field to the WorldInfo node in order to control the length of every arbitrary-sized lines
• Improved the anti-aliasing of the Camera primitive which is now computed by the hardware
• Moved the far clipping plane to infinity
• Removed the far field from the Viewpoint and the Camera nodes
• Removed the wb_camera_get_far() function
• Improved the range-finder cameras
• Improved significantly the performances of the range-finder cameras
• Added the maxRange field which allows to set up the maximum range of the range-finder
• Added the wb_camera_get_max_range() function which allows to modify the maxRange field
• Replaced the wb_range_image_get_value() function (Deprecated) by the wb_range_image_get_depth() function which returns a linear scale (instead of logarithmic)
• Added semantic validation of the node structure when loading/importing .wbt/.vrml files
• Fixed problem with Webots random number generator: sensor noise (lookupTables) is now deterministic (until now only the physics noise was deterministic)
• Fixed buffering of mouse move events for 3D navigation in the main window
• Fixed Webots crash when project directories contain space characters (Mac+Linux)
• Fixed compilation problems if Webots installation directory contains space characters (Mac+Linux)
• Fixed: right after after having been inserted with the Scene Tree, USE nodes of geometrical primitives appear 10x smaller than their corresponding DEF nodes
• Under Linux, fixed crash while trying to run a 64 bit controller with a 32 bit webots
• Added "Open Recent" menu to find more easily recently opened .wbt files
• Removed "author" and "constructor" fields from all Solid (and derived) nodes to simplify Scene Tree
• Added a default values to every "name" field
• Robotstadium: was completely relooked: lighting, shininess, textures, colors, etc. were changed (the physics was not modified)
• Added new "force-3d" type of TouchSensor that computes and returns the 3d-vector of the force applied to the sensor
• Fixed the handling of the CLASSPATH environment variable in order to match the Sun standard
• Removed the black and white Camera type
• Changed Webots code for sensor/actuator simulation to double-precision floating point numbers.
  All the APIs were already using double precision and therefore they remain 100% unchanged (but some devices may return values with a higher accuracy).
  The physics simulation remains mainly unchanged.
• Replaced buggy --batch option with new --minimize option (all platforms)
• Added command line options (--minimize, --mode, --version) to Windows and Mac platforms
• Fixed wrong positions of "minStop" and "maxStop" of Servos (thanks to Jesse)
• Made the "position" field of Servo nodes editable: this allows to specify initial positions/posture that differs from the zero positions/posture
(The meaning of the "translation" and "rotation" fields of the Servo have slightly changed: now they represent the initial (instead of the current) coordinate system transformation of the Servo.)

-Olivier

 

Hi,

We just fixed a couple of problems with this version and uploaded a new binary. Could you give it a second try?
Thank you for your patience!

-Olivier

Rufino Bolado wrote:

Hi,

Platform: Linux Ubuntu 8.04/ 64 bits; Webots v6.2.beta1; Matlab R2007b.

I just installed the new version, and when I try to open webots this is the terminal output:

~$ webots
*** stack smashing detected ***: /usr/local/webots/webots-bin terminated
======= Backtrace: =========
/lib/libc.so.6(__fortify_fail+0x37)[0x7f200c037617]
/lib/libc.so.6(__fortify_fail+0x0)[0x7f200c0375e0]
/usr/local/webots/webots-bin(_ZN9A_License11initKeyFileEv+0x180e)[0x60a90e]
/usr/local/webots/webots-bin(_ZN9A_License4initEv+0x32e)[0x60c8ce]
/usr/local/webots/webots-bin(_ZN13A_Application6OnInitEv+0x82d)[0x5d76cd]
/usr/local/webots/webots-bin(_ZN12wxAppConsole10CallOnInitEv+0xd)[0x5dbc9d]
/usr/local/webots/webots-bin(_Z7wxEntryRiPPw+0x1a)[0xa0d0fa]
/usr/local/webots/webots-bin(main+0xfb)[0x5d1f2b]
/lib/libc.so.6(__libc_start_main+0xf4)[0x7f200bf681c4]
/usr/local/webots/webots-bin[0x595cd9]
======= Memory map: ========
00400000-00d43000 r-xp 00000000 08:02 715818                             /usr/local/webots/webots-bin
00f43000-00fc7000 rw-p 00943000 08:02 715818                             /usr/local/webots/webots-bin
00fc7000-01130000 rw-p 00fc7000 00:00 0                                  [heap]
7f20068f7000-7f2006957000 rw-s 00000000 00:09 821690395                  /SYSV00000000 (deleted)
7f2006980000-7f2006989000 r--s 00000000 08:02 1197028                    /var/cache/fontconfig/945677eb7aeaf62f1d50efc3fb3ec7d8-x86-64.cache-2
7f2006989000-7f200698c000 r--s 00000000 08:02 1197163                    /var/cache/fontconfig/e383d7ea5fbe662a33d9b44caf393297-x86-64.cache-2
7f200698c000-7f200698e000 r--s 00000000 08:02 1197162                    /var/cache/fontconfig/e3fa16a14183b06aa45b3e009278fd14-x86-64.cache-2
7f200698e000-7f2006993000 r--s 00000000 08:02 1197161                    /var/cache/fontconfig/921a30a17f0be15c70ac14043cb7a739-x86-64.cache-2
7f2006993000-7f2006994000 r--s 00000000 08:02 1197160                    /var/cache/fontconfig/c69f04ab05004e31a6d5e715764f16d8-x86-64.cache-2
7f2006994000-7f2006995000 r--s 00000000 08:02 1197159                    /var/cache/fontconfig/4c73fe0c47614734b17d736dbde7580a-x86-64.cache-2
7f2006995000-7f2006999000 r--s 00000000 08:02 1197158                    /var/cache/fontconfig/a755afe4a08bf5b97852ceb7400b47bc-x86-64.cache-2
7f2006999000-7f20069a2000 r--s 00000000 08:02 1197157                    /var/cache/fontconfig/6d41288fd70b0be22e8c3a91e032eec0-x86-64.cache-2
7f20069a2000-7f20069a5000 r--s 00000000 08:02 1197156                    /var/cache/fontconfig/de156ccd2eddbdc19d37a45b8b2aac9c-x86-64.cache-2
7f20069a5000-7f20069ab000 r-xp 00000000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f20069ab000-7f2006bab000 ---p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f2006bab000-7f2006bac000 rw-p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f2006bac000-7f2006bbe000 r-xp 00000000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006bbe000-7f2006dbe000 ---p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006dbe000-7f2006dbf000 rw-p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006dbf000-7f2006dfe000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_US.utf8/LC_CTYPE
7f2006dfe000-7f2006edf000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_US.utf8/LC_COLLATE
7f2006edf000-7f2006ee9000 r-xp 00000000 08:02 4915608                    /lib/libnss_files-2.7.so
7f2006ee9000-7f20070e9000 ---p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7f20070e9000-7f20070eb000 rw-p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7f20070eb000-7f20070f5000 r-xp 00000000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20070f5000-7f20072f4000 ---p 0000a000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20072f4000-7f20072f6000 rw-p 00009000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20072f6000-7f200730c000 r-xp 00000000 08:02 4915605                    /lib/libnsl-2.7.so
7f200730c000-7f200750b000 ---p 00016000 08:02 4915605                    /lib/libnsl-2.7.so
7f200750b000-7f200750d000 rw-p 00015000 08:02 4915605                    /lib/libnsl-2.7.so
7f200750d000-7f200750f000 rw-p 7f200750d000 00:00 0
7f200750f000-7f2007517000 r-xp 00000000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007517000-7f2007716000 ---p 00008000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007716000-7f2007718000 rw-p 00007000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007718000-7f20077f9000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_GB.utf8/LC_COLLATE
7f20077f9000-7f20077fb000 r-xp 00000000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20077fb000-7f20079fa000 ---p 00002000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20079fa000-7f20079fc000 rw-p 00001000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20079fc000-7f2007a3b000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_GB.utf8/LC_CTYPE
7f2007a3b000-7f2007a40000 r-xp 00000000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007a40000-7f2007c3f000 ---p 00005000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007c3f000-7f2007c40000 rw-p 00004000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007c40000-7f2007c51000 r-xp 00000000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007c51000-7f2007e50000 ---p 00011000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007e50000-7f2007e51000 rw-p 00010000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007e51000-7f2007e69000 r-xp 00000000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f2007e69000-7f2008068000 ---p 00018000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f2008068000-7f200806a000 rw-p 00017000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f200806a000-7f200806c000 r-xp 00000000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200806c000-7f200826b000 ---p 00002000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200826b000-7f200826c000 rw-p 00001000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200826c000-7f200828e000 r-xp 00000000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f200828e000-7f200848e000 ---p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f200848e000-7f2008490000 rw-p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f2008490000-7f20084bc000 r-xp 00000000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20084bc000-7f20086bc000 ---p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20086bc000-7f20086be000 rw-p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20086be000-7f20086e2000 r-xp 00000000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20086e2000-7f20088e2000 ---p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20088e2000-7f20088e3000 rw-p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20088e3000-7f200890e000 r-xp 00000000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f200890e000-7f2008b0e000 ---p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f2008b0e000-7f2008b0f000 rw-p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f2008b0f000-7f2008b2a000 r-xp 00000000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008b2a000-7f2008d29000 ---p 0001b000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008d29000-7f2008d2a000 rw-p 0001a000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008d2a000-7f2008d2b000 r-xp 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008d2b000-7f2008f2a000 ---p 00001000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008f2a000-7f2008f2b000 rw-p 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008f2b000-7f200909f000 r-xp 00000000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f200909f000-7f200929f000 ---p 00174000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f200929f000-7f20092ae000 rw-p 00174000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f20092ae000-7f200960a000 r-xp 00000000 08:02 11534431                   /usr/lib/libCg.so
7f200960a000-7f200970a000 ---p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7f200970a000-7f20097b9000 rw-p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7f20097b9000-7f20097cb000 rw-p 7f20097b9000 00:00 0
7f20097cb000-7f2009828000 r-xp 00000000 08:02 7767373                    /usr/lib/libXt.so.6.0.0
7f2009828000-7f2009Aborted

Any suggestions to solve this problem?

Olivier Michel wrote:

 

Hi,

I am pleased to announce we just publicly released Webots 6.2.beta1. This is a major upgrade which introduces a much better 3D rendering engine (based on OGRE 3D) among other features and bug fixes. You can download it from here: http://www.cyberbotics.com/beta/ (Linux i386, Linux x86-64, Mac OS X and Windows versions). Please send us your feedback about this beta version as we could not test it on every combination of operating systems, CPU, graphics cards, etc. This will help us prepare the final release of Webots 6.2.0.

Here is a copy of the change log since version 6.1.5:

Released on November 19th (revision 4280)

• Added compatibility with Windows 7: fixed printf() redirection in Webots console and freeze when using Build/Compile/Clean buttons
• Removed unused API functions: wb_supervisor_field_get_mf_rotation(), wb_supervisor_field_set_mf_rotation(), wb_supervisor_field_get_mf_bool() and wb_supervisor_field_set_mf_bool()
• Removed obsolete Gripper node (mainly used in old Khepera worlds)
• Fixed texture path problem with controller rendered camera images
• Removed the useless "display" field from the Camera node
• Fixed crash and improved the behavior of the find/replace dialog with respect to multiple buffers
• Migrated the Webots rendering system to OGRE 3D (Object-Oriented Graphics Rendering Engine)
• Modified the rendering of the lights and of the materials in order to fit better the VRML specifications
• Improved the lighting model; the ambient, diffuse and specular fields can behave differently
• Improved the rendering of every worlds (mainly the worlds of the guided tour and of robotstadium)
• Added support for texturing the Cone, the Cylinder and the Sphere primitives
• Added a subdivision field to the Cone primitive
• Improved the TextureTransform node (supported in every primitive able to have a texture)
• Improved the rendering abilities
• Improved the shadows; shadows are now volumetric, transparent, additive, and are casted from and received to any renderable object
• Improved the transparent object management (the render of transparent object is no more dependent on their position in the scene tree but are sorted according to their center)
• Added the "Wireframe" rendering mode which allows to display the segments of the renderable primitives
• Added the experimental "High Quality" rendering mode which allow to render the diffuse and specular lights per-pixel instead of per-vertex
• Refactored the Preferences dialog box and the View menu
• Added the lineScale field to the WorldInfo node in order to control the length of every arbitrary-sized lines
• Improved the anti-aliasing of the Camera primitive which is now computed by the hardware
• Moved the far clipping plane to infinity
• Removed the far field from the Viewpoint and the Camera nodes
• Removed the wb_camera_get_far() function
• Improved the range-finder cameras
• Improved significantly the performances of the range-finder cameras
• Added the maxRange field which allows to set up the maximum range of the range-finder
• Added the wb_camera_get_max_range() function which allows to modify the maxRange field
• Replaced the wb_range_image_get_value() function (Deprecated) by the wb_range_image_get_depth() function which returns a linear scale (instead of logarithmic)
• Added semantic validation of the node structure when loading/importing .wbt/.vrml files
• Fixed problem with Webots random number generator: sensor noise (lookupTables) is now deterministic (until now only the physics noise was deterministic)
• Fixed buffering of mouse move events for 3D navigation in the main window
• Fixed Webots crash when project directories contain space characters (Mac+Linux)
• Fixed compilation problems if Webots installation directory contains space characters (Mac+Linux)
• Fixed: right after after having been inserted with the Scene Tree, USE nodes of geometrical primitives appear 10x smaller than their corresponding DEF nodes
• Under Linux, fixed crash while trying to run a 64 bit controller with a 32 bit webots
• Added "Open Recent" menu to find more easily recently opened .wbt files
• Removed "author" and "constructor" fields from all Solid (and derived) nodes to simplify Scene Tree
• Added a default values to every "name" field
• Robotstadium: was completely relooked: lighting, shininess, textures, colors, etc. were changed (the physics was not modified)
• Added new "force-3d" type of TouchSensor that computes and returns the 3d-vector of the force applied to the sensor
• Fixed the handling of the CLASSPATH environment variable in order to match the Sun standard
• Removed the black and white Camera type
• Changed Webots code for sensor/actuator simulation to double-precision floating point numbers.
  All the APIs were already using double precision and therefore they remain 100% unchanged (but some devices may return values with a higher accuracy).
  The physics simulation remains mainly unchanged.
• Replaced buggy --batch option with new --minimize option (all platforms)
• Added command line options (--minimize, --mode, --version) to Windows and Mac platforms
• Fixed wrong positions of "minStop" and "maxStop" of Servos (thanks to Jesse)
• Made the "position" field of Servo nodes editable: this allows to specify initial positions/posture that differs from the zero positions/posture
(The meaning of the "translation" and "rotation" fields of the Servo have slightly changed: now they represent the initial (instead of the current) coordinate system transformation of the Servo.)

-Olivier

--
Olivier Michel
Cyberbotics Ltd. - http://www.cyberbotics.com

Hi Webots team:

Forgive me if this question sound a bit foolish:

1. I have Link 1 and Link 2 connected by a 'Servo', therefore, Link 2 will
rotate relative to Link 1.

2. If I set the max servo velocity to say 5 rad/s, what will happen?

i)  Is this the maximum Servo velocity I can COMMAND (if I have a velocity
control)?

ii) Or is this the maximum velocity Link 2 can "physically" rotate about Link 1?
Let say Link 1 experiences an external force, will it ever rotate or vibrate at
a angular velocity greater than 5 rad/s?

The reason I ask this question is if ii) is true, then I can determine the
maximum normal frequency the servo will ever see and determine the cutoff
frequency if I want to filter the angular position data (which is really noisy
coming out of webots).

Thanks a lot for your help!!

-Henry

Hello Henry,

> 1. I have Link 1 and Link 2 connected by a 'Servo', therefore, Link 2 will
rotate relative to Link 1.
>
> 2. If I set the max servo velocity to say 5 rad/s, what will happen?
>
> i)  Is this the maximum Servo velocity I can COMMAND (if I have a velocity
control)?

"maxVelocity" is the maximum velocity that the Servo's built-in P-controller
algorithm will attempt to reach for a motion specified with the
wb_servo_set_position() function. For example if you have code like this:

wb_servo_set_position(servo, pos);

for (double time = 0.0; time < 30.0; time += TIME_STEP / 1000)
   wb_robot_step(TIME_STEP);

Then wb_servo_set_position() tells the Servo to go to "pos". In this example the
for loop allows 30 seconds to reach this position. So the Servo will accelerate,
according to the "acceleration" field, eventually reaching the "maxVelocity"
speed, then it will decelerate when reaching the "target". The Servo with not
reach "maxVelocity" if external forces prevent the motion, or if another target
position is specified before that velocity is reached.

> ii) Or is this the maximum velocity Link 2 can "physically" rotate about Link
1?  Let say Link 1 experiences an external force, will it ever rotate or vibrate
at a angular velocity greater than 5 rad/s?

No, "maxVelocity" is not the "physical" velocity, but the "control" velocity.
Yes, link 2 will still be able to rotate or vibrate faster than 5 rad/s with
respect to link 1 if external forces (e.g. collision) is applied.

> The reason I ask this question is if ii) is true, then I can determine the
maximum normal frequency the servo will ever see and determine the cutoff
frequency if I want to filter the angular position data (which is really noisy
coming out of webots).

But ii) is false ... however the noise (of wb_servo_get_position()) is
determined by user-controllable parameters, that you should be able to tune: for
example:

1. Your control step: wb_robot_step(TIME_STEP)
2. The simulation step: WorldInfo.basicTimeStep
3. The Servo's controlP parameter

Let me know if this is not clear.
Cheers,

Yvan

Hi,

Looks like the same problem, terminal output:

:~$ webots
*** stack smashing detected ***: /usr/local/webots/webots-bin terminated
======= Backtrace: =========
/lib/libc.so.6(__fortify_fail+0x37)[0x7fc44bcd2617]
/lib/libc.so.6(__fortify_fail+0x0)[0x7fc44bcd25e0]
/usr/local/webots/webots-bin(_ZN9A_License11initKeyFileEv+0x180e)[0x60a96e]
/usr/local/webots/webots-bin(_ZN9A_License4initEv+0x32e)[0x60c92e]
/usr/local/webots/webots-bin(_ZN13A_Application6OnInitEv+0x82d)[0x5d76cd]
/usr/local/webots/webots-bin(_ZN12wxAppConsole10CallOnInitEv+0xd)[0x5dbc9d]
/usr/local/webots/webots-bin(_Z7wxEntryRiPPw+0x1a)[0xa0d15a]
/usr/local/webots/webots-bin(main+0xfb)[0x5d1f2b]
/lib/libc.so.6(__libc_start_main+0xf4)[0x7fc44bc031c4]
/usr/local/webots/webots-bin[0x595cd9]
======= Memory map: ========
00400000-00d43000 r-xp 00000000 08:02 715818                             /usr/local/webots/webots-bin
00f43000-00fc7000 rw-p 00943000 08:02 715818                             /usr/local/webots/webots-bin
00fc7000-01133000 rw-p 00fc7000 00:00 0                                  [heap]
7fc446487000-7fc4464e7000 rw-s 00000000 00:09 822837284                  /SYSV00000000 (deleted)
7fc446510000-7fc446519000 r--s 00000000 08:02 1197028                    /var/cache/fontconfig/945677eb7aeaf62f1d50efc3fb3ec7d8-x86-64.cache-2
7fc446519000-7fc44651c000 r--s 00000000 08:02 1197163                    /var/cache/fontconfig/e383d7ea5fbe662a33d9b44caf393297-x86-64.cache-2
7fc44651c000-7fc44651e000 r--s 00000000 08:02 1197162                    /var/cache/fontconfig/e3fa16a14183b06aa45b3e009278fd14-x86-64.cache-2
7fc44651e000-7fc446523000 r--s 00000000 08:02 1197161                    /var/cache/fontconfig/921a30a17f0be15c70ac14043cb7a739-x86-64.cache-2
7fc446523000-7fc446524000 r--s 00000000 08:02 1197160                    /var/cache/fontconfig/c69f04ab05004e31a6d5e715764f16d8-x86-64.cache-2
7fc446524000-7fc446525000 r--s 00000000 08:02 1197159                    /var/cache/fontconfig/4c73fe0c47614734b17d736dbde7580a-x86-64.cache-2
7fc446525000-7fc446529000 r--s 00000000 08:02 1197158                    /var/cache/fontconfig/a755afe4a08bf5b97852ceb7400b47bc-x86-64.cache-2
7fc446529000-7fc446532000 r--s 00000000 08:02 1197157                    /var/cache/fontconfig/6d41288fd70b0be22e8c3a91e032eec0-x86-64.cache-2
7fc446532000-7fc446535000 r--s 00000000 08:02 1197156                    /var/cache/fontconfig/de156ccd2eddbdc19d37a45b8b2aac9c-x86-64.cache-2
7fc446535000-7fc44653b000 r-xp 00000000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7fc44653b000-7fc44673b000 ---p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7fc44673b000-7fc44673c000 rw-p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7fc44673c000-7fc44674e000 r-xp 00000000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7fc44674e000-7fc44694e000 ---p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7fc44694e000-7fc44694f000 rw-p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7fc44694f000-7fc44698e000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_US.utf8/LC_CTYPE
7fc44698e000-7fc446a6f000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_US.utf8/LC_COLLATE
7fc446a6f000-7fc446a79000 r-xp 00000000 08:02 4915608                    /lib/libnss_files-2.7.so
7fc446a79000-7fc446c79000 ---p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7fc446c79000-7fc446c7b000 rw-p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7fc446c7b000-7fc446c85000 r-xp 00000000 08:02 4915610                    /lib/libnss_nis-2.7.so
7fc446c85000-7fc446e84000 ---p 0000a000 08:02 4915610                    /lib/libnss_nis-2.7.so
7fc446e84000-7fc446e86000 rw-p 00009000 08:02 4915610                    /lib/libnss_nis-2.7.so
7fc446e86000-7fc446e9c000 r-xp 00000000 08:02 4915605                    /lib/libnsl-2.7.so
7fc446e9c000-7fc44709b000 ---p 00016000 08:02 4915605                    /lib/libnsl-2.7.so
7fc44709b000-7fc44709d000 rw-p 00015000 08:02 4915605                    /lib/libnsl-2.7.so
7fc44709d000-7fc44709f000 rw-p 7fc44709d000 00:00 0
7fc44709f000-7fc4470a7000 r-xp 00000000 08:02 4915606                    /lib/libnss_compat-2.7.so
7fc4470a7000-7fc4472a6000 ---p 00008000 08:02 4915606                    /lib/libnss_compat-2.7.so
7fc4472a6000-7fc4472a8000 rw-p 00007000 08:02 4915606                    /lib/libnss_compat-2.7.so
7fc4472a8000-7fc447389000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_GB.utf8/LC_COLLATE
7fc447389000-7fc44738b000 r-xp 00000000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7fc44738b000-7fc44758a000 ---p 00002000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7fc44758a000-7fc44758c000 rw-p 00001000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7fc44758c000-7fc4475cb000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_GB.utf8/LC_CTYPE
7fc4475cb000-7fc4475d0000 r-xp 00000000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7fc4475d0000-7fc4477cf000 ---p 00005000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7fc4477cf000-7fc4477d0000 rw-p 00004000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7fc4477d0000-7fc4477e1000 r-xp 00000000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7fc4477e1000-7fc4479e0000 ---p 00011000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7fc4479e0000-7fc4479e1000 rw-p 00010000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7fc4479e1000-7fc4479f9000 r-xp 00000000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7fc4479f9000-7fc447bf8000 ---p 00018000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7fc447bf8000-7fc447bfa000 rw-p 00017000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7fc447bfa000-7fc447bfc000 r-xp 00000000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7fc447bfc000-7fc447dfb000 ---p 00002000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7fc447dfb000-7fc447dfc000 rw-p 00001000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7fc447dfc000-7fc447e1e000 r-xp 00000000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7fc447e1e000-7fc44801e000 ---p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7fc44801e000-7fc448020000 rw-p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7fc448020000-7fc44804c000 r-xp 00000000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7fc44804c000-7fc44824c000 ---p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7fc44824c000-7fc44824e000 rw-p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7fc44824e000-7fc448272000 r-xp 00000000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7fc448272000-7fc448472000 ---p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7fc448472000-7fc448473000 rw-p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7fc448473000-7fc44849e000 r-xp 00000000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7fc44849e000-7fc44869e000 ---p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7fc44869e000-7fc44869f000 rw-p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7fc44869f000-7fc4486ba000 r-xp 00000000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7fc4486ba000-7fc4488b9000 ---p 0001b000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7fc4488b9000-7fc4488ba000 rw-p 0001a000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7fc4488ba000-7fc4488bb000 r-xp 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7fc4488bb000-7fc448aba000 ---p 00001000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7fc448aba000-7fc448abb000 rw-p 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7fc448abb000-7fc448d35000 r-xp 00000000 08:02 853560                     /usr/local/webots/lib/libfreeimage.so.3
7fc448d35000-7fc448f35000 ---p 0027a000 08:02 853560                     /usr/local/webots/lib/libfreeimage.so.3
7fc448f35000-7fc448f48000 rw-p 0027a000 08:02 853560                     /usr/local/webots/lib/libfreeimage.so.3
7fc448f48000-7fc448f49000 rw-p 7fc448f48000 00:00 0
7fc448f49000-7fc4492a5000 r-xp 00000000 08:02 11534431                   /usr/lib/libCg.so
7fc4492a5000-7fc4493a5000 ---p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7fc4493a5000-7fc449454000 rw-p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7fc449454000-7fc449466000 rw-p 7fc449454000 00:00 0
7fc449466000-7fc4494c3000 r-xp 00000Aborted

Thanks
Rufino

Olivier Michel wrote:

 

Hi,

We just fixed a couple of problems with this version and uploaded a new binary. Could you give it a second try?
Thank you for your patience!

-Olivier

Rufino Bolado wrote:

Hi,

Platform: Linux Ubuntu 8.04/ 64 bits; Webots v6.2.beta1; Matlab R2007b.

I just installed the new version, and when I try to open webots this is the terminal output:

~$ webots
*** stack smashing detected ***: /usr/local/webots/webots-bin terminated
======= Backtrace: =========
/lib/libc.so.6(__fortify_fail+0x37)[0x7f200c037617]
/lib/libc.so.6(__fortify_fail+0x0)[0x7f200c0375e0]
/usr/local/webots/webots-bin(_ZN9A_License11initKeyFileEv+0x180e)[0x60a90e]
/usr/local/webots/webots-bin(_ZN9A_License4initEv+0x32e)[0x60c8ce]
/usr/local/webots/webots-bin(_ZN13A_Application6OnInitEv+0x82d)[0x5d76cd]
/usr/local/webots/webots-bin(_ZN12wxAppConsole10CallOnInitEv+0xd)[0x5dbc9d]
/usr/local/webots/webots-bin(_Z7wxEntryRiPPw+0x1a)[0xa0d0fa]
/usr/local/webots/webots-bin(main+0xfb)[0x5d1f2b]
/lib/libc.so.6(__libc_start_main+0xf4)[0x7f200bf681c4]
/usr/local/webots/webots-bin[0x595cd9]
======= Memory map: ========
00400000-00d43000 r-xp 00000000 08:02 715818                             /usr/local/webots/webots-bin
00f43000-00fc7000 rw-p 00943000 08:02 715818                             /usr/local/webots/webots-bin
00fc7000-01130000 rw-p 00fc7000 00:00 0                                  [heap]
7f20068f7000-7f2006957000 rw-s 00000000 00:09 821690395                  /SYSV00000000 (deleted)
7f2006980000-7f2006989000 r--s 00000000 08:02 1197028                    /var/cache/fontconfig/945677eb7aeaf62f1d50efc3fb3ec7d8-x86-64.cache-2
7f2006989000-7f200698c000 r--s 00000000 08:02 1197163                    /var/cache/fontconfig/e383d7ea5fbe662a33d9b44caf393297-x86-64.cache-2
7f200698c000-7f200698e000 r--s 00000000 08:02 1197162                    /var/cache/fontconfig/e3fa16a14183b06aa45b3e009278fd14-x86-64.cache-2
7f200698e000-7f2006993000 r--s 00000000 08:02 1197161                    /var/cache/fontconfig/921a30a17f0be15c70ac14043cb7a739-x86-64.cache-2
7f2006993000-7f2006994000 r--s 00000000 08:02 1197160                    /var/cache/fontconfig/c69f04ab05004e31a6d5e715764f16d8-x86-64.cache-2
7f2006994000-7f2006995000 r--s 00000000 08:02 1197159                    /var/cache/fontconfig/4c73fe0c47614734b17d736dbde7580a-x86-64.cache-2
7f2006995000-7f2006999000 r--s 00000000 08:02 1197158                    /var/cache/fontconfig/a755afe4a08bf5b97852ceb7400b47bc-x86-64.cache-2
7f2006999000-7f20069a2000 r--s 00000000 08:02 1197157                    /var/cache/fontconfig/6d41288fd70b0be22e8c3a91e032eec0-x86-64.cache-2
7f20069a2000-7f20069a5000 r--s 00000000 08:02 1197156                    /var/cache/fontconfig/de156ccd2eddbdc19d37a45b8b2aac9c-x86-64.cache-2
7f20069a5000-7f20069ab000 r-xp 00000000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f20069ab000-7f2006bab000 ---p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f2006bab000-7f2006bac000 rw-p 00006000 08:02 7831983                    /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
7f2006bac000-7f2006bbe000 r-xp 00000000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006bbe000-7f2006dbe000 ---p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006dbe000-7f2006dbf000 rw-p 00012000 08:02 7831656                    /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
7f2006dbf000-7f2006dfe000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_US.utf8/LC_CTYPE
7f2006dfe000-7f2006edf000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_US.utf8/LC_COLLATE
7f2006edf000-7f2006ee9000 r-xp 00000000 08:02 4915608                    /lib/libnss_files-2.7.so
7f2006ee9000-7f20070e9000 ---p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7f20070e9000-7f20070eb000 rw-p 0000a000 08:02 4915608                    /lib/libnss_files-2.7.so
7f20070eb000-7f20070f5000 r-xp 00000000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20070f5000-7f20072f4000 ---p 0000a000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20072f4000-7f20072f6000 rw-p 00009000 08:02 4915610                    /lib/libnss_nis-2.7.so
7f20072f6000-7f200730c000 r-xp 00000000 08:02 4915605                    /lib/libnsl-2.7.so
7f200730c000-7f200750b000 ---p 00016000 08:02 4915605                    /lib/libnsl-2.7.so
7f200750b000-7f200750d000 rw-p 00015000 08:02 4915605                    /lib/libnsl-2.7.so
7f200750d000-7f200750f000 rw-p 7f200750d000 00:00 0
7f200750f000-7f2007517000 r-xp 00000000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007517000-7f2007716000 ---p 00008000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007716000-7f2007718000 rw-p 00007000 08:02 4915606                    /lib/libnss_compat-2.7.so
7f2007718000-7f20077f9000 r--p 00000000 08:02 5554177                    /usr/lib/locale/en_GB.utf8/LC_COLLATE
7f20077f9000-7f20077fb000 r-xp 00000000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20077fb000-7f20079fa000 ---p 00002000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20079fa000-7f20079fc000 rw-p 00001000 08:02 7801585                    /usr/lib/gconv/UTF-32.so
7f20079fc000-7f2007a3b000 r--p 00000000 08:02 7831582                    /usr/lib/locale/en_GB.utf8/LC_CTYPE
7f2007a3b000-7f2007a40000 r-xp 00000000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007a40000-7f2007c3f000 ---p 00005000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007c3f000-7f2007c40000 rw-p 00004000 08:02 7767343                    /usr/lib/libXdmcp.so.6.0.0
7f2007c40000-7f2007c51000 r-xp 00000000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007c51000-7f2007e50000 ---p 00011000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007e50000-7f2007e51000 rw-p 00010000 08:02 7768452                    /usr/lib/libXpm.so.4.11.0
7f2007e51000-7f2007e69000 r-xp 00000000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f2007e69000-7f2008068000 ---p 00018000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f2008068000-7f200806a000 rw-p 00017000 08:02 7768449                    /usr/lib/libXmu.so.6.2.0
7f200806a000-7f200806c000 r-xp 00000000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200806c000-7f200826b000 ---p 00002000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200826b000-7f200826c000 rw-p 00001000 08:02 7767332                    /usr/lib/libXau.so.6.0.0
7f200826c000-7f200828e000 r-xp 00000000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f200828e000-7f200848e000 ---p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f200848e000-7f2008490000 rw-p 00022000 08:02 7767191                    /usr/lib/libexpat.so.1.5.2
7f2008490000-7f20084bc000 r-xp 00000000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20084bc000-7f20086bc000 ---p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20086bc000-7f20086be000 rw-p 0002c000 08:02 7768370                    /usr/lib/libpixman-1.so.0.10.0
7f20086be000-7f20086e2000 r-xp 00000000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20086e2000-7f20088e2000 ---p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20088e2000-7f20088e3000 rw-p 00024000 08:02 7766716                    /usr/lib/libpng12.so.0.15.0
7f20088e3000-7f200890e000 r-xp 00000000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f200890e000-7f2008b0e000 ---p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f2008b0e000-7f2008b0f000 rw-p 0002b000 08:02 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
7f2008b0f000-7f2008b2a000 r-xp 00000000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008b2a000-7f2008d29000 ---p 0001b000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008d29000-7f2008d2a000 rw-p 0001a000 08:02 7766959                    /usr/lib/libxcb.so.1.0.0
7f2008d2a000-7f2008d2b000 r-xp 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008d2b000-7f2008f2a000 ---p 00001000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008f2a000-7f2008f2b000 rw-p 00000000 08:02 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
7f2008f2b000-7f200909f000 r-xp 00000000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f200909f000-7f200929f000 ---p 00174000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f200929f000-7f20092ae000 rw-p 00174000 08:02 7766453                    /usr/lib/libfreeimage-3.9.3.so
7f20092ae000-7f200960a000 r-xp 00000000 08:02 11534431                   /usr/lib/libCg.so
7f200960a000-7f200970a000 ---p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7f200970a000-7f20097b9000 rw-p 0035c000 08:02 11534431                   /usr/lib/libCg.so
7f20097b9000-7f20097cb000 rw-p 7f20097b9000 00:00 0
7f20097cb000-7f2009828000 r-xp 00000000 08:02 7767373                    /usr/lib/libXt.so.6.0.0
7f2009828000-7f2009Aborted

Any suggestions to solve this problem?

Olivier Michel wrote:

 

Hi,

I am pleased to announce we just publicly released Webots 6.2.beta1. This is a major upgrade which introduces a much better 3D rendering engine (based on OGRE 3D) among other features and bug fixes. You can download it from here: http://www.cyberbotics.com/beta/ (Linux i386, Linux x86-64, Mac OS X and Windows versions). Please send us your feedback about this beta version as we could not test it on every combination of operating systems, CPU, graphics cards, etc. This will help us prepare the final release of Webots 6.2.0.

Here is a copy of the change log since version 6.1.5:

Released on November 19th (revision 4280)

• Added compatibility with Windows 7: fixed printf() redirection in Webots console and freeze when using Build/Compile/Clean buttons
• Removed unused API functions: wb_supervisor_field_get_mf_rotation(), wb_supervisor_field_set_mf_rotation(), wb_supervisor_field_get_mf_bool() and wb_supervisor_field_set_mf_bool()
• Removed obsolete Gripper node (mainly used in old Khepera worlds)
• Fixed texture path problem with controller rendered camera images
• Removed the useless "display" field from the Camera node
• Fixed crash and improved the behavior of the find/replace dialog with respect to multiple buffers
• Migrated the Webots rendering system to OGRE 3D (Object-Oriented Graphics Rendering Engine)
• Modified the rendering of the lights and of the materials in order to fit better the VRML specifications
• Improved the lighting model; the ambient, diffuse and specular fields can behave differently
• Improved the rendering of every worlds (mainly the worlds of the guided tour and of robotstadium)
• Added support for texturing the Cone, the Cylinder and the Sphere primitives
• Added a subdivision field to the Cone primitive
• Improved the TextureTransform node (supported in every primitive able to have a texture)
• Improved the rendering abilities
• Improved the shadows; shadows are now volumetric, transparent, additive, and are casted from and received to any renderable object
• Improved the transparent object management (the render of transparent object is no more dependent on their position in the scene tree but are sorted according to their center)
• Added the "Wireframe" rendering mode which allows to display the segments of the renderable primitives
• Added the experimental "High Quality" rendering mode which allow to render the diffuse and specular lights per-pixel instead of per-vertex
• Refactored the Preferences dialog box and the View menu
• Added the lineScale field to the WorldInfo node in order to control the length of every arbitrary-sized lines
• Improved the anti-aliasing of the Camera primitive which is now computed by the hardware
• Moved the far clipping plane to infinity
• Removed the far field from the Viewpoint and the Camera nodes
• Removed the wb_camera_get_far() function
• Improved the range-finder cameras
• Improved significantly the performances of the range-finder cameras
• Added the maxRange field which allows to set up the maximum range of the range-finder
• Added the wb_camera_get_max_range() function which allows to modify the maxRange field
• Replaced the wb_range_image_get_value() function (Deprecated) by the wb_range_image_get_depth() function which returns a linear scale (instead of logarithmic)
• Added semantic validation of the node structure when loading/importing .wbt/.vrml files
• Fixed problem with Webots random number generator: sensor noise (lookupTables) is now deterministic (until now only the physics noise was deterministic)
• Fixed buffering of mouse move events for 3D navigation in the main window
• Fixed Webots crash when project directories contain space characters (Mac+Linux)
• Fixed compilation problems if Webots installation directory contains space characters (Mac+Linux)
• Fixed: right after after having been inserted with the Scene Tree, USE nodes of geometrical primitives appear 10x smaller than their corresponding DEF nodes
• Under Linux, fixed crash while trying to run a 64 bit controller with a 32 bit webots
• Added "Open Recent" menu to find more easily recently opened .wbt files
• Removed "author" and "constructor" fields from all Solid (and derived) nodes to simplify Scene Tree
• Added a default values to every "name" field
• Robotstadium: was completely relooked: lighting, shininess, textures, colors, etc. were changed (the physics was not modified)
• Added new "force-3d" type of TouchSensor that computes and returns the 3d-vector of the force applied to the sensor
• Fixed the handling of the CLASSPATH environment variable in order to match the Sun standard
• Removed the black and white Camera type
• Changed Webots code for sensor/actuator simulation to double-precision floating point numbers.
  All the APIs were already using double precision and therefore they remain 100% unchanged (but some devices may return values with a higher accuracy).
  The physics simulation remains mainly unchanged.
• Replaced buggy --batch option with new --minimize option (all platforms)
• Added command line options (--minimize, --mode, --version) to Windows and Mac platforms
• Fixed wrong positions of "minStop" and "maxStop" of Servos (thanks to Jesse)
• Made the "position" field of Servo nodes editable: this allows to specify initial positions/posture that differs from the zero positions/posture
(The meaning of the "translation" and "rotation" fields of the Servo have slightly changed: now they represent the initial (instead of the current) coordinate system transformation of the Servo.)

-Olivier

Hi Yvan:

Thanks for the prompt response.

Actually my problem is this:

I am trying to control a biped robot in Webots.  I calculate the Desired Servo
Position for my joints in my algorihm and use a PID controller to make the
Acutal Servo Position to converge to the Desired Positions.

Therefore, the output of my controller is Servo Torque (which I used to specify
the robot using the set_motor_torque function).

When I output the Actual Servo Position data, it is very noisy (even when the
robot is standing still).  I understand the noise might come from the physics
engine that Webots uses.

I want to find out the lowest cutoff frequency that I can use without filtering
out the 'actual motion' of the robot.  Is there anyway to find out the maximum
servo velocity the joint can actually see?

Thanks a lot!!

--- In webots-users@yahoogroups.com, "Yvan" <yvan.bourquin@...> wrote:
>
> Hello Henry,
>
> > 1. I have Link 1 and Link 2 connected by a 'Servo', therefore, Link 2 will
rotate relative to Link 1.
> >
> > 2. If I set the max servo velocity to say 5 rad/s, what will happen?
> >
> > i)  Is this the maximum Servo velocity I can COMMAND (if I have a velocity
control)?
>
> "maxVelocity" is the maximum velocity that the Servo's built-in P-controller
algorithm will attempt to reach for a motion specified with the
wb_servo_set_position() function. For example if you have code like this:
>
> wb_servo_set_position(servo, pos);
>
> for (double time = 0.0; time < 30.0; time += TIME_STEP / 1000)
>   wb_robot_step(TIME_STEP);
>
> Then wb_servo_set_position() tells the Servo to go to "pos". In this example
the for loop allows 30 seconds to reach this position. So the Servo will
accelerate, according to the "acceleration" field, eventually reaching the
"maxVelocity" speed, then it will decelerate when reaching the "target". The
Servo with not reach "maxVelocity" if external forces prevent the motion, or if
another target position is specified before that velocity is reached.
>
> > ii) Or is this the maximum velocity Link 2 can "physically" rotate about
Link 1?  Let say Link 1 experiences an external force, will it ever rotate or
vibrate at a angular velocity greater than 5 rad/s?
>
> No, "maxVelocity" is not the "physical" velocity, but the "control" velocity.
Yes, link 2 will still be able to rotate or vibrate faster than 5 rad/s with
respect to link 1 if external forces (e.g. collision) is applied.
>
> > The reason I ask this question is if ii) is true, then I can determine the
maximum normal frequency the servo will ever see and determine the cutoff
frequency if I want to filter the angular position data (which is really noisy
coming out of webots).
>
> But ii) is false ... however the noise (of wb_servo_get_position()) is
determined by user-controllable parameters, that you should be able to tune: for
example:
>
> 1. Your control step: wb_robot_step(TIME_STEP)
> 2. The simulation step: WorldInfo.basicTimeStep
> 3. The Servo's controlP parameter
>
> Let me know if this is not clear.
> Cheers,
>
> Yvan
>

Hi Oliver,

This new version seems to be working ok.

Thanks
Rufino

Olivier Michel wrote:
>
>
> Rufino,
>
> We could reproduce and fixed this bug. We uploaded a new Linux 64
> version of the Webots installers. Could you try again and let me know
> if this new beta now works on your Ubuntu 8.04 64 machine? Thank you
> for your patience.
>
> http://www.cyberbotics.com/beta/webots-6.2.beta1-x86-64.tar.bz2
> (79161128 bytes)
> http://www.cyberbotics.com/beta/webots_6.2.beta1_amd64.deb (81865750
> bytes)
>
> Please clear your web browser cache before downloading to ensure you
> get the latest version (you can check the file size for confirmation).
>
> Cheers,
>
> -Olivier
>
> Rufino Bolado wrote:
>
>> Hi,
>>
>> Looks like the same problem, terminal output:
>>
>> :~$ webots
>> *** stack smashing detected ***: /usr/local/webots/webots-bin terminated
>> ======= Backtrace: =========
>> /lib/libc.so.6(__fortify_fail+0x37)[0x7fc44bcd2617]
>> /lib/libc.so.6(__fortify_fail+0x0)[0x7fc44bcd25e0]
>> /usr/local/webots/webots-bin(_ZN9A_License11initKeyFileEv+0x180e)[0x60a96e]
>> /usr/local/webots/webots-bin(_ZN9A_License4initEv+0x32e)[0x60c92e]
>> /usr/local/webots/webots-bin(_ZN13A_Application6OnInitEv+0x82d)[0x5d76cd]
>> /usr/local/webots/webots-bin(_ZN12wxAppConsole10CallOnInitEv+0xd)[0x5dbc9d]
>> /usr/local/webots/webots-bin(_Z7wxEntryRiPPw+0x1a)[0xa0d15a]
>> /usr/local/webots/webots-bin(main+0xfb)[0x5d1f2b]
>> /lib/libc.so.6(__libc_start_main+0xf4)[0x7fc44bc031c4]
>> /usr/local/webots/webots-bin[0x595cd9]
>> ======= Memory map: ========
>> 00400000-00d43000 r-xp 00000000 08:02
>> 715818                             /usr/local/webots/webots-bin
>> 00f43000-00fc7000 rw-p 00943000 08:02
>> 715818                             /usr/local/webots/webots-bin
>> 00fc7000-01133000 rw-p 00fc7000 00:00
>> 0                                  [heap]
>> 7fc446487000-7fc4464e7000 rw-s 00000000 00:09
>> 822837284                  /SYSV00000000 (deleted)
>> 7fc446510000-7fc446519000 r--s 00000000 08:02
>> 1197028
>> /var/cache/fontconfig/945677eb7aeaf62f1d50efc3fb3ec7d8-x86-64.cache-2
>> 7fc446519000-7fc44651c000 r--s 00000000 08:02
>> 1197163
>> /var/cache/fontconfig/e383d7ea5fbe662a33d9b44caf393297-x86-64.cache-2
>> 7fc44651c000-7fc44651e000 r--s 00000000 08:02
>> 1197162
>> /var/cache/fontconfig/e3fa16a14183b06aa45b3e009278fd14-x86-64.cache-2
>> 7fc44651e000-7fc446523000 r--s 00000000 08:02
>> 1197161
>> /var/cache/fontconfig/921a30a17f0be15c70ac14043cb7a739-x86-64.cache-2
>> 7fc446523000-7fc446524000 r--s 00000000 08:02
>> 1197160
>> /var/cache/fontconfig/c69f04ab05004e31a6d5e715764f16d8-x86-64.cache-2
>> 7fc446524000-7fc446525000 r--s 00000000 08:02
>> 1197159
>> /var/cache/fontconfig/4c73fe0c47614734b17d736dbde7580a-x86-64.cache-2
>> 7fc446525000-7fc446529000 r--s 00000000 08:02
>> 1197158
>> /var/cache/fontconfig/a755afe4a08bf5b97852ceb7400b47bc-x86-64.cache-2
>> 7fc446529000-7fc446532000 r--s 00000000 08:02
>> 1197157
>> /var/cache/fontconfig/6d41288fd70b0be22e8c3a91e032eec0-x86-64.cache-2
>> 7fc446532000-7fc446535000 r--s 00000000 08:02
>> 1197156
>> /var/cache/fontconfig/de156ccd2eddbdc19d37a45b8b2aac9c-x86-64.cache-2
>> 7fc446535000-7fc44653b000 r-xp 00000000 08:02
>> 7831983
>> /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
>> 7fc44653b000-7fc44673b000 ---p 00006000 08:02
>> 7831983
>> /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
>> 7fc44673b000-7fc44673c000 rw-p 00006000 08:02
>> 7831983
>> /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
>> 7fc44673c000-7fc44674e000 r-xp 00000000 08:02
>> 7831656
>> /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
>> 7fc44674e000-7fc44694e000 ---p 00012000 08:02
>> 7831656
>> /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
>> 7fc44694e000-7fc44694f000 rw-p 00012000 08:02
>> 7831656
>> /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
>> 7fc44694f000-7fc44698e000 r--p 00000000 08:02
>> 7831582                    /usr/lib/locale/en_US.utf8/LC_CTYPE
>> 7fc44698e000-7fc446a6f000 r--p 00000000 08:02
>> 5554177                    /usr/lib/locale/en_US.utf8/LC_COLLATE
>> 7fc446a6f000-7fc446a79000 r-xp 00000000 08:02
>> 4915608                    /lib/libnss_files-2.7.so
>> 7fc446a79000-7fc446c79000 ---p 0000a000 08:02
>> 4915608                    /lib/libnss_files-2.7.so
>> 7fc446c79000-7fc446c7b000 rw-p 0000a000 08:02
>> 4915608                    /lib/libnss_files-2.7.so
>> 7fc446c7b000-7fc446c85000 r-xp 00000000 08:02
>> 4915610                    /lib/libnss_nis-2.7.so
>> 7fc446c85000-7fc446e84000 ---p 0000a000 08:02
>> 4915610                    /lib/libnss_nis-2.7.so
>> 7fc446e84000-7fc446e86000 rw-p 00009000 08:02
>> 4915610                    /lib/libnss_nis-2.7.so
>> 7fc446e86000-7fc446e9c000 r-xp 00000000 08:02
>> 4915605                    /lib/libnsl-2.7.so
>> 7fc446e9c000-7fc44709b000 ---p 00016000 08:02
>> 4915605                    /lib/libnsl-2.7.so
>> 7fc44709b000-7fc44709d000 rw-p 00015000 08:02
>> 4915605                    /lib/libnsl-2.7.so
>> 7fc44709d000-7fc44709f000 rw-p 7fc44709d000 00:00 0
>> 7fc44709f000-7fc4470a7000 r-xp 00000000 08:02
>> 4915606                    /lib/libnss_compat-2.7.so
>> 7fc4470a7000-7fc4472a6000 ---p 00008000 08:02
>> 4915606                    /lib/libnss_compat-2.7.so
>> 7fc4472a6000-7fc4472a8000 rw-p 00007000 08:02
>> 4915606                    /lib/libnss_compat-2.7.so
>> 7fc4472a8000-7fc447389000 r--p 00000000 08:02
>> 5554177                    /usr/lib/locale/en_GB.utf8/LC_COLLATE
>> 7fc447389000-7fc44738b000 r-xp 00000000 08:02
>> 7801585                    /usr/lib/gconv/UTF-32.so
>> 7fc44738b000-7fc44758a000 ---p 00002000 08:02
>> 7801585                    /usr/lib/gconv/UTF-32.so
>> 7fc44758a000-7fc44758c000 rw-p 00001000 08:02
>> 7801585                    /usr/lib/gconv/UTF-32.so
>> 7fc44758c000-7fc4475cb000 r--p 00000000 08:02
>> 7831582                    /usr/lib/locale/en_GB.utf8/LC_CTYPE
>> 7fc4475cb000-7fc4475d0000 r-xp 00000000 08:02
>> 7767343                    /usr/lib/libXdmcp.so.6.0.0
>> 7fc4475d0000-7fc4477cf000 ---p 00005000 08:02
>> 7767343                    /usr/lib/libXdmcp.so.6.0.0
>> 7fc4477cf000-7fc4477d0000 rw-p 00004000 08:02
>> 7767343                    /usr/lib/libXdmcp.so.6.0.0
>> 7fc4477d0000-7fc4477e1000 r-xp 00000000 08:02
>> 7768452                    /usr/lib/libXpm.so.4.11.0
>> 7fc4477e1000-7fc4479e0000 ---p 00011000 08:02
>> 7768452                    /usr/lib/libXpm.so.4.11.0
>> 7fc4479e0000-7fc4479e1000 rw-p 00010000 08:02
>> 7768452                    /usr/lib/libXpm.so.4.11.0
>> 7fc4479e1000-7fc4479f9000 r-xp 00000000 08:02
>> 7768449                    /usr/lib/libXmu.so.6.2.0
>> 7fc4479f9000-7fc447bf8000 ---p 00018000 08:02
>> 7768449                    /usr/lib/libXmu.so.6.2.0
>> 7fc447bf8000-7fc447bfa000 rw-p 00017000 08:02
>> 7768449                    /usr/lib/libXmu.so.6.2.0
>> 7fc447bfa000-7fc447bfc000 r-xp 00000000 08:02
>> 7767332                    /usr/lib/libXau.so.6.0.0
>> 7fc447bfc000-7fc447dfb000 ---p 00002000 08:02
>> 7767332                    /usr/lib/libXau.so.6.0.0
>> 7fc447dfb000-7fc447dfc000 rw-p 00001000 08:02
>> 7767332                    /usr/lib/libXau.so.6.0.0
>> 7fc447dfc000-7fc447e1e000 r-xp 00000000 08:02
>> 7767191                    /usr/lib/libexpat.so.1.5.2
>> 7fc447e1e000-7fc44801e000 ---p 00022000 08:02
>> 7767191                    /usr/lib/libexpat.so.1.5.2
>> 7fc44801e000-7fc448020000 rw-p 00022000 08:02
>> 7767191                    /usr/lib/libexpat.so.1.5.2
>> 7fc448020000-7fc44804c000 r-xp 00000000 08:02
>> 7768370                    /usr/lib/libpixman-1.so.0.10.0
>> 7fc44804c000-7fc44824c000 ---p 0002c000 08:02
>> 7768370                    /usr/lib/libpixman-1.so.0.10.0
>> 7fc44824c000-7fc44824e000 rw-p 0002c000 08:02
>> 7768370                    /usr/lib/libpixman-1.so.0.10.0
>> 7fc44824e000-7fc448272000 r-xp 00000000 08:02
>> 7766716                    /usr/lib/libpng12.so.0.15.0
>> 7fc448272000-7fc448472000 ---p 00024000 08:02
>> 7766716                    /usr/lib/libpng12.so.0.15.0
>> 7fc448472000-7fc448473000 rw-p 00024000 08:02
>> 7766716                    /usr/lib/libpng12.so.0.15.0
>> 7fc448473000-7fc44849e000 r-xp 00000000 08:02
>> 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
>> 7fc44849e000-7fc44869e000 ---p 0002b000 08:02
>> 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
>> 7fc44869e000-7fc44869f000 rw-p 0002b000 08:02
>> 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
>> 7fc44869f000-7fc4486ba000 r-xp 00000000 08:02
>> 7766959                    /usr/lib/libxcb.so.1.0.0
>> 7fc4486ba000-7fc4488b9000 ---p 0001b000 08:02
>> 7766959                    /usr/lib/libxcb.so.1.0.0
>> 7fc4488b9000-7fc4488ba000 rw-p 0001a000 08:02
>> 7766959                    /usr/lib/libxcb.so.1.0.0
>> 7fc4488ba000-7fc4488bb000 r-xp 00000000 08:02
>> 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
>> 7fc4488bb000-7fc448aba000 ---p 00001000 08:02
>> 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
>> 7fc448aba000-7fc448abb000 rw-p 00000000 08:02
>> 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
>> 7fc448abb000-7fc448d35000 r-xp 00000000 08:02
>> 853560                     /usr/local/webots/lib/libfreeimage.so.3
>> 7fc448d35000-7fc448f35000 ---p 0027a000 08:02
>> 853560                     /usr/local/webots/lib/libfreeimage.so.3
>> 7fc448f35000-7fc448f48000 rw-p 0027a000 08:02
>> 853560                     /usr/local/webots/lib/libfreeimage.so.3
>> 7fc448f48000-7fc448f49000 rw-p 7fc448f48000 00:00 0
>> 7fc448f49000-7fc4492a5000 r-xp 00000000 08:02
>> 11534431                   /usr/lib/libCg.so
>> 7fc4492a5000-7fc4493a5000 ---p 0035c000 08:02
>> 11534431                   /usr/lib/libCg.so
>> 7fc4493a5000-7fc449454000 rw-p 0035c000 08:02
>> 11534431                   /usr/lib/libCg.so
>> 7fc449454000-7fc449466000 rw-p 7fc449454000 00:00 0
>> 7fc449466000-7fc4494c3000 r-xp 00000Aborted
>>
>> Thanks
>> Rufino
>>
>> Olivier Michel wrote:
>>>
>>>
>>> Hi,
>>>
>>> We just fixed a couple of problems with this version and uploaded a
>>> new binary. Could you give it a second try?
>>> Thank you for your patience!
>>>
>>> -Olivier
>>>
>>> Rufino Bolado wrote:
>>>
>>>> Hi,
>>>> Platform: Linux Ubuntu 8.04/ 64 bits; Webots v6.2.beta1; Matlab R2007b.
>>>>
>>>>
>>>> I just installed the new version, and when I try to open webots
>>>> this is the terminal output:
>>>>
>>>> ~$ webots
>>>> *** stack smashing detected ***: /usr/local/webots/webots-bin
>>>> terminated
>>>> ======= Backtrace: =========
>>>> /lib/libc.so.6(__fortify_fail+0x37)[0x7f200c037617]
>>>> /lib/libc.so.6(__fortify_fail+0x0)[0x7f200c0375e0]
>>>> /usr/local/webots/webots-bin(_ZN9A_License11initKeyFileEv+0x180e)[0x60a90e]
>>>> /usr/local/webots/webots-bin(_ZN9A_License4initEv+0x32e)[0x60c8ce]
>>>> /usr/local/webots/webots-bin(_ZN13A_Application6OnInitEv+0x82d)[0x5d76cd]
>>>> /usr/local/webots/webots-bin(_ZN12wxAppConsole10CallOnInitEv+0xd)[0x5dbc9d]
>>>> /usr/local/webots/webots-bin(_Z7wxEntryRiPPw+0x1a)[0xa0d0fa]
>>>> /usr/local/webots/webots-bin(main+0xfb)[0x5d1f2b]
>>>> /lib/libc.so.6(__libc_start_main+0xf4)[0x7f200bf681c4]
>>>> /usr/local/webots/webots-bin[0x595cd9]
>>>> ======= Memory map: ========
>>>> 00400000-00d43000 r-xp 00000000 08:02
>>>> 715818                             /usr/local/webots/webots-bin
>>>> 00f43000-00fc7000 rw-p 00943000 08:02
>>>> 715818                             /usr/local/webots/webots-bin
>>>> 00fc7000-01130000 rw-p 00fc7000 00:00
>>>> 0                                  [heap]
>>>> 7f20068f7000-7f2006957000 rw-s 00000000 00:09
>>>> 821690395                  /SYSV00000000 (deleted)
>>>> 7f2006980000-7f2006989000 r--s 00000000 08:02
>>>> 1197028
>>>> /var/cache/fontconfig/945677eb7aeaf62f1d50efc3fb3ec7d8-x86-64.cache-2
>>>> 7f2006989000-7f200698c000 r--s 00000000 08:02
>>>> 1197163
>>>> /var/cache/fontconfig/e383d7ea5fbe662a33d9b44caf393297-x86-64.cache-2
>>>> 7f200698c000-7f200698e000 r--s 00000000 08:02
>>>> 1197162
>>>> /var/cache/fontconfig/e3fa16a14183b06aa45b3e009278fd14-x86-64.cache-2
>>>> 7f200698e000-7f2006993000 r--s 00000000 08:02
>>>> 1197161
>>>> /var/cache/fontconfig/921a30a17f0be15c70ac14043cb7a739-x86-64.cache-2
>>>> 7f2006993000-7f2006994000 r--s 00000000 08:02
>>>> 1197160
>>>> /var/cache/fontconfig/c69f04ab05004e31a6d5e715764f16d8-x86-64.cache-2
>>>> 7f2006994000-7f2006995000 r--s 00000000 08:02
>>>> 1197159
>>>> /var/cache/fontconfig/4c73fe0c47614734b17d736dbde7580a-x86-64.cache-2
>>>> 7f2006995000-7f2006999000 r--s 00000000 08:02
>>>> 1197158
>>>> /var/cache/fontconfig/a755afe4a08bf5b97852ceb7400b47bc-x86-64.cache-2
>>>> 7f2006999000-7f20069a2000 r--s 00000000 08:02
>>>> 1197157
>>>> /var/cache/fontconfig/6d41288fd70b0be22e8c3a91e032eec0-x86-64.cache-2
>>>> 7f20069a2000-7f20069a5000 r--s 00000000 08:02
>>>> 1197156
>>>> /var/cache/fontconfig/de156ccd2eddbdc19d37a45b8b2aac9c-x86-64.cache-2
>>>> 7f20069a5000-7f20069ab000 r-xp 00000000 08:02
>>>> 7831983
>>>> /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
>>>> 7f20069ab000-7f2006bab000 ---p 00006000 08:02
>>>> 7831983
>>>> /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
>>>> 7f2006bab000-7f2006bac000 rw-p 00006000 08:02
>>>> 7831983
>>>> /usr/lib/gtk-2.0/2.10.0/loaders/libpixbufloader-xpm.so
>>>> 7f2006bac000-7f2006bbe000 r-xp 00000000 08:02
>>>> 7831656
>>>> /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
>>>> 7f2006bbe000-7f2006dbe000 ---p 00012000 08:02
>>>> 7831656
>>>> /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
>>>> 7f2006dbe000-7f2006dbf000 rw-p 00012000 08:02
>>>> 7831656
>>>> /usr/lib/gtk-2.0/2.10.0/engines/libubuntulooks.so
>>>> 7f2006dbf000-7f2006dfe000 r--p 00000000 08:02
>>>> 7831582                    /usr/lib/locale/en_US.utf8/LC_CTYPE
>>>> 7f2006dfe000-7f2006edf000 r--p 00000000 08:02
>>>> 5554177                    /usr/lib/locale/en_US.utf8/LC_COLLATE
>>>> 7f2006edf000-7f2006ee9000 r-xp 00000000 08:02
>>>> 4915608                    /lib/libnss_files-2.7.so
>>>> 7f2006ee9000-7f20070e9000 ---p 0000a000 08:02
>>>> 4915608                    /lib/libnss_files-2.7.so
>>>> 7f20070e9000-7f20070eb000 rw-p 0000a000 08:02
>>>> 4915608                    /lib/libnss_files-2.7.so
>>>> 7f20070eb000-7f20070f5000 r-xp 00000000 08:02
>>>> 4915610                    /lib/libnss_nis-2.7.so
>>>> 7f20070f5000-7f20072f4000 ---p 0000a000 08:02
>>>> 4915610                    /lib/libnss_nis-2.7.so
>>>> 7f20072f4000-7f20072f6000 rw-p 00009000 08:02
>>>> 4915610                    /lib/libnss_nis-2.7.so
>>>> 7f20072f6000-7f200730c000 r-xp 00000000 08:02
>>>> 4915605                    /lib/libnsl-2.7.so
>>>> 7f200730c000-7f200750b000 ---p 00016000 08:02
>>>> 4915605                    /lib/libnsl-2.7.so
>>>> 7f200750b000-7f200750d000 rw-p 00015000 08:02
>>>> 4915605                    /lib/libnsl-2.7.so
>>>> 7f200750d000-7f200750f000 rw-p 7f200750d000 00:00 0
>>>> 7f200750f000-7f2007517000 r-xp 00000000 08:02
>>>> 4915606                    /lib/libnss_compat-2.7.so
>>>> 7f2007517000-7f2007716000 ---p 00008000 08:02
>>>> 4915606                    /lib/libnss_compat-2.7.so
>>>> 7f2007716000-7f2007718000 rw-p 00007000 08:02
>>>> 4915606                    /lib/libnss_compat-2.7.so
>>>> 7f2007718000-7f20077f9000 r--p 00000000 08:02
>>>> 5554177                    /usr/lib/locale/en_GB.utf8/LC_COLLATE
>>>> 7f20077f9000-7f20077fb000 r-xp 00000000 08:02
>>>> 7801585                    /usr/lib/gconv/UTF-32.so
>>>> 7f20077fb000-7f20079fa000 ---p 00002000 08:02
>>>> 7801585                    /usr/lib/gconv/UTF-32.so
>>>> 7f20079fa000-7f20079fc000 rw-p 00001000 08:02
>>>> 7801585                    /usr/lib/gconv/UTF-32.so
>>>> 7f20079fc000-7f2007a3b000 r--p 00000000 08:02
>>>> 7831582                    /usr/lib/locale/en_GB.utf8/LC_CTYPE
>>>> 7f2007a3b000-7f2007a40000 r-xp 00000000 08:02
>>>> 7767343                    /usr/lib/libXdmcp.so.6.0.0
>>>> 7f2007a40000-7f2007c3f000 ---p 00005000 08:02
>>>> 7767343                    /usr/lib/libXdmcp.so.6.0.0
>>>> 7f2007c3f000-7f2007c40000 rw-p 00004000 08:02
>>>> 7767343                    /usr/lib/libXdmcp.so.6.0.0
>>>> 7f2007c40000-7f2007c51000 r-xp 00000000 08:02
>>>> 7768452                    /usr/lib/libXpm.so.4.11.0
>>>> 7f2007c51000-7f2007e50000 ---p 00011000 08:02
>>>> 7768452                    /usr/lib/libXpm.so.4.11.0
>>>> 7f2007e50000-7f2007e51000 rw-p 00010000 08:02
>>>> 7768452                    /usr/lib/libXpm.so.4.11.0
>>>> 7f2007e51000-7f2007e69000 r-xp 00000000 08:02
>>>> 7768449                    /usr/lib/libXmu.so.6.2.0
>>>> 7f2007e69000-7f2008068000 ---p 00018000 08:02
>>>> 7768449                    /usr/lib/libXmu.so.6.2.0
>>>> 7f2008068000-7f200806a000 rw-p 00017000 08:02
>>>> 7768449                    /usr/lib/libXmu.so.6.2.0
>>>> 7f200806a000-7f200806c000 r-xp 00000000 08:02
>>>> 7767332                    /usr/lib/libXau.so.6.0.0
>>>> 7f200806c000-7f200826b000 ---p 00002000 08:02
>>>> 7767332                    /usr/lib/libXau.so.6.0.0
>>>> 7f200826b000-7f200826c000 rw-p 00001000 08:02
>>>> 7767332                    /usr/lib/libXau.so.6.0.0
>>>> 7f200826c000-7f200828e000 r-xp 00000000 08:02
>>>> 7767191                    /usr/lib/libexpat.so.1.5.2
>>>> 7f200828e000-7f200848e000 ---p 00022000 08:02
>>>> 7767191                    /usr/lib/libexpat.so.1.5.2
>>>> 7f200848e000-7f2008490000 rw-p 00022000 08:02
>>>> 7767191                    /usr/lib/libexpat.so.1.5.2
>>>> 7f2008490000-7f20084bc000 r-xp 00000000 08:02
>>>> 7768370                    /usr/lib/libpixman-1.so.0.10.0
>>>> 7f20084bc000-7f20086bc000 ---p 0002c000 08:02
>>>> 7768370                    /usr/lib/libpixman-1.so.0.10.0
>>>> 7f20086bc000-7f20086be000 rw-p 0002c000 08:02
>>>> 7768370                    /usr/lib/libpixman-1.so.0.10.0
>>>> 7f20086be000-7f20086e2000 r-xp 00000000 08:02
>>>> 7766716                    /usr/lib/libpng12.so.0.15.0
>>>> 7f20086e2000-7f20088e2000 ---p 00024000 08:02
>>>> 7766716                    /usr/lib/libpng12.so.0.15.0
>>>> 7f20088e2000-7f20088e3000 rw-p 00024000 08:02
>>>> 7766716                    /usr/lib/libpng12.so.0.15.0
>>>> 7f20088e3000-7f200890e000 r-xp 00000000 08:02
>>>> 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
>>>> 7f200890e000-7f2008b0e000 ---p 0002b000 08:02
>>>> 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
>>>> 7f2008b0e000-7f2008b0f000 rw-p 0002b000 08:02
>>>> 7769150                    /usr/lib/libpangoft2-1.0.so.0.2002.3
>>>> 7f2008b0f000-7f2008b2a000 r-xp 00000000 08:02
>>>> 7766959                    /usr/lib/libxcb.so.1.0.0
>>>> 7f2008b2a000-7f2008d29000 ---p 0001b000 08:02
>>>> 7766959                    /usr/lib/libxcb.so.1.0.0
>>>> 7f2008d29000-7f2008d2a000 rw-p 0001a000 08:02
>>>> 7766959                    /usr/lib/libxcb.so.1.0.0
>>>> 7f2008d2a000-7f2008d2b000 r-xp 00000000 08:02
>>>> 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
>>>> 7f2008d2b000-7f2008f2a000 ---p 00001000 08:02
>>>> 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
>>>> 7f2008f2a000-7f2008f2b000 rw-p 00000000 08:02
>>>> 7767001                    /usr/lib/libxcb-xlib.so.0.0.0
>>>> 7f2008f2b000-7f200909f000 r-xp 00000000 08:02
>>>> 7766453                    /usr/lib/libfreeimage-3.9.3.so
>>>> 7f200909f000-7f200929f000 ---p 00174000 08:02
>>>> 7766453                    /usr/lib/libfreeimage-3.9.3.so
>>>> 7f200929f000-7f20092ae000 rw-p 00174000 08:02
>>>> 7766453                    /usr/lib/libfreeimage-3.9.3.so
>>>> 7f20092ae000-7f200960a000 r-xp 00000000 08:02
>>>> 11534431                   /usr/lib/libCg.so
>>>> 7f200960a000-7f200970a000 ---p 0035c000 08:02
>>>> 11534431                   /usr/lib/libCg.so
>>>> 7f200970a000-7f20097b9000 rw-p 0035c000 08:02
>>>> 11534431                   /usr/lib/libCg.so
>>>> 7f20097b9000-7f20097cb000 rw-p 7f20097b9000 00:00 0
>>>> 7f20097cb000-7f2009828000 r-xp 00000000 08:02
>>>> 7767373                    /usr/lib/libXt.so.6.0.0
>>>> 7f2009828000-7f2009Aborted
>>>>
>>>> Any suggestions to solve this problem?
>>>>
>>>> Olivier Michel wrote:
>>>>>
>>>>>
>>>>> Hi,
>>>>>
>>>>> I am pleased to announce we just publicly released Webots
>>>>> 6.2.beta1. This is a major upgrade which introduces a much better
>>>>> 3D rendering engine (based on OGRE 3D) among other features and
>>>>> bug fixes. You can download it from here:
>>>>> http://www.cyberbotics.com/beta/ (Linux i386, Linux x86-64, Mac OS
>>>>> X and Windows versions). Please send us your feedback about this
>>>>> beta version as we could not test it on every combination of
>>>>> operating systems, CPU, graphics cards, etc. This will help us
>>>>> prepare the final release of Webots 6.2.0.
>>>>>
>>>>> Here is a copy of the change log since version 6.1.5:
>>>>>
>>>>> Released on November 19th (revision 4280)
>>>>>
>>>>>     * Added compatibility with Windows 7: fixed printf()
>>>>>       redirection in Webots console and freeze when using
>>>>>       Build/Compile/Clean buttons
>>>>>     * Removed unused API functions:
>>>>>       wb_supervisor_field_get_mf_rotation(),
>>>>>       wb_supervisor_field_set_mf_rotation(),
>>>>>       wb_supervisor_field_get_mf_bool() and
>>>>>       wb_supervisor_field_set_mf_bool()
>>>>>     * Removed obsolete Gripper node (mainly used in old Khepera
>>>>>       worlds)
>>>>>     * Fixed texture path problem with controller rendered camera
>>>>>       images
>>>>>     * Removed the useless "display" field from the Camera node
>>>>>     * Fixed crash and improved the behavior of the find/replace
>>>>>       dialog with respect to multiple buffers
>>>>>     * Migrated the Webots rendering system to OGRE 3D
>>>>>       (Object-Oriented Graphics Rendering Engine)
>>>>>           o Modified the rendering of the lights and of the
>>>>>             materials in order to fit better the VRML specifications
>>>>>                 + Improved the lighting model; the ambient,
>>>>>                   diffuse and specular fields can behave differently
>>>>>                 + Improved the rendering of every worlds (mainly
>>>>>                   the worlds of the guided tour and of robotstadium)
>>>>>                 + Added support for texturing the Cone, the
>>>>>                   Cylinder and the Sphere primitives
>>>>>                 + Added a subdivision field to the Cone primitive
>>>>>                 + Improved the TextureTransform node (supported in
>>>>>                   every primitive able to have a texture)
>>>>>           o Improved the rendering abilities
>>>>>                 + Improved the shadows; shadows are now
>>>>>                   volumetric, transparent, additive, and are
>>>>>                   casted from and received to any renderable object
>>>>>                 + Improved the transparent object management (the
>>>>>                   render of transparent object is no more
>>>>>                   dependent on their position in the scene tree
>>>>>                   but are sorted according to their center)
>>>>>                 + Added the "Wireframe" rendering mode which
>>>>>                   allows to display the segments of the renderable
>>>>>                   primitives
>>>>>                 + Added the experimental "High Quality" rendering
>>>>>                   mode which allow to render the diffuse and
>>>>>                   specular lights per-pixel instead of per-vertex
>>>>>                 + Refactored the Preferences dialog box and the
>>>>>                   View menu
>>>>>                 + Added the lineScale field to the WorldInfo node
>>>>>                   in order to control the length of every
>>>>>                   arbitrary-sized lines
>>>>>                 + Improved the anti-aliasing of the Camera
>>>>>                   primitive which is now computed by the hardware
>>>>>           o Moved the far clipping plane to infinity
>>>>>                 + Removed the far field from the Viewpoint and the
>>>>>                   Camera nodes
>>>>>                 + Removed the wb_camera_get_far() function
>>>>>           o Improved the range-finder cameras
>>>>>                 + Improved significantly the performances of the
>>>>>                   range-finder cameras
>>>>>                 + Added the maxRange field which allows to set up
>>>>>                   the maximum range of the range-finder
>>>>>                 + Added the wb_camera_get_max_range() function
>>>>>                   which allows to modify the maxRange field
>>>>>                 + Replaced the wb_range_image_get_value() function
>>>>>                   (Deprecated) by the wb_range_image_get_depth()
>>>>>                   function which returns a linear scale (instead
>>>>>                   of logarithmic)
>>>>>     * Added semantic validation of the node structure when
>>>>>       loading/importing .wbt/.vrml files
>>>>>     * Fixed problem with Webots random number generator: sensor
>>>>>       noise (lookupTables) is now deterministic (until now only
>>>>>       the physics noise was deterministic)
>>>>>     * Fixed buffering of mouse move events for 3D navigation in
>>>>>       the main window
>>>>>     * Fixed Webots crash when project directories contain space
>>>>>       characters (Mac+Linux)
>>>>>     * Fixed compilation problems if Webots installation directory
>>>>>       contains space characters (Mac+Linux)
>>>>>     * Fixed: right after after having been inserted with the Scene
>>>>>       Tree, USE nodes of geometrical primitives appear 10x smaller
>>>>>       than their corresponding DEF nodes
>>>>>     * Under Linux, fixed crash while trying to run a 64 bit
>>>>>       controller with a 32 bit webots
>>>>>     * Added "Open Recent" menu to find more easily recently opened
>>>>>       .wbt files
>>>>>     * Removed "author" and "constructor" fields from all Solid
>>>>>       (and derived) nodes to simplify Scene Tree
>>>>>     * Added a default values to every "name" field
>>>>>     * Robotstadium: was completely relooked: lighting, shininess,
>>>>>       textures, colors, etc. were changed (the physics was not
>>>>>       modified)
>>>>>     * Added new "force-3d" type of TouchSensor that computes and
>>>>>       returns the 3d-vector of the force applied to the sensor
>>>>>     * Fixed the handling of the CLASSPATH environment variable in
>>>>>       order to match the Sun standard
>>>>>     * Removed the black and white Camera type
>>>>>     * Changed Webots code for sensor/actuator simulation to
>>>>>       double-precision floating point numbers.
>>>>>       All the APIs were already using double precision and
>>>>>       therefore they remain 100% unchanged (but some devices may
>>>>>       return values with a higher accuracy).
>>>>>       The physics simulation remains mainly unchanged.
>>>>>     * Replaced buggy --batch option with new --minimize option
>>>>>       (all platforms)
>>>>>     * Added command line options (--minimize, --mode, --version)
>>>>>       to Windows and Mac platforms
>>>>>     * Fixed wrong positions of "minStop" and "maxStop" of Servos
>>>>>       (thanks to Jesse)
>>>>>     * Made the "position" field of Servo nodes editable: this
>>>>>       allows to specify initial positions/posture that differs
>>>>>       from the zero positions/posture
>>>>>       (The meaning of the "translation" and "rotation" fields of
>>>>>       the Servo have slightly changed: now they represent the
>>>>>       initial (instead of the current) coordinate system
>>>>>       transformation of the Servo.)
>>>>>
>>>>> -Olivier
>>>>
>
>

Hi,

yes I thought that was the problem but I dont know why the link doesnt work
correctly. I have the following line in my Makefile

-L/home/chanfr/workshop/1.3.8/webots/lib -lController -lCppController



Thanks

--- In webots-users@yahoogroups.com, "Yvan" <yvan.bourquin@...> wrote:
>
> Hello,
>
> It seems that you need to link your project with Webots libraries:
> These libraries are located in the WEBOTS_HOME/lib directory:
>
> For C code link with:
>
> libController.so    (Linux)
> libController.dylib (Mac)
> Controller.dll      (Windows)
>
> For C++ code add this (to the above):
>
> libCppController.so    (Linux)
> libCppController.dylib (Mac)
> CppController.dll      (Windows)
>
> Cheers,
>
> Yvan
>
>
>
> --- In webots-users@yahoogroups.com, "chanfrn" <chanfrn@> wrote:
> >
> > Hi!! congrats for this group.
> >
> > I have a question.
> >
> > Im trying to compile a program wich should use some webots options but it
will not be running as a webots controller.
> >
> > I will explain better...
> >
> > I have a NaoQi broker wich talks with webots thanks to naoqi but I need to
access to some devices that I cannot access with NaoQi (leds, accelerometer). I
can compile the program, I have no error messages when compilling but I have
some undefined references on my exe:
> >
> > undefined symbol: wb_robot_init
> >
> > I have the same problem if I use the c++ api:
> > undefined symbol: _ZN6webots5RobotC1Ev
> > undefined symbol: _ZN6webots5Robot16getAccelerometerERKSs
> >
> > someone have any idea?
> >
> > thanks.
> >
>

Hello,
Yes that is my webots installation dir.

I want to link my code wich uses Naoqi with webots. The problem is that
nao_in_webots dont provides sonar, accelerometer or webots odometry, and I need
to use some webots funcionts to have a complete robot in webots.

My code now runs with my own middleware, and for the moment I can connect to
webots using NaoQi API to conect to nao_in_webots wich is the controllor that is
running in webots. Thats works without any problem.

The problem is when I try to use webots functions to access some other component
that I cannot access using NaoQi.

thanks you so much.


--- In webots-users@yahoogroups.com, Yvan Bourquin <yvan.bourquin@...> wrote:
>
> Hello,
>
> Two questions:
>
> 1. Is "/home/chanfr/workshop/1.3.8/webots" your Webots installation
> directory ?
> 2. How do you want to link your code with NaoQi, or "nao_in_webots" ?
>
> Cheers,
>
> Yvan
>
>
>
>
>
>
>
>
>
> On Mon, Nov 23, 2009 at 7:35 PM, chanfrn <chanfrn@...> wrote:
>
> >
> >
> > Hi,
> >
> > yes I thought that was the problem but I dont know why the link doesnt work
> > correctly. I have the following line in my Makefile
> >
> > -L/home/chanfr/workshop/1.3.8/webots/lib -lController -lCppController
> >
> > Thanks
> >
> >
> > --- In webots-users@yahoogroups.com <webots-users%40yahoogroups.com>,
> > "Yvan" <yvan.bourquin@> wrote:
> > >
> > > Hello,
> > >
> > > It seems that you need to link your project with Webots libraries:
> > > These libraries are located in the WEBOTS_HOME/lib directory:
> > >
> > > For C code link with:
> > >
> > > libController.so (Linux)
> > > libController.dylib (Mac)
> > > Controller.dll (Windows)
> > >
> > > For C++ code add this (to the above):
> > >
> > > libCppController.so (Linux)
> > > libCppController.dylib (Mac)
> > > CppController.dll (Windows)
> > >
> > > Cheers,
> > >
> > > Yvan
> > >
> > >
> > >
> > > --- In webots-users@yahoogroups.com <webots-users%40yahoogroups.com>,
> > "chanfrn" <chanfrn@> wrote:
> > > >
> > > > Hi!! congrats for this group.
> > > >
> > > > I have a question.
> > > >
> > > > Im trying to compile a program wich should use some webots options but
> > it will not be running as a webots controller.
> > > >
> > > > I will explain better...
> > > >
> > > > I have a NaoQi broker wich talks with webots thanks to naoqi but I need
> > to access to some devices that I cannot access with NaoQi (leds,
> > accelerometer). I can compile the program, I have no error messages when
> > compilling but I have some undefined references on my exe:
> > > >
> > > > undefined symbol: wb_robot_init
> > > >
> > > > I have the same problem if I use the c++ api:
> > > > undefined symbol: _ZN6webots5RobotC1Ev
> > > > undefined symbol: _ZN6webots5Robot16getAccelerometerERKSs
> > > >
> > > > someone have any idea?
> > > >
> > > > thanks.
> > > >
> > >
> >
> >
> >
>
>
>
> --
> --------------------------
> Yvan Bourquin
> Software Engineer
> Cyberbotics Ltd.
> http://www.cyberbotics.com
> +41 21 69 38624
> --------------------------
>

Hi,

The problem is that I dont have the nao_in_webots code, I only have the
controller file so I cannot change the controller.. If I could I will be able to
access to all robot components directly with webots funtions and the I can use
this values with my code using, for example the ALMemory....)


Thats why Im trying to link my code directly with webots no through a
controller.. because I need the funtionality that the controller nao_in_webots
give to me (I can use NaoQi to control the robot, so I have nothing to change to
put my program in the real nao).

Any idea?

--- In webots-users@yahoogroups.com, Yvan Bourquin <yvan.bourquin@...> wrote:
>
> Hello,
>
> > I want to link my code wich uses Naoqi with webots. The problem is that
> > nao_in_webots dont provides sonar, accelerometer or webots odometry, and I
> > need to use some webots funcionts to have a complete robot in webots.
> >
> Yes, but libController and libCppController are meant to be linked with a
> C/C++ Webots controller. However in this case the controller is
> "nao_in_webots". I mean that "nao_in_webots" does already call the main()
> function which in turn does already call wb_robot_init()... How do you plan
> to link your code with an already linked program such as "nao_in_webots" if
> you don't have the corresponding source code. Am I missing something ?
> Cheers,
>
> Yvan
>
> > ing NaoQi API to conect to nao_in_webots wich is the controllor that is
> > running in webots. Thats works without any problem.
> >
> > The problem is when I try to use webots functions to access some other
> > component that I cannot access using NaoQi.
> >
> > thanks you so much.
> >
> > --- In webots-users@yahoogroups.com <webots-users%40yahoogroups.com>, Yvan
> > Bourquin <yvan.bourquin@> wrote:
> > >
> > > Hello,
> > >
> > > Two questions:
> > >
> > > 1. Is "/home/chanfr/workshop/1.3.8/webots" your Webots installation
> > > directory ?
> > > 2. How do you want to link your code with NaoQi, or "nao_in_webots" ?
> > >
> > > Cheers,
> > >
> > > Yvan
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > > On Mon, Nov 23, 2009 at 7:35 PM, chanfrn <chanfrn@> wrote:
> > >
> > > >
> > > >
> > > > Hi,
> > > >
> > > > yes I thought that was the problem but I dont know why the link doesnt
> > work
> > > > correctly. I have the following line in my Makefile
> > > >
> > > > -L/home/chanfr/workshop/1.3.8/webots/lib -lController -lCppController
> > > >
> > > > Thanks
> > > >
> > > >
> > > > --- In webots-users@yahoogroups.com
<webots-users%40yahoogroups.com><webots-users%
> > 40yahoogroups.com>,
> >
> > > > "Yvan" <yvan.bourquin@> wrote:
> > > > >
> > > > > Hello,
> > > > >
> > > > > It seems that you need to link your project with Webots libraries:
> > > > > These libraries are located in the WEBOTS_HOME/lib directory:
> > > > >
> > > > > For C code link with:
> > > > >
> > > > > libController.so (Linux)
> > > > > libController.dylib (Mac)
> > > > > Controller.dll (Windows)
> > > > >
> > > > > For C++ code add this (to the above):
> > > > >
> > > > > libCppController.so (Linux)
> > > > > libCppController.dylib (Mac)
> > > > > CppController.dll (Windows)
> > > > >
> > > > > Cheers,
> > > > >
> > > > > Yvan
> > > > >
> > > > >
> > > > >
> > > > > --- In webots-users@yahoogroups.com
<webots-users%40yahoogroups.com><webots-users%
> > 40yahoogroups.com>,
> >
> > > > "chanfrn" <chanfrn@> wrote:
> > > > > >
> > > > > > Hi!! congrats for this group.
> > > > > >
> > > > > > I have a question.
> > > > > >
> > > > > > Im trying to compile a program wich should use some webots options
> > but
> > > > it will not be running as a webots controller.
> > > > > >
> > > > > > I will explain better...
> > > > > >
> > > > > > I have a NaoQi broker wich talks with webots thanks to naoqi but I
> > need
> > > > to access to some devices that I cannot access with NaoQi (leds,
> > > > accelerometer). I can compile the program, I have no error messages
> > when
> > > > compilling but I have some undefined references on my exe:
> > > > > >
> > > > > > undefined symbol: wb_robot_init
> > > > > >
> > > > > > I have the same problem if I use the c++ api:
> > > > > > undefined symbol: _ZN6webots5RobotC1Ev
> > > > > > undefined symbol: _ZN6webots5Robot16getAccelerometerERKSs
> > > > > >
> > > > > > someone have any idea?
> > > > > >
> > > > > > thanks.
> > > > > >
> > > > >
> > > >
> > > >
> > > >
> > >
> > >
> > >
> > > --
> > > --------------------------
> > > Yvan Bourquin
> > > Software Engineer
> > > Cyberbotics Ltd.
> > > http://www.cyberbotics.com
> > > +41 21 69 38624
> > > --------------------------
> > >
> >
> >
> >
>
>
>
> --
> --------------------------
> Yvan Bourquin
> Software Engineer
> Cyberbotics Ltd.
> http://www.cyberbotics.com
> +41 21 69 38624
> --------------------------
>

Hi all,

I'm dealing with odometry values. I look into e.puck.wbt. I fix up my axle
length, wheelRadius and (SpeedUnit as 0.00628).
  But there is some margin of error about 0.0004..
  it is normal or not? I can't decide?
The issue that i can't understand, if i change ENCODERRESOLUTION, which
differences will occur?Can i fix my margin of error as i change encoder
resolution?

Sincerely,
Burcu G.

Hi,
LOL!! thanks you a lot.

well.. I have to think seriously what Im going to do... programing a new
controller and make it compatible with NaoQi is very tediuos but I really need
those things...

thanks.

--- In webots-users@yahoogroups.com, Yvan Bourquin <yvan.bourquin@...> wrote:
>
> Hello,
>
> The problem is that I dont have the nao_in_webots code, I only have the
> > controller file so I cannot change the controller.. If I could I will be
> > able to access to all robot components directly with webots funtions and the
> > I can use this values with my code using, for example the ALMemory....)
> >
> > Thats why Im trying to link my code directly with webots no through a
> > controller.. because I need the funtionality that the controller
> > nao_in_webots give to me (I can use NaoQi to control the robot, so I have
> > nothing to change to put my program in the real nao).
> >
> > Any idea?
> >
> Technically speaking you cannot link your code with Webots but with a
> "Webots controller" which is a separate executable that communicates with
> the Webots simulator through system pipes. Note that the "nao_in_webots" is
> a Webots controller, but it is already linked with libController, therefore
> you cannot modifiy or add any functionality to it. So I think that your only
> options are:
>
> 1. use the incomplete/imperfect "nao_in_webots" as it is provided by
> Aldebaran
> 2. design your own Nao controller using Webots API, and eventually make it
> NaoQi compatible
>
> Option 1 is limited, but you can encourage the Aldebaran people to increase
> the level of support in "nao_in_webots" so that they add compatibility with
> the missing devices ...
>
> Option 2 is clearly very difficult because you would basically need to
> reproduce the "nao_in_webots" functionality and add your own NaoQi
> compatibility layer.
>
> I don't see any other way to achieve your goal.
>
> Cheers,
>
> Yvan
>
>
>
>
>
>
>
>
> >
> >
> > --- In webots-users@yahoogroups.com <webots-users%40yahoogroups.com>, Yvan
> > Bourquin <yvan.bourquin@> wrote:
> > >
> > > Hello,
> > >
> > > > I want to link my code wich uses Naoqi with webots. The problem is that
> > > > nao_in_webots dont provides sonar, accelerometer or webots odometry,
> > and I
> > > > need to use some webots funcionts to have a complete robot in webots.
> > > >
> > > Yes, but libController and libCppController are meant to be linked with a
> > > C/C++ Webots controller. However in this case the controller is
> > > "nao_in_webots". I mean that "nao_in_webots" does already call the main()
> > > function which in turn does already call wb_robot_init()... How do you
> > plan
> > > to link your code with an already linked program such as "nao_in_webots"
> > if
> > > you don't have the corresponding source code. Am I missing something ?
> > > Cheers,
> > >
> > > Yvan
> > >
> > > > ing NaoQi API to conect to nao_in_webots wich is the controllor that is
> > > > running in webots. Thats works without any problem.
> > > >
> > > > The problem is when I try to use webots functions to access some other
> > > > component that I cannot access using NaoQi.
> > > >
> > > > thanks you so much.
> > > >
> > > > --- In webots-users@yahoogroups.com
<webots-users%40yahoogroups.com><webots-users%
> > 40yahoogroups.com>, Yvan
> > > > Bourquin <yvan.bourquin@> wrote:
> > > > >
> > > > > Hello,
> > > > >
> > > > > Two questions:
> > > > >
> > > > > 1. Is "/home/chanfr/workshop/1.3.8/webots" your Webots installation
> > > > > directory ?
> > > > > 2. How do you want to link your code with NaoQi, or "nao_in_webots" ?
> > > > >
> > > > > Cheers,
> > > > >
> > > > > Yvan
> > > > >
> > > > >
> > > > >
> > > > >
> > > > >
> > > > >
> > > > >
> > > > >
> > > > >
> > > > > On Mon, Nov 23, 2009 at 7:35 PM, chanfrn <chanfrn@> wrote:
> > > > >
> > > > > >
> > > > > >
> > > > > > Hi,
> > > > > >
> > > > > > yes I thought that was the problem but I dont know why the link
> > doesnt
> > > > work
> > > > > > correctly. I have the following line in my Makefile
> > > > > >
> > > > > > -L/home/chanfr/workshop/1.3.8/webots/lib -lController
> > -lCppController
> > > > > >
> > > > > > Thanks
> > > > > >
> > > > > >
> > > > > > --- In
webots-users@yahoogroups.com<webots-users%40yahoogroups.com><webots-users%
> > 40yahoogroups.com><webots-users%
> >
> > > > 40yahoogroups.com>,
> > > >
> > > > > > "Yvan" <yvan.bourquin@> wrote:
> > > > > > >
> > > > > > > Hello,
> > > > > > >
> > > > > > > It seems that you need to link your project with Webots
> > libraries:
> > > > > > > These libraries are located in the WEBOTS_HOME/lib directory:
> > > > > > >
> > > > > > > For C code link with:
> > > > > > >
> > > > > > > libController.so (Linux)
> > > > > > > libController.dylib (Mac)
> > > > > > > Controller.dll (Windows)
> > > > > > >
> > > > > > > For C++ code add this (to the above):
> > > > > > >
> > > > > > > libCppController.so (Linux)
> > > > > > > libCppController.dylib (Mac)
> > > > > > > CppController.dll (Windows)
> > > > > > >
> > > > > > > Cheers,
> > > > > > >
> > > > > > > Yvan
> > > > > > >
> > > > > > >
> > > > > > >
> > > > > > > --- In
webots-users@yahoogroups.com<webots-users%40yahoogroups.com><webots-users%
> > 40yahoogroups.com><webots-users%
> >
> > > > 40yahoogroups.com>,
> > > >
> > > > > > "chanfrn" <chanfrn@> wrote:
> > > > > > > >
> > > > > > > > Hi!! congrats for this group.
> > > > > > > >
> > > > > > > > I have a question.
> > > > > > > >
> > > > > > > > Im trying to compile a program wich should use some webots
> > options
> > > > but
> > > > > > it will not be running as a webots controller.
> > > > > > > >
> > > > > > > > I will explain better...
> > > > > > > >
> > > > > > > > I have a NaoQi broker wich talks with webots thanks to naoqi
> > but I
> > > > need
> > > > > > to access to some devices that I cannot access with NaoQi (leds,
> > > > > > accelerometer). I can compile the program, I have no error messages
> > > > when
> > > > > > compilling but I have some undefined references on my exe:
> > > > > > > >
> > > > > > > > undefined symbol: wb_robot_init
> > > > > > > >
> > > > > > > > I have the same problem if I use the c++ api:
> > > > > > > > undefined symbol: _ZN6webots5RobotC1Ev
> > > > > > > > undefined symbol: _ZN6webots5Robot16getAccelerometerERKSs
> > > > > > > >
> > > > > > > > someone have any idea?
> > > > > > > >
> > > > > > > > thanks.
> > > > > > > >
> > > > > > >
> > > > > >
> > > > > >
> > > > > >
> > > > >
> > > > >
> > > > >
> > > > > --
> > > > > --------------------------
> > > > > Yvan Bourquin
> > > > > Software Engineer
> > > > > Cyberbotics Ltd.
> > > > > http://www.cyberbotics.com
> > > > > +41 21 69 38624
> > > > > --------------------------
> > > > >
> > > >
> > > >
> > > >
> > >
> > >
> > >
> > > --
> > > --------------------------
> > > Yvan Bourquin
> > > Software Engineer
> > > Cyberbotics Ltd.
> > > http://www.cyberbotics.com
> > > +41 21 69 38624
> > > --------------------------
> > >
> >
> >
> >
>
>
>
> --
> --------------------------
> Yvan Bourquin
> Software Engineer
> Cyberbotics Ltd.
> http://www.cyberbotics.com
> +41 21 69 38624
> --------------------------
>

Hi Fabien!
My wheel translations:

     "Left Wheel"
     }
     Solid {
       translation 0.3 -0.15 0
     "Right Wheel"
     Solid {
       translation -0.3 -0.15 0

and the other values:

   axleLength 0.6     //cylinder radius*2
   wheelRadius 0.15
   maxSpeed 6.28
   speedUnit 0.00628
   encoderNoise 0
   encoderResolution 628// initial value was 159.23 I altered by this value

my code is:

static void compute_odometry() {

   double left_encoder = wb_differential_wheels_get_left_encoder();
   double right_encoder = wb_differential_wheels_get_right_encoder();
   printf("left encoder:%f, right encoder: %f\n",left_encoder,right_encoder);

   double dl = left_encoder / ENCODER_RESOLUTION * WHEEL_RADIUS; // distance
covered by left wheel in meter
   double dr = right_encoder / ENCODER_RESOLUTION * WHEEL_RADIUS; // distance
covered by right wheel in meter
   double da = (dr - dl) / AXLE_LENGTH; // delta orientation

}

The fundamental issue, How is encoderResolution defined?Is it arbitrary or can i
fix my margin of error by using encoder resolution?

Thanks a lot for your help. I'm a bit new in Webots.


--- In webots-users@yahoogroups.com, Fabien Rohrer <fabien.rohrer@...> wrote:
>
> Hi Burcu,
>
> Actually, it seems that some of the e-puck models of the Webots distribution
> have an inaccuracy: the translation of the second wheel should be:
> * Solid { # right wheel
> *
> *  translation 0.026 0.02 0*
> instead of:
> * Solid { # right wheel
> *
> *  translation 0.0256 0.02 0*
> In fact, the translation should be the same as the left wheel. You can
> modify that in your model or in the .proto file waiting the new Webots
> release...
>
> Modifying the encoder resolution affects the values returned by the
> encoders, so the values that you measure. You should not modify this
> resolution...
>
> Let me know if this solve the problem...
> Regards,
> Fabien
>
> 2009/11/24 burcu.geneci <burcu.geneci@...>
>
> >
> >
> > Hi all,
> >
> > I'm dealing with odometry values. I look into e.puck.wbt. I fix up my axle
> > length, wheelRadius and (SpeedUnit as 0.00628).
> > But there is some margin of error about 0.0004..
> > it is normal or not? I can't decide?
> > The issue that i can't understand, if i change ENCODERRESOLUTION, which
> > differences will occur?Can i fix my margin of error as i change encoder
> > resolution?
> >
> > Sincerely,
> > Burcu G.
> >
> >
> >
>