Hi Nicolas,

Here's a simple example hopefully matches what you're looking for,  The two
lines below should first bring up an empty world, then spawn a set of walls:

roslaunch gazebo_worlds empty_world.launch
rosrun gazebo spawn_model  -gazebo -file `rospack find
gazebo_worlds`/objects/wg_walls.model -model wall

Note that using the <map> element as in wg_walls.model creates a lot of
static objects in the world and this can potentially slow down simulation
significantly (for example, see
https://code.ros.org/trac/ros-pkg/ticket/4458).  Currently this is not an
issue if the environment is represented by a single complex trimesh such as
the case where we modeled WG office walls as a single trimesh, which you can
test out separately by:

roslaunch gazebo_worlds wg_collada_world.launch

John


2010/12/15 Nicolás Alvarez Picco <nicolasapicco@hotmail.com>

>  Hi!, I am really having problems with gazebo I cant find many info. I need
> to add obstacles to my world.
> My obstacles are fixed, they are just rectangular boxes, the thing is that
> I have made a .png map and I have added this rectangles. I spawn this map
> using the node xml2factor_walls, but when I add this rectangles, I have an
> error that says that the it is not possible to connect with the spawn
> process.
> Do you know how to spawn obstacles that are in a png map as if they were
> walls, so as to have the same in the gazebo world and in the map shown in
> the rviz.
>
> Thanks
>
> Nicolas
>
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