John, 
Thanks I have tried with that with not good results, but I will continue searching, Thankss
Nicolas

From: johnhsu@willowgarage.com
Date: Mon, 17 Jan 2011 13:27:10 -0800
To: ros-users@code.ros.org
Subject: Re: [ros-users] xml2factor_walls spawn node

Hi Nicolas,the <scale> parameter is probably what you want to adjust, I believe it has the same meaning as resolution in the map_server package (meters / pixel).John

2011/1/17 Nicolás Alvarez Picco <nicolasapicco@hotmail.com>







Hi everybody,

I am using the node xml2factor_walls from the gazebo pkg to spawn the walls of a map. The file ".model" is this:

<?xml version="1.0" ?>
<model:physical name="walls_model"


  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" 
  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" 


  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" >

  <static>true</static>


  <body:map name="walls_body">
  <xyz>-16.5 -16.5 0 </xyz> 
  <!--<xyz>10 10 0 </xyz>--> 
    <geom:map name="walls_geom">
       <image>factory_map.png</image> <!-- for now this is in the gazebo model dir, change later-->


      <!--<image>bar_map_with_obstacles.png</image> --> 
      <height>2</height>
      <threshold>200</threshold>
      <granularity>1</granularity>
      <negative>false</negative>


      <scale>0.08</scale>
      <offset>0 0 0</offset>
      <material>Gazebo/White</material>
    </geom:map>
  </body:map>
</model:physical>

The thing is that I have to do same changes to make this map in gazebo to has the same size that the one I am having in rviz, for doing that I need to know exactly what each parameters means. I have check the gazebo project website, but I couldnt find it. Someones knows what are those parameters of the model file.


Thanks in advance.

Nicolas
 		 	   		  

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