Hi John<div><br></div><div>Thanks for the quick reply.</div><div><br></div><div>1) Yes, I am using heightmap. What should I use to use color image for the world ?</div><div><br></div><div>2) No I did not hit Ctrl+C. For running the pr2 robot, I first run the roslaunch gazebo_worlds empty_world.launch  then on another terminal </div>
<div>roslaunch pr2_gazebo pr2.launch</div><div>then on another terminal I run my C++ controller code( which basically sends velocity commands by publishing to the specific topic).</div><div>This works great.</div><div><br>
</div><div>But for the simplecar.model when I launch...it gives the specific message I sent in the earlier email and then by itself it return to the command prompt ( this does not happen when running pr2). heres the following content of my simplecar.launch</div>
<div><br></div><div>&lt;launch&gt;</div><div><div>&lt;param name=&quot;simplecar&quot; textfile=&quot;$(find gazebo_worlds)/objects/simplecar.model&quot; /&gt;</div><div><br></div><div>  &lt;!-- push urdf to factory and spawn robot in gazebo --&gt;</div>
<div>  &lt;node name=&quot;spawn_simplecar&quot; pkg=&quot;gazebo_tools&quot; type=&quot;gazebo_model&quot; args=&quot;-p simplecar -x -5.5 -y -3.5 -z 1  -R 0 -P 0 -Y 0 spawn simplecar&quot; respawn=&quot;false&quot; output=&quot;screen&quot; /&gt;</div>
<div>&lt;/launch&gt;</div><div><br></div><div>Thanks.</div><div><br></div><div>Pratyush </div></div><div><br><br><div class="gmail_quote">On Tue, May 4, 2010 at 10:23 PM, John Hsu <span dir="ltr">&lt;<a href="mailto:johnhsu@willowgarage.com">johnhsu@willowgarage.com</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hi<font color="#888888"><font face="arial, sans-serif"><span style="border-collapse:collapse"></span></font></font> Pratyush,<br>
<br><div class="gmail_quote"><div class="im">On Tue, May 4, 2010 at 7:04 PM, pratyush jalan <span dir="ltr">&lt;<a href="mailto:pratyush.jalan@gmail.com" target="_blank">pratyush.jalan@gmail.com</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">Hi Everyone,<div><br></div><div>1) I am trying to create my own world file for Gazebo but when I launch my world it gives an error that the &quot;Image is not grayscale&quot;. I created a simple image in paint with a white background and a path with black color. I tried using different colors as well but I get the same error each time. Can you suggest what might be the problem ?</div>


</blockquote></div><div><br>Please clarify the context... are you trying to use a heightmap?  If so, the image needs to be saved as a grayscale image (single channel).  Note that this is not the same as using a color image (multiple channels) with black and white colors.<br>


 </div><div class="im"><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
<div><br></div><div>2) I am trying to run my controller code on the simplecar.model but the problem is the car does not move. </div></blockquote></div><div><br>are you using the pr2 mechanism controller stack?  If possible, please post relevant world/model/launch files, to help with
 the debugging process.<br> </div><div class="im"><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex"><div>My code works for the pr2 robot (pr2_simulator). I am able to spawn the object in the Gazebo simulator. I get the following message when I spawn the object -:</div>



<div><span style="font-family:arial,sans-serif;font-size:13px;border-collapse:collapse">core service [/rosout] found<br>process[spawn_simplecar-1]: started with pid [3814]<br>[ INFO] 37.267000000: waiting for gazebo factory, usually launched by &#39;roslaunch `rospack find gazebo`/launch/empty_world.launch&#39;<br>



[spawn_simplecar-1] process has finished cleanly.</span> <br></div></blockquote><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex"><div><span style="font-family:arial,sans-serif;font-size:13px;border-collapse:collapse">log file: /home/stk/.ros/log/8f48d09e-57c6-11df-91b7-0024e82035d7/spawn_simplecar-1*.log<br>


</span></div></blockquote></div><div><br>looks fine so far...  Did you hit ctrl-c here?<br><br><br>thanks,<br>John<br> </div><div class="im"><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">


<div><span style="font-family:arial,sans-serif;font-size:13px;border-collapse:collapse">all processes on machine have died, roslaunch will exit<br>shutting down processing monitor...<br>
... shutting down processing monitor complete</span> <br></div></blockquote></div><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex"><div class="im">
<div><span style="font-family:arial,sans-serif;font-size:13px;border-collapse:collapse">done</span></div>

<div><font face="arial, sans-serif"><span style="border-collapse:collapse">Is this an error code ? I wasn&#39;t sure because the object is still getting spawned in the simulator.</span></font></div>
<div><font face="arial, sans-serif"><span style="border-collapse:collapse"><br></span></font></div><div><font face="arial, sans-serif"><span style="border-collapse:collapse">Thanks.</span></font></div>
<div><font face="arial, sans-serif"><span style="border-collapse:collapse"><br></span></font></div><font color="#888888"><div><font face="arial, sans-serif"><span style="border-collapse:collapse">Pratyush </span></font></div>



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