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
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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