Hi John,
Thanks for answering, I ve tried with that you suggest me and also with executing in a new terminal "convert myfile.pgm myfile.png " but it is still giving this message:
Param [quickStep] is deprecated: [replace quickStep with stepType]
Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters]
Param [quickStepW] is deprecated: [replace quickStepW with stepW]
[ INFO] [1289322971.691105690]: Obtained obstacle map.
Gazebo successfully initialized
Error: [/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/server/rendering/Image.cc:136]Unable to open image file[/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]
/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/server/physics/MapShape.cc:117 : Exception: Unable to open image file[/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]
Main simulation loop failed
/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/server/physics/MapShape.cc:117 : Exception: Unable to open image file[/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
spawning success None
[gazebo-2] process has died [pid 3701, exit code -11].
log files: /home/robot/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/gazebo-2*.log
[xml2factor_walls-3] process has finished cleanly.
log file: /home/robot/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/xml2factor_walls-3*.log
[ INFO] [1289322976.775538978, 0.958000000]: Server up
[ INFO] [1289322976.777365139, 0.958000000]: Spinning now
I saved my map in
/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures
Any idea?
Thanks
Nicolas
From:
johnhsu@willowgarage.com
Date: Tue, 9 Nov 2010 07:29:20 -0800
To:
ros-users@code.ros.orgSubject: Re: [ros-users] Gazebo - spawn_model
Hi Nicolas,
I don't think gazebo can read pgm files. Try opening your map file in gimp, save it as a grayscale .png file. Place the file in a package that exports its prefix to gazebo_media_path (for example take a look at manifest.xml for gazebo_worlds), under a subdirectory [package_name]/Media/materials/texture/walls.png.
Then try your spawn again. Note that if the map is complicated, it might take gazebo's recursive rectangle wall builder more than 30 sec. to construct the model.
John
2010/11/9 Nicolás Alvarez Picco
<nicolasapicco@hotmail.com>
Hi Everybody!!!
I have made a map with gmapping, it is a file 'map.pgm'. Now I want to spawn its walls, for that I am using this launch file:
<launch>
<arg name="scenario"/>
<arg name="no_window"/>
<!-- start gazebo with an empty plane -->
<param name="/use_sim_time" value="true" />
<!-- if no window is set then start with -r (no window displayed) -->
<node name="gazebo" pkg="gazebo" type="gazebo" args="-r $(find han_Scene)/worlds/empty.world" respawn="false" output="screen" if="$(arg no_window)"/>
<!-- Otherwise start normally -->
<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find han_Scene)/worlds/empty.world" respawn="false" output="screen" unless="$(arg no_window)"/>
<!-- walls-->
<param name="walls" textfile="$(find han_Scene)/scenarios/$(arg scenario)/walls.model" />
<node name="xml2factor_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -model walls" respawn="false" output="screen" />
<!-- <node name="xml2factor_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -x -16 -y -16 -model walls" respawn="false" output="screen" /> -->
</launch>
Where the file walls.model is
<?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>-8 -8 0 </xyz>
<geom:map name="walls_geom">
<image>map.pgm</image> <!-- for now this is in the gazebo model dir, change later-->
<height>2</height>
<threshold>200</threshold>
<granularity>1</granularity>
<negative>false</negative>
<scale>0.04</scale>
<offset>0 0 0</offset>
<material>Gazebo/Rocky</material>
</geom:map>
</body:map>
</model:physical>
The thing is that nothing happens in gazebo.
Any clue?? Does exist any documentation about how to spawn walls of a map??
Many thanks
Nicolas
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