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