[ros-users] Creating new world file

[John Hsu]

On Tue, May 4, 2010 at 7:50 PM, pratyush jalan <pratyush.jalan at gmail.com>wrote:

> Hi John
>
> Thanks for the quick reply.
>
> 1) Yes, I am using heightmap. What should I use to use color image for the
> world ?
>

I am not sure what you are trying to do here.  HeightMap takes a single
channel image and use that information to create a contoured trimesh floor
based on the value of the image intensity.  Are you trying to texture the
world with a color image?  If that's the case, heightmap will not do the
right thing here.


>
> 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
> roslaunch pr2_gazebo pr2.launch
> then on another terminal I run my C++ controller code( which basically
> sends velocity commands by publishing to the specific topic).
> This works great.
>
> 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
>
> <launch>
> <param name="simplecar" textfile="$(find
> gazebo_worlds)/objects/simplecar.model" />
>
>   <!-- push urdf to factory and spawn robot in gazebo -->
>   <node name="spawn_simplecar" pkg="gazebo_tools" type="gazebo_model"
> args="-p simplecar -x -5.5 -y -3.5 -z 1  -R 0 -P 0 -Y 0 spawn simplecar"
> respawn="false" output="screen" />
> </launch>
>

Judging from above launch script, it's likely you have not spawned a
controller?  Please take a look at the example in
pr2_examples_gazebo/single_link.launch.  This example starts up a single
actuated joint using SimpleTransmission and JointPositionController.  You
might want to use JointEffortController or JointVelocityController for your
particular use case.

John


> Thanks.
>
> Pratyush
>
>
> On Tue, May 4, 2010 at 10:23 PM, John Hsu <johnhsu at willowgarage.com>wrote:
>
>> Hi Pratyush,
>>
>> On Tue, May 4, 2010 at 7:04 PM, pratyush jalan <pratyush.jalan at gmail.com>wrote:
>>
>>> Hi Everyone,
>>>
>>> 1) I am trying to create my own world file for Gazebo but when I launch
>>> my world it gives an error that the "Image is not grayscale". 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 ?
>>>
>>
>> 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.
>>
>>
>>>
>>> 2) I am trying to run my controller code on the simplecar.model but the
>>> problem is the car does not move.
>>>
>>
>> are you using the pr2 mechanism controller stack?  If possible, please
>> post relevant world/model/launch files, to help with the debugging process.
>>
>>
>>> 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 -:
>>> core service [/rosout] found
>>> process[spawn_simplecar-1]: started with pid [3814]
>>> [ INFO] 37.267000000: waiting for gazebo factory, usually launched by
>>> 'roslaunch `rospack find gazebo`/launch/empty_world.launch'
>>> [spawn_simplecar-1] process has finished cleanly.
>>>
>> log file:
>>> /home/stk/.ros/log/8f48d09e-57c6-11df-91b7-0024e82035d7/spawn_simplecar-1*.log
>>>
>>
>> looks fine so far...  Did you hit ctrl-c here?
>>
>>
>> thanks,
>> John
>>
>>
>>> all processes on machine have died, roslaunch will exit
>>> shutting down processing monitor...
>>> ... shutting down processing monitor complete
>>>
>> done
>>> Is this an error code ? I wasn't sure because the object is still getting
>>> spawned in the simulator.
>>>
>>> Thanks.
>>>
>>> Pratyush
>>>
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>>>
>>
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>
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