[ros-users] Creating new world file

Thu May 6 01:28:18 UTC 2010

Hi John

So I was using Heightmap because one of one of friend had once created his
world file (similar to the empty_world file) and this is what he had -:
<model:physical name="terrain_model">
<xyz>0.0 0.0 -10</xyz>
    <body:heightmap name ="terrain_body">
      <geom:heightmap name="terrain_geom">
<image>track.jpg</image>
        <worldTexture>track.jpg</worldTexture>
<size>13 13 0.05</size>
      </geom:heightmap>
    </body:heightmap>
  </model:physical>
This was giving me the problem of " Image is not grayscale ". I changed that
to one as used in the empty_world file
 <model:physical name="willow_map">
   <xyz>0 0 0</xyz>
   <rpy>180 0 0</rpy>
   <static>true</static>
   <body:map name="willow_map_body">
     <geom:map name="willow_map_geom">
       <image>*track.jpg*</image>
       <threshold>1</threshold>
       <granularity>1</granularity>
       <negative>false</negative>
       <scale>0.01</scale>
       <offset>0 0 0</offset>
       <material>Gazebo/Rocky</material>
     </geom:map>
   </body:map>
  </model:physical>

But when I launch this, its gives me an error Coordinate out of range. It
keeps displaying this error. ( in the first code, I changed the heightmap to
just map and I am getting same as this error) I am sorry but I couldn't find
any documentation for the world file.

Thanks.

Pratyush Jalan

On Tue, May 4, 2010 at 11:21 PM, John Hsu <johnhsu at willowgarage.com> wrote:

>
> 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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