[ros-users] Creating new world file
pratyush jalan
pratyush.jalan at gmail.com
Thu May 6 16:04:20 UTC 2010
Hi John,
I am using the grayscale image but I am still having problems with that.
Here is the console error output -:
OGRE EXCEPTION(2: InvalidParameterException): ERROR: Image is not a
grayscale image. in HeightmapTerrainPageSource::requestPage at
OgreHeightmapTerrainPageSource.cpp (line: 210)
...
I have also attached my grayscale image
Thanks.
On Wed, May 5, 2010 at 10:34 PM, John Hsu <johnhsu at willowgarage.com> wrote:
> Hi Pratyush,
> Please post the console error outputs and attach track.jpg. But I suspect
> you need to convert track.jpg to grayscale (single channel).
> John
>
>
> On Wed, May 5, 2010 at 6:28 PM, pratyush jalan <pratyush.jalan at gmail.com>wrote:
>
>> 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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