[ros-users] Gazebo - spawn_model

Wed Nov 10 01:46:11 UTC 2010

Nicolás,

>From your console output it looks like gazebo is looking for a file
/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png

but you mentioned you had saved map.png in
/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures

possibly double check your parameter "walls" containing walls.model and make
sure the image tag contains only the file name, e.g.
<image>fete_nico_mapa.png</image>

and your grayscale map image file is located at
/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/fete_nico_mapa.png

John

2010/11/9 Nicolás Alvarez Picco <nicolasapicco at hotmail.com>

>  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 at willowgarage.com
> Date: Tue, 9 Nov 2010 07:29:20 -0800
> To: ros-users at code.ros.org
> Subject: 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 at 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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