[ros-users] Gazebo - spawn_model

John Hsu johnhsu at willowgarage.com
Thu Nov 11 13:26:55 UTC 2010 

It looks like the map file is in RGB mode.  I've done two things here, made
unknown spaces white (originally gray) and changed the image to grayscale
mode.  Please let me know if this doesn't work.
John

2010/11/10 Nicolás Alvarez Picco <nicolasapicco at hotmail.com>

>  John,
> There are not problems with the location of the files, when I said map.png
> it was just to name the map with a generic name.
> The thing is I can't make the gazebo work with that map. The map is the
> result of running the gmapping node, so it doesn't have the borders so
> delemetated, here I attach the file png file.
> Any idea?? Do you think I am having this problem because the map is very
> big??
>
>
> Thanks!!!
>
> Nicolas
>
>
>
> ------------------------------
> From: johnhsu at willowgarage.com
> Date: Tue, 9 Nov 2010 17:46:11 -0800
>
> To: ros-users at code.ros.org
> Subject: Re: [ros-users] Gazebo - spawn_model
>
> 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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