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<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Hi,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>Thanks for your answers. This is what ‘rosnode
list’ writes:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>/amcl<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>/map_server<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>/move_base<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>/rosout<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>/stageros<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>Eitan, I understand what you are
suggesting, but my map is centred in (0, 0) coordinates and goes from (-29.35, -27)
to (29.35, 27) metres, which means that all the coordinates output by move_base
are within the map. I think the problem could be related to map_server, but I
don’t see how. Here you have the launch file we use to launch ‘amcl’,
‘move_base’ and ‘map_server’:<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><launch><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <param
name="/use_sim_time" value="true"/><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <node
pkg="move_base" type="move_base" respawn="false"
name="move_base" output="screen"><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <rosparam
file="$(find 2d_navigation_launcher)/costmap_common_params.yaml"
command="load" ns="global_costmap" /><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <rosparam
file="$(find 2d_navigation_launcher)/costmap_common_params.yaml"
command="load" ns="local_costmap" /><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <rosparam
file="$(find 2d_navigation_launcher)/local_costmap_params.yaml"
command="load" /><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <rosparam
file="$(find 2d_navigation_launcher)/global_costmap_params.yaml"
command="load" /><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <rosparam
file="$(find 2d_navigation_launcher)/base_local_planner_params.yaml"
command="load" /><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> </node><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <!-- Run the map server
--><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <node
name="map_server" pkg="map_server"
type="map_server" args="$(find stage)/world/willow-full.pgm
0.1" respawn="false"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>/><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <!--- Run AMCL --><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> <include file="$(find
amcl)/examples/amcl_diff.launch"/><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'></launch><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>The world file we use for stage is
based on the provide in the package stage (‘willow-erratic.world’).
I put it here just in case:<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>define block model<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>(<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> size3 [0.5 0.5 0.5]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gui_nose 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>)<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>define topurg laser<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>(<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> range_min 0.0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> range_max 30.0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> fov 270.25<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> samples 1081<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> # generic model properties<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> color "black"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> size [ 0.05 0.05 0.1 ]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>)<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>define erratic position<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>(<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> #size3 [0.415 0.392 0.25]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> size3 [0.35 0.35 0.25]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> origin3 [-0.05 0 0 0]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gui_nose 1<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> drive "diff"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> localization "gps"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> topurg(pose [0.050 0.000 0.000])<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>)<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>define floorplan model<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>(<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> # sombre, sensible, artistic<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> color "gray30"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> # most maps will need a
bounding box<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> boundary 1<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gui_nose 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gui_grid 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gui_movemask 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gui_outline 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> gripper_return 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> fiducial_return 0<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> laser_return 1<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>)<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'># set the resolution of the
underlying raytrace model in meters<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>resolution 0.02<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>interval_sim 100 # simulation
timestep in milliseconds<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>interval_real 100 # real-time
interval between simulation updates in milliseconds <o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>window<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>( <o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> size [ 745.000 448.000 ] <o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> center [678.990 293.960] <o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> rotate [ 0.000 -1.560 ]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> scale 28.806 <o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>)<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'># load an environment bitmap<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>floorplan<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>( <o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> name "willow"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> bitmap
"willow-full.pgm"<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> size3 [54.0 58.7 0.5]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> #pose [-29.350 27.000 90.000]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'> pose [0.0 0.0 0.0]<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>)<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'># throw in a robot<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>erratic( pose [0.0 0.0 0.0] name
"era" color "blue")<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>block( pose [3.0 0.0 0.0] color
"red")<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial'>I’m quite sure the error must
be related to some wrong parameters, but I cannot find it. Thanks for your help
again!<o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><b><font size=2 color="#ff9900" face=Arial><span
lang=EN-GB style='font-size:11.0pt;font-family:Arial;color:#FF9900;font-weight:
bold'><o:p> </o:p></span></font></b></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><b><font size=2 color="#ff9900" face=Arial><span
lang=EN-GB style='font-size:11.0pt;font-family:Arial;color:#FF9900;font-weight:
bold'><o:p> </o:p></span></font></b></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><b><font size=2 color="#ff9900" face=Arial><span
lang=EN-GB style='font-size:11.0pt;font-family:Arial;color:#FF9900;font-weight:
bold'>______________________________</span></font></b><span lang=EN-GB> <o:p></o:p></span></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
12.0pt;margin-left:0cm'><b><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial;font-weight:bold'>Gorka Azkune Galparsoro</span></font></b><font
size=2 face=Arial><span style='font-size:10.0pt;font-family:Arial'><o:p></o:p></span></font></p>
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