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John, <br>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. <br>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.<br>Any idea?? Do you think I am having this problem because the map is very big??<br><br>Thanks!!!<br><br>Nicolas<br><br><br><br><hr id="stopSpelling">From: johnhsu@willowgarage.com<br>Date: Tue, 9 Nov 2010 17:46:11 -0800<br>To: ros-users@code.ros.org<br>Subject: Re: [ros-users] Gazebo - spawn_model<br><br>Nicolás,<br><br>From your console output it looks like gazebo is looking for a file <br>/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png<br><div><br>but you mentioned you had saved map.png in<br></div>/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures<br>
<div><br>possibly double check your parameter "walls" containing walls.model and make sure the image tag contains only the file name, e.g.<br><image>fete_nico_mapa.png</image><br><br>and your grayscale map image file is located at<br>
/home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/fete_nico_mapa.png<br><br>John<br><br></div><br><br><div class="ecxgmail_quote">2010/11/9 Nicolás Alvarez Picco <span dir="ltr"><<a href="mailto:nicolasapicco@hotmail.com">nicolasapicco@hotmail.com</a>></span><br>
<blockquote class="ecxgmail_quote" style="padding-left: 1ex;">
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Hi John,<br>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:<br><br>Param [quickStep] is deprecated: [replace quickStep with stepType]<br>
Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters]<br>Param [quickStepW] is deprecated: [replace quickStepW with stepW]<br>[ INFO] [1289322971.691105690]: Obtained obstacle map.<br>Gazebo successfully initialized<br>
<font color="#ff0000">Error: [/home/robot/src/ros/stacks/simulator_gazebo/gazebo/build/gazebo-r8947/server/rendering/Image.cc:136]</font><br>Unable to open image file[/home/robot/src/autnavarc/ros-ana-pkg/wheelchair/fete_nico_mapa.png]<br>
/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]<br><br>Main simulation loop failed<br>
/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]<br><br>Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details<br>
spawning success None<br><font color="#ff0000">[gazebo-2] process has died [pid 3701, exit code -11].</font><font color="#ff0000"><br></font><font color="#ff0000">log files: /home/robot/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/gazebo-2*.log</font><br>
[xml2factor_walls-3] process has finished cleanly.<br>log file: /home/robot/.ros/log/0bd3add0-ec25-11df-a9ef-0026b9e75b87/xml2factor_walls-3*.log<br>[ INFO] [1289322976.775538978, 0.958000000]: Server up<br>[ INFO] [1289322976.777365139, 0.958000000]: Spinning now<br>
<br><br><br>I saved my map in<br><br> /home/robot/src/ros/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures<br><br>Any idea?<br><br>Thanks <br><br>Nicolas<br><br><br><hr>From: <a href="mailto:johnhsu@willowgarage.com">johnhsu@willowgarage.com</a><br>
Date: Tue, 9 Nov 2010 07:29:20 -0800<br>To: <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>Subject: Re: [ros-users] Gazebo - spawn_model<div><div></div><div class="h5"><br><br>Hi Nicolas,<br>
<br>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.<br>
<br>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.<br><br>John<br><br><br><br><div>
2010/11/9 Nicolás Alvarez Picco <span dir="ltr"><<a href="mailto:nicolasapicco@hotmail.com">nicolasapicco@hotmail.com</a>></span><br><blockquote style="padding-left: 1ex;">
<div>
Hi Everybody!!!<br><br>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:<br><br><launch><br><br> <arg name="scenario"/><br>
<arg name="no_window"/><br> <!-- start gazebo with an empty plane --><br> <param name="/use_sim_time" value="true" /><br><br> <!-- if no window is set then start with -r (no window displayed) --><br>
<node name="gazebo" pkg="gazebo" type="gazebo" args="-r $(find han_Scene)/worlds/empty.world" respawn="false" output="screen" if="$(arg no_window)"/><br>
<br> <!-- Otherwise start normally --><br> <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find han_Scene)/worlds/empty.world" respawn="false" output="screen" unless="$(arg no_window)"/><br>
<br> <!-- walls--><br> <param name="walls" textfile="$(find han_Scene)/scenarios/$(arg scenario)/walls.model" /><br><br> <node name="xml2factor_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -model walls" respawn="false" output="screen" /><br>
<br> <!-- <node name="xml2factor_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -x -16 -y -16 -model walls" respawn="false" output="screen" /> --><br>
<br></launch><br><br>Where the file walls.model is <br><br><?xml version="1.0" ?><br><model:physical name="walls_model"<br> xmlns:model="<a href="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" target="_blank">http://playerstage.sourceforge.net/gazebo/xmlschema/#model</a>" <br>
xmlns:body="<a href="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" target="_blank">http://playerstage.sourceforge.net/gazebo/xmlschema/#body</a>" <br> xmlns:geom="<a href="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" target="_blank">http://playerstage.sourceforge.net/gazebo/xmlschema/#geom</a>" ><br>
<br> <static>true</static><br> <body:map name="walls_body"><br> <xyz>-8 -8 0 </xyz><br> <geom:map name="walls_geom"><br> <image>map.pgm</image> <!-- for now this is in the gazebo model dir, change later--><br>
<height>2</height><br> <threshold>200</threshold><br> <granularity>1</granularity><br> <negative>false</negative><br> <scale>0.04</scale><br>
<offset>0 0 0</offset><br> <material>Gazebo/Rocky</material><br> </geom:map><br> </body:map><br></model:physical><br><br>The thing is that nothing happens in gazebo. <br>
Any clue?? Does exist any documentation about how to spawn walls of a map??<br><br>Many thanks<br><br>Nicolas<br> </div>
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