[PlayerStage-Gazebo] Texture on simple solids/walls
Prabhu VijaiRengam
tvgprabhu at hotmail.com
Sun Apr 18 10:21:22 PDT 2004
Yes, the same world file had worked for me previously. Recently I upgraded
to Fedora and reinstalled gazebo. This problem showed up after that. Anyway,
your hints were right on. I was placing the camera right on top of the laser
range finder. Aparantly in the new installation the camera 'overlapped' a
bit with laser. I just had to lift the camera up by 0.1 unit to get rid of
the warnings. Thanks.
Cheers,
Prabhu TVG
----Original Message Follows----
From: ahoward <ahoward at pollux.usc.edu>
To: Prabhu VijaiRengam <tvgprabhu at hotmail.com>
CC: <playerstage-gazebo at lists.sourceforge.net>
Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
Date: Sun, 18 Apr 2004 10:00:34 -0700 (PDT)
Hmmm, the ODE message suggests that your simulation may have diverged
(objects falling to infinity, or objects being created directly on top of
one another). The other errors are probably secondary. Do you get the
same problem when you disable texture mapping?
BTW, the file included below works fine for me.
A.
P.S. I'm forwarding this to the Gazebo list...
On Sun, 18 Apr 2004, Prabhu VijaiRengam wrote:
> Hi Andrew,
>
> I am trying to run the latest version in a modified texture world and I
keep
> getting the following warning messages:
>
> ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)
> Warning: CullVisitor::updateCalculatedNearFar(.) near>far in range
> calculation,
> correcting by swapping values d_near=nan dfar=nan
> Warning: CullVisitor::updateCalculatedNearFar(.) near>far in range
> calculation,
> correcting by swapping values d_near=nan dfar=nan
> Warning: CullVisitor::updateCalculatedNearFar(.) near>far in range
> calculation,
> correcting by swapping values d_near=nan dfar=nan
> ...
>
> The warnings keep repeating forever slowing down gazebo to a crawl. My
world
> file is (cropped):
>
> Start
>
-------------------------------------------------------------------------------
>
> <?xml version="1.0"?>
>
> <gz:world
> xmlns:gz='http://playerstage.sourceforge.net/gazebo/xmlschema/#gz'
>
xmlns:model='http://playerstage.sourceforge.net/gazebo/xmlschema/#model'
>
xmlns:sensor='http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor'
>
xmlns:window='http://playerstage.sourceforge.net/gazebo/xmlschema/#window'
>
>
xmlns:params='http://playerstage.sourceforge.net/gazebo/xmlschema/#params'>
>
> <params:GlobalParams>
> <gravity>0.0 0.0 -9.8</gravity> <!-- Gravity vector -->
> </params:GlobalParams>
>
> <!-- GUI camera -->
> <sensor:Camera>
> <id>userCam0</id>
> <xyz>-7 -7 7</xyz>
> <rpy>0 45 -45</rpy>
> <updatePeriod>.01</updatePeriod>
> <displayLaser>false</displayLaser>
> <userMoveable>true</userMoveable>
> <lens>
> <hfov>60</hfov>
> <vfov>60</vfov>
> <nearClip>1.0</nearClip>
> <farClip>1000.0</farClip>
> </lens>
> <window>
> <title>Gazebo1</title>
> <size>640 480</size>
> <pos>0 0</pos>
> </window>
> </sensor:Camera>
>
> <model:LightSource>
> <id>0</id>
> <xyz>0.0 0.0 100.0</xyz>
> <dir>0.0 0.0 -1.0</dir>
> <ambient>1.0 1.0 1.0 1.0</ambient>
> <diffuse>0.8 0.8 0.8 1.0</diffuse>
> <spot>
> <exponent>0</exponent>
> <cutoff>0</cutoff>
> </spot>
> <attenuation>
> <constant>0.5</constant>
> <linear>0.01</linear>
> <quadratic>0.0</quadratic>
> </attenuation>
> </model:LightSource>
>
>
> <model:GroundPlane>
> <id>ground1</id>
> <normal>0.0 0.0 1.0</normal> <!-- Which way is up -->
> <height>0.0</height> <!-- The vertical height of the plane -->
> <color>0.929 0.870 0.239</color> <!-- the color of the plane -->
> <textureFile>wood.ppm</textureFile> <!-- image file to use as texture
> -->
>
> <grid>
> <normal>0.0 0.0 1.0</normal> <!-- Normal vector for the grid -->
> <height>0.1</height> <!-- How high (z direction) to place the grid
-->
> <spacing>1.0 1.0</spacing> <!-- x,y spacing of the grid lines -->
> <color>.5 .5 .5</color> <!-- the color of the grid -->
> </grid>
> </model:GroundPlane>
>
> <model:SimpleSolid>
> <xyz> 5 0 0.1 </xyz>
> <shape>box</shape>
> <size>1 1 1</size>
> <visualization>
> <ambient>1.0 1.0 1.0</ambient>
> <transparency>0.0</transparency>
> <textureFile>rarrow.PNG</textureFile>
> </visualization>
> </model:SimpleSolid>
>
> <model:SimpleSolid>
> <xyz> 0 5 0.1 </xyz>
> <shape>box</shape>
> <size>1 1 1</size>
> <visualization>
> <ambient>1.0 1.0 1.0</ambient>
> <transparency>0.0</transparency>
> <textureFile>larrow.PNG</textureFile>
> </visualization>
> </model:SimpleSolid>
>
> <model:SimpleSolid>
> <xyz> -5 0 0.1 </xyz>
> <shape>box</shape>
> <size>1 1 1</size>
> <visualization>
> <ambient>1.0 1.0 1.0</ambient>
> <transparency>0.0</transparency>
> <textureFile>darrow.PNG</textureFile>
> </visualization>
> </model:SimpleSolid>
>
> <!-- More simple solids like these here -->
>
>
> <model:Pioneer2DX>
> <id>robot1</id>
> <xyz>0 0 0.10</xyz>
> <rpy>0 0 0</rpy>
>
> <model:SonyVID30>
> <id>camera1</id>
> <xyz>-0.1 0 0.08</xyz>
> <rpy>0 0 0</rpy>
> <updatePeriod>.25</updatePeriod>
> <displayLaser>false</displayLaser>
> <userMoveable>false</userMoveable>
> <lens>
> <hfov>60</hfov>
> <vfov>40</vfov>
> <nearClip>1.0</nearClip>
> <farClip>20.0</farClip>
> </lens>
> <window>
> <title>PioneerCam</title>
> <size>320 200</size>
> <pos>700 300</pos>
> </window>
> </model:SonyVID30>
>
> <model:SickLMS200>
> <id>laser1</id>
> <xyz>-0.1 0 0</xyz>
> </model:SickLMS200>
>
> </model:Pioneer2DX>
>
> </gz:world>
> End
>
--------------------------------------------------------------------------------------------------
>
> Can you please help me fix this? Thanks.
>
> Cheers,
> Prabhu TVG
>
>
>
>
> ----Original Message Follows----
> From: ahoward <ahoward at pollux.usc.edu>
> To: Prabhu VijaiRengam <tvgprabhu at hotmail.com>
> CC: <playerstage-gazebo at lists.sourceforge.net>
> Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
> Date: Thu, 1 Apr 2004 13:56:37 -0800 (PST)
>
>
> Hi Prabhu:
>
> I have just added basic texture support to CVS HEAD (get it
> from SF using anonymous CVS); there is an example world file called
> "terrain.world" in the worlds directory.
>
> Note that the CVS version of Gazebo requires OpenSceneGraph
> http://openscenegraph.sf.net/
>
> A.
>
>
>
>
> On Thu, 1 Apr 2004, Prabhu VijaiRengam wrote:
>
> > Hi Andrew,
> >
> > Thanks for your prompt response. Would you say that this addition can
be
> > done with minor modifications to the world model and source code? I'd
> like
> > to attempt it if it is, unless the next release is just round the
corner.
> If
> > you can give me some pointers like which files may need to be modified
> and
> > such, it would be very useful to me.
> >
> > Thanks,
> > Prabhu
> >
> > ----Original Message Follows----
> > From: ahoward <ahoward at pollux.usc.edu>
> > To: Prabhu VijaiRengam <tvgprabhu at hotmail.com>
> > CC: <playerstage-gazebo at lists.sourceforge.net>
> > Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
> > Date: Wed, 31 Mar 2004 14:31:20 -0800 (PST)
> >
> >
> > Hi Prabhu:
> >
> > The answer right now is no. This capability is high on our TODO list,
> > however, so it should be available in the next release (and in CVS
> > somewhat earlier).
> >
> > A.
> >
> >
> > On Wed, 31 Mar 2004, Prabhu VijaiRengam wrote:
> >
> > > Hi,
> > >
> > > I just started playing around with gazebo so pardon my ignorance if
> this
> > is
> > > a really simple (or an immensely complex) thing to do: Is there any
> way
> > to
> > > render a texture on specified locations on the wall or on simple
> solids?
> > > Part of my work requires the robot to look around the environment
and
> > move
> > > towards the desired object, based on the image blitted on the
object's
> > > surface. 'll appreciate any tip.
> > >
> > > Thanks,
> > > Prabhu
> > >
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> >
> > Andrew Howard email: ahoward at pollux.usc.edu
> > Department of Computer Science http:
> www-robotics.usc.edu/~ahoward
> > University of Southern California phone: 1 (213) 740 6416
> > Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
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>
> Andrew Howard email: ahoward at pollux.usc.edu
> Department of Computer Science http:
www-robotics.usc.edu/~ahoward
> University of Southern California phone: 1 (213) 740 6416
> Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
> << Insert pithy saying here >>>
>
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Andrew Howard email: ahoward at pollux.usc.edu
Department of Computer Science http: www-robotics.usc.edu/~ahoward
University of Southern California phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
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