[PlayerStage-Gazebo] Texture on simple solids/walls

[Nathan Koenig]

Hi Prabhu,

I took a look at your world file, and everything seems to be correct.
Unfortunately, I cannot reproduce the dim texture problem (and your textures
are abnormally dim). You mentioned that gazebo worked better before you
upgraded your operating system. Could you run glxinfo and send the output?

For the image data, I beleive that every pixel is represented by three 
bytes of
data. The first byte for red, second green, and third blue. The data should be
in row major order. If you want to make sure that you are receiving the image
data properly, just dump the data to a file with the following header:
   "P6
    # Gazebo
    [imageWidth] [imageHeight]
    255"
The resulting file is a '.pnm' file, and should be readable by most viewing
applications.

Generally there are two reasons the robots/objects fall when gazebo 
starts. The
first, and most common, occurs when the initial starting position of an object
is embedded within another object. I beleive this is the case for you. Your
simple solids are placed slighltly within the ground plane causing them 
to jump
out when Gazebo starts. The second case happens when the object is intially
started far up in the sky. The optimal placement for an object, if you do not
want it to fall, is to place it slightly (as in a few centimeters) above the
ground plane. This will guarantee the object to be free of the ground, and the
intial fall will be very slight.

I'll try looking into the texture problem some more,

-nate

Quoting Prabhu VijaiRengam <tvgprabhu at hotmail.com>:

> Hi Nate,
>
> Sorry for bombarding you with mails like this. Why do the robots and objects
> always fall into the environment? Is there a way to place them in gently?
>
> Cheers,
> Prabhu
>
>
>
>
> ----Original Message Follows----
> From: Nathan Koenig <nkoenig at robotics.usc.edu>
> To: tvgprabhu at hotmail.com
> CC: playerstage-gazebo at lists.sourceforge.net
> Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
> Date: Wed, 21 Apr 2004 16:26:30 -0700
>
> Hi Prabhu,
>
> I would grab the latest version of cvs. A few fixes have been made related
> to
> textures and multiple cameras.
>
> I you want a brighter texture image, I would decrease the attenuation of the
> light source and remove any transparency from the objects. For a list of
> available features for the various objects, look in example1.world. This
> world
> file contains most of the configurations parameters. In particular, the last
> model contains a "visualization" section where one can set rendering
> parameters
> of a model. This "visualization" section can be applied to any model.
>
> If you still notice problems, could you send your world file and possibly a
> URL
> to a sample image?
>
> Thanks,
>
> -nate
>
>  > > ---------- Forwarded message ----------
>  > > Date: Mon, 19 Apr 2004 05:47:20 +0000
>  > > From: Prabhu VijaiRengam <tvgprabhu at hotmail.com>
>  > > To: ahoward at pollux.usc.edu
>  > > Cc: playerstage-gazebo at lists.sourceforge.net
>  > > Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls
>  > >
>  > > Hi Andrew,
>  > >
>  > > I hope you got to see the images that I'd sent earlier. The message
> that I
>  > > sent to the group is waiting for the moderator's approval due to its
> size.
>  > >
>  > > I have some more inputs to the dull image problem I reported earlier.
> The
>  > > image seen by the SonyVID camera seems to be unaffected by the light
> source.
>  > > I turned off the light source and still saw pretty much the same dull
> image.
>  > > The GUI camera however, showed a dark world with the lights turned off.
> The
>  > > ambience property of the simple solid helped a bit in improving the
>  > > brightness of the robot mounted camera. I even tried to place a light
> source
>  > > near a simple solid to try and increase its brightness to no avail.
> What the
>  > > other properties of simple solid and camera that I can tweak? Where can
> I
>  > > find a list of attributes? Thanks.
>  > >
>  > > Cheers,
>  > > Prabhu
>  > >
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