From: ahoward <ah...@po...> - 2004-04-01 22:00:55
|
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 <ah...@po...> > To: Prabhu VijaiRengam <tvg...@ho...> > CC: <pla...@li...> > 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 > > > > _________________________________________________________________ > > Find a broadband plan that fits. Great local deals on high-speed Internet > > access. > > https://broadband.msn.com/?pgmarket=en-us/go/onm00200360ave/direct/01/ > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IBM Linux Tutorials > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > GenToo technologies. Learn everything from fundamentals to system > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > Andrew Howard email: ah...@po... > 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 >>> > > _________________________________________________________________ > Get reliable access on MSN 9 Dial-up. 3 months for the price of 1! > (Limited-time offer) > http://join.msn.com/?page=dept/dialup&pgmarket=en-us&ST=1/go/onm00200361ave/direct/01/ > Andrew Howard email: ah...@po... 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 >>> |
From: ahoward <ah...@po...> - 2004-04-18 17:01:43
|
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 <=3D 0 (s=3D0.0000e+00) > Warning: CullVisitor::updateCalculatedNearFar(.) near>far in range > calculation, > correcting by swapping values d_near=3Dnan dfar=3Dnan > Warning: CullVisitor::updateCalculatedNearFar(.) near>far in range > calculation, > correcting by swapping values d_near=3Dnan dfar=3Dnan > Warning: CullVisitor::updateCalculatedNearFar(.) near>far in range > calculation, > correcting by swapping values d_near=3Dnan dfar=3Dnan > ... > > The warnings keep repeating forever slowing down gazebo to a crawl. My = world > file is (cropped): > > Start > -----------------------------------------------------------------------= -------- > > <?xml version=3D"1.0"?> > > <gz:world > xmlns:gz=3D'http://playerstage.sourceforge.net/gazebo/xmlschema/#gz' > xmlns:model=3D'http://playerstage.sourceforge.net/gazebo/xmlschema/#m= odel' > xmlns:sensor=3D'http://playerstage.sourceforge.net/gazebo/xmlschema/#= sensor' > xmlns:window=3D'http://playerstage.sourceforge.net/gazebo/xmlschema/#= window' > > xmlns:params=3D'http://playerstage.sourceforge.net/gazebo/xmlschema/#pa= rams'> > > <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 textu= re > --> > > <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 gri= d --> > <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 <ah...@po...> > To: Prabhu VijaiRengam <tvg...@ho...> > CC: <pla...@li...> > 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 ca= n 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 co= rner. > If > > you can give me some pointers like which files may need to be modifi= ed > and > > such, it would be very useful to me. > > > > Thanks, > > Prabhu > > > > ----Original Message Follows---- > > From: ahoward <ah...@po...> > > To: Prabhu VijaiRengam <tvg...@ho...> > > CC: <pla...@li...> > > 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 lis= t, > > 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 a= ny > 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 obj= ect's > > > surface. 'll appreciate any tip. > > > > > > Thanks, > > > Prabhu > > > > > > _________________________________________________________________ > > > Find a broadband plan that fits. Great local deals on high-speed > Internet > > > access. > > > https://broadband.msn.com/?pgmarket=3Den-us/go/onm00200360ave/dir= ect/01/ > > > > > > > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by: IBM Linux Tutorials > > > Free Linux tutorial presented by Daniel Robbins, President and CE= O of > > > GenToo technologies. Learn everything from fundamentals to system > > > administration.http://ads.osdn.com/?ad_id=3D1470&alloc_id=3D3638&= op=3Dclick > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Pla...@li... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > Andrew Howard email: ah...@po...c.ed= u > > 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 >>> > > > > _________________________________________________________________ > > Get reliable access on MSN 9 Dial-up. 3 months for the price of 1! > > (Limited-time offer) > > > http://join.msn.com/?page=3Ddept/dialup&pgmarket=3Den-us&ST=3D1/go/onm0= 0200361ave/direct/01/ > > > > Andrew Howard email: ah...@po... > Department of Computer Science http: www-robotics.usc.edu/~ah= oward > 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 >>> > > _________________________________________________________________ > FREE pop-up blocking with the new MSN Toolbar =96 get it now! > http://toolbar.msn.com/go/onm00200415ave/direct/01/ > Andrew Howard email: ah...@po... Department of Computer Science http: www-robotics.usc.edu/~ahow= ard 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 >>> |
From: Prabhu V. <tvg...@ho...> - 2004-04-18 17:32:56
|
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 <ah...@po...> To: Prabhu VijaiRengam <tvg...@ho...> CC: <pla...@li...> 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 <ah...@po...> > To: Prabhu VijaiRengam <tvg...@ho...> > CC: <pla...@li...> > 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 <ah...@po...> > > To: Prabhu VijaiRengam <tvg...@ho...> > > CC: <pla...@li...> > > 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 > > > > > > _________________________________________________________________ > > > Find a broadband plan that fits. Great local deals on high-speed > Internet > > > access. > > > https://broadband.msn.com/?pgmarket=en-us/go/onm00200360ave/direct/01/ > > > > > > > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by: IBM Linux Tutorials > > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > > GenToo technologies. Learn everything from fundamentals to system > > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Pla...@li... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > Andrew Howard email: ah...@po... > > 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 >>> > > > > _________________________________________________________________ > > Get reliable access on MSN 9 Dial-up. 3 months for the price of 1! > > (Limited-time offer) > > > http://join.msn.com/?page=dept/dialup&pgmarket=en-us&ST=1/go/onm00200361ave/direct/01/ > > > > Andrew Howard email: ah...@po... > 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 >>> > > _________________________________________________________________ > FREE pop-up blocking with the new MSN Toolbar get it now! > http://toolbar.msn.com/go/onm00200415ave/direct/01/ > Andrew Howard email: ah...@po... 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 >>> _________________________________________________________________ Check out MSN PC Safety & Security to help ensure your PC is protected and safe. http://specials.msn.com/msn/security.asp |
From: Prabhu V. <tvg...@ho...> - 2004-04-19 05:47:45
|
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 _________________________________________________________________ From must-see cities to the best beaches, plan a getaway with the Spring Travel Guide! http://special.msn.com/local/springtravel.armx |
From: ahoward <ah...@po...> - 2004-04-19 15:57:03
|
Hi Prabhu: We will look into it. Be aware that you are right on the bleeding-edge, and there is a lot of work being done on the rendering engine right now. One clarification: did you have textures working ok at one point, but then update from CVS and have them stop working? A. P.S. You are, of course, welcome to dive into the code to do your own debugging. Take a look in server/bodies/GeomDrawable.cc as a starting point. On Mon, 19 Apr 2004, Prabhu VijaiRengam wrote: > 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 > > _________________________________________________________________ > >From must-see cities to the best beaches, plan a getaway with the Spring > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IBM Linux Tutorials > Free Linux tutorial presented by Daniel Robbins, President and CEO of > GenToo technologies. Learn everything from fundamentals to system > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > Andrew Howard email: ah...@po... 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 >>> |
From: Prabhu V. <tvg...@ho...> - 2004-04-18 18:38:17
Attachments:
Camera.png
guicamera.png
|
Hi Andrew, I have another question. The images from the SonyVID30 camera is kind of dull (see attached image). Putting in more light sources or tweaking the ambient/diffuse parameters of the light source and solids don't seem to affect the camera image at all. The GUI camera on the other hand looks washed out from the light (see guicamera.png). This is another thing that used to work fine with RH9 earlier. Why does this happen? Cheers, Prabhu TVG ----Original Message Follows---- From: ahoward <ah...@po...> To: Prabhu VijaiRengam <tvg...@ho...> CC: <pla...@li...> 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 <ah...@po...> > To: Prabhu VijaiRengam <tvg...@ho...> > CC: <pla...@li...> > 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 <ah...@po...> > > To: Prabhu VijaiRengam <tvg...@ho...> > > CC: <pla...@li...> > > 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 > > > > > > _________________________________________________________________ > > > Find a broadband plan that fits. Great local deals on high-speed > Internet > > > access. > > > https://broadband.msn.com/?pgmarket=en-us/go/onm00200360ave/direct/01/ > > > > > > > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by: IBM Linux Tutorials > > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > > GenToo technologies. Learn everything from fundamentals to system > > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Pla...@li... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > Andrew Howard email: ah...@po... > > 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 >>> > > > > _________________________________________________________________ > > Get reliable access on MSN 9 Dial-up. 3 months for the price of 1! > > (Limited-time offer) > > > http://join.msn.com/?page=dept/dialup&pgmarket=en-us&ST=1/go/onm00200361ave/direct/01/ > > > > Andrew Howard email: ah...@po... > 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 >>> > > _________________________________________________________________ > FREE pop-up blocking with the new MSN Toolbar get it now! > http://toolbar.msn.com/go/onm00200415ave/direct/01/ > Andrew Howard email: ah...@po... 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 >>> _________________________________________________________________ MSN Toolbar provides one-click access to Hotmail from any Web page FREE download! http://toolbar.msn.com/go/onm00200413ave/direct/01/ |
From: Prabhu V. <tvg...@ho...> - 2004-04-19 17:00:45
|
Hi Andrew, Yes, I had the textures looking fine under RH9. I then upgraded to Fedora1, reinstalled gazebo & OSG. The above mentioned dullness started happening after that. I don't presume that the problem is due to the Fedora upgrade. Were there lot of changes to CVS between yesterday and a couple of weeks back? Is it possible for anonymous users to view the differences in CVS? I will also attempt my own debugging. Thanks for pointing out where to start. Cheers, Prabhu ----Original Message Follows---- From: ahoward <ah...@po...> To: Prabhu VijaiRengam <tvg...@ho...> CC: <pla...@li...> Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls Date: Mon, 19 Apr 2004 08:54:38 -0700 (PDT) Hi Prabhu: We will look into it. Be aware that you are right on the bleeding-edge, and there is a lot of work being done on the rendering engine right now. One clarification: did you have textures working ok at one point, but then update from CVS and have them stop working? A. P.S. You are, of course, welcome to dive into the code to do your own debugging. Take a look in server/bodies/GeomDrawable.cc as a starting point. On Mon, 19 Apr 2004, Prabhu VijaiRengam wrote: > 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 > > _________________________________________________________________ > >From must-see cities to the best beaches, plan a getaway with the Spring > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IBM Linux Tutorials > Free Linux tutorial presented by Daniel Robbins, President and CEO of > GenToo technologies. Learn everything from fundamentals to system > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > Andrew Howard email: ah...@po... 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 >>> _________________________________________________________________ FREE pop-up blocking with the new MSN Toolbar get it now! http://toolbar.msn.com/go/onm00200415ave/direct/01/ |
From: ahoward <ah...@po...> - 2004-04-19 17:23:27
|
Ok, the problem is that there are changes in CVS, not the OS upgrade. If you copy your old source tree to your new machine, things should work jus= t fine. You can view the CVS repository here: http://cvs.sourceforge.net/viewcvs.py/playerstage A. On Mon, 19 Apr 2004, Prabhu VijaiRengam wrote: > Hi Andrew, > > Yes, I had the textures looking fine under RH9. I then upgraded to Fedo= ra1, > reinstalled gazebo & OSG. The above mentioned dullness started happenin= g > after that. I don't presume that the problem is due to the Fedora upgra= de. > Were there lot of changes to CVS between yesterday and a couple of week= s > back? Is it possible for anonymous users to view the differences in CVS= ? I > will also attempt my own debugging. Thanks for pointing out where to st= art. > > Cheers, > Prabhu > > > > > ----Original Message Follows---- > From: ahoward <ah...@po...> > To: Prabhu VijaiRengam <tvg...@ho...> > CC: <pla...@li...> > Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls > Date: Mon, 19 Apr 2004 08:54:38 -0700 (PDT) > > > Hi Prabhu: > > We will look into it. Be aware that you are right on the bleeding-edge= , > and there is a lot of work being done on the rendering engine right now. > One clarification: did you have textures working ok at one point, but > then update from CVS and have them stop working? > > A. > > P.S. You are, of course, welcome to dive into the code to do your own > debugging. Take a look in server/bodies/GeomDrawable.cc as a starting > point. > > > On Mon, 19 Apr 2004, Prabhu VijaiRengam wrote: > > > 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 dul= l > image. > > The GUI camera however, showed a dark world with the lights turned o= ff. > 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 ligh= t > 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 > > > > _________________________________________________________________ > > >From must-see cities to the best beaches, plan a getaway with the S= pring > > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IBM Linux Tutorials > > Free Linux tutorial presented by Daniel Robbins, President and CEO o= f > > GenToo technologies. Learn everything from fundamentals to system > > administration.http://ads.osdn.com/?ad_id=3D1470&alloc_id=3D3638&op=3D= click > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > Andrew Howard email: ah...@po... > Department of Computer Science http: www-robotics.usc.edu/~ah= oward > 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 >>> > > _________________________________________________________________ > FREE pop-up blocking with the new MSN Toolbar =96 get it now! > http://toolbar.msn.com/go/onm00200415ave/direct/01/ > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IBM Linux Tutorials > Free Linux tutorial presented by Daniel Robbins, President and CEO of > GenToo technologies. Learn everything from fundamentals to system > administration.http://ads.osdn.com/?ad_id=3D1470&alloc_id=3D3638&op=3Dc= lick > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > Andrew Howard email: ah...@po... Department of Computer Science http: www-robotics.usc.edu/~ahow= ard 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 >>> |
From: Nathan K. <nk...@ro...> - 2004-04-21 23:29:54
|
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 <tvg...@ho...> > > To: ah...@po... > > Cc: pla...@li... > > 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 > > > > _________________________________________________________________ > >> From must-see cities to the best beaches, plan a getaway with the Spring > > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IBM Linux Tutorials > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > GenToo technologies. Learn everything from fundamentals to system > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > |
From: Prabhu V. <tvg...@ho...> - 2004-04-22 04:33:59
|
Hi Andrew, I got the earlier version as you suggested but the camera image still seems dull. I figured I just have to enhance the image by some other means. But the camera pixel data from that old version seemed to contain only the background image (10b10b...). The latest version's image data just shows some vertical lines. Just to clarify, the pixel data is sequential rgb, right? Cheers, Prabhu _________________________________________________________________ Stop worrying about overloading your inbox - get MSN Hotmail Extra Storage! http://join.msn.com/?pgmarket=en-us&page=hotmail/es2&ST=1/go/onm00200362ave/direct/01/ |
From: Nathan K. <nk...@ro...> - 2004-04-22 15:23:17
|
Hello Prabhu, The camera images you are refering to, are they the on-screen version or the actual image data you receive via libgazebo and player? The data should be sequential rgb values where each value is an unsigned byte. -nate Quoting Prabhu VijaiRengam <tvg...@ho...>: > Hi Andrew, > > I got the earlier version as you suggested but the camera image still seems > dull. I figured I just have to enhance the image by some other means. But > the camera pixel data from that old version seemed to contain only the > background image (10b10b...). The latest version's image data just shows > some vertical lines. Just to clarify, the pixel data is sequential rgb, > right? > > Cheers, > Prabhu > > _________________________________________________________________ > Stop worrying about overloading your inbox - get MSN Hotmail Extra Storage! > http://join.msn.com/?pgmarket=en-us&page=hotmail/es2&ST=1/go/onm00200362ave/direct/01/ > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IBM Linux Tutorials > Free Linux tutorial presented by Daniel Robbins, President and CEO of > GenToo technologies. Learn everything from fundamentals to system > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo |
From: Prabhu V. <tvg...@ho...> - 2004-04-22 23:34:43
|
Hi Nate, Thanks for your immediate response. I got the latest version of gazebo a while ago and now the camera data shows up properly. I have a question regarding the image format though: I am able to view the raw data in xnview when I set the read option to RGB interleaved. What does this format mean? Is the data just RGB values for each pixel dumped in the file in row major format? BTW, I always used to get these warnings while running bootstrap. Should I read anything into this? configure: WARNING: osg/Object: present but cannot be compiled configure: WARNING: osg/Object: check for missing prerequisite headers? configure: WARNING: osg/Object: proceeding with the preprocessor's result configure: WARNING: ## -- ## configure: WARNING: ## Report this to bug...@gn.... ## configure: WARNING: ## -- ## The dullness in image still haunts me. Here is the URL for my world file and what I see in the camera windows: http://people.vanderbilt.edu/~thanjavur.v.prabhu/gazebowoe.html Please have a look. Thank you. Cheers, Prabhu ----Original Message Follows---- From: Nathan Koenig <nk...@ro...> To: tvg...@ho... CC: pla...@li... 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 <tvg...@ho...> > > To: ah...@po... > > Cc: pla...@li... > > 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 > > > > _________________________________________________________________ > >> From must-see cities to the best beaches, plan a getaway with the Spring > > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IBM Linux Tutorials > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > GenToo technologies. Learn everything from fundamentals to system > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > _________________________________________________________________ FREE pop-up blocking with the new MSN Toolbar get it now! http://toolbar.msn.com/go/onm00200415ave/direct/01/ |
From: Prabhu V. <tvg...@ho...> - 2004-04-23 05:01:19
|
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 <nk...@ro...> To: tvg...@ho... CC: pla...@li... 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 <tvg...@ho...> > > To: ah...@po... > > Cc: pla...@li... > > 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 > > > > _________________________________________________________________ > >> From must-see cities to the best beaches, plan a getaway with the Spring > > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IBM Linux Tutorials > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > GenToo technologies. Learn everything from fundamentals to system > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > _________________________________________________________________ Watch LIVE baseball games on your computer with MLB.TV, included with MSN Premium! http://join.msn.com/?page=features/mlb&pgmarket=en-us/go/onm00200439ave/direct/01/ |
From: Nathan K. <nk...@ro...> - 2004-04-23 15:47:59
|
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 <tvg...@ho...>: > 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 <nk...@ro...> > To: tvg...@ho... > CC: pla...@li... > 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 <tvg...@ho...> > > > To: ah...@po... > > > Cc: pla...@li... > > > 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 > > > > > > _________________________________________________________________ > > >> From must-see cities to the best beaches, plan a getaway with the > Spring > > > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > > > > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by: IBM Linux Tutorials > > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > > GenToo technologies. Learn everything from fundamentals to system > > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Pla...@li... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > > > > _________________________________________________________________ > Watch LIVE baseball games on your computer with MLB.TV, included with MSN > Premium! > http://join.msn.com/?page=features/mlb&pgmarket=en-us/go/onm00200439ave/direct/01/ > > > > ------------------------------------------------------- > This SF.net email is sponsored by: The Robotic Monkeys at ThinkGeek > For a limited time only, get FREE Ground shipping on all orders of $35 > or more. Hurry up and shop folks, this offer expires April 30th! > http://www.thinkgeek.com/freeshipping/?cpg=12297 > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo |
From: Prabhu V. <tvg...@ho...> - 2004-04-23 13:48:44
|
Hi Nate, They are the actual pixel data. The onscreen version looked fine. Actually, I got correct images after checking out the latest version yesterday. Prior to that I just had the background (reddish-blue) showing up in some version and some random vertical lines in another. I was sure that they were rgb values, but my viewer (xnview) showed the image dumps when the read option was set to rgb-interleaved. There was also an rgb-sequential option that did not show up well in xnview. Anyway, it doesn't matter as long as the data is sequential rgb values for pixels in each row (Aren't they?). Thanks. Cheers, Prabhu ----Original Message Follows---- From: Nathan Koenig <nk...@ro...> To: Prabhu VijaiRengam <tvg...@ho...> CC: pla...@li... Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls Date: Thu, 22 Apr 2004 08:23:07 -0700 Hello Prabhu, The camera images you are refering to, are they the on-screen version or the actual image data you receive via libgazebo and player? The data should be sequential rgb values where each value is an unsigned byte. -nate Quoting Prabhu VijaiRengam <tvg...@ho...>: >Hi Andrew, > >I got the earlier version as you suggested but the camera image still seems >dull. I figured I just have to enhance the image by some other means. But >the camera pixel data from that old version seemed to contain only the >background image (10b10b...). The latest version's image data just shows >some vertical lines. Just to clarify, the pixel data is sequential rgb, >right? > >Cheers, >Prabhu > >_________________________________________________________________ >Stop worrying about overloading your inbox - get MSN Hotmail Extra Storage! >http://join.msn.com/?pgmarket=en-us&page=hotmail/es2&ST=1/go/onm00200362ave/direct/01/ > > > >------------------------------------------------------- >This SF.Net email is sponsored by: IBM Linux Tutorials >Free Linux tutorial presented by Daniel Robbins, President and CEO of >GenToo technologies. Learn everything from fundamentals to system >administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click >_______________________________________________ >Playerstage-gazebo mailing list >Pla...@li... >https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo _________________________________________________________________ FREE pop-up blocking with the new MSN Toolbar get it now! http://toolbar.msn.com/go/onm00200415ave/direct/01/ |
From: Prabhu V. <tvg...@ho...> - 2004-04-24 08:14:28
|
Hi Nate, Yeah, the dimness is kinda unique to me right now. For now, I'm using flexible behaviors in my system to get the robot close to an object before analyzing the image. But it would be great if the image can be made to show up brighter than this. I've attached my glxinfo output at the end of this mail. Please let me know if you find out something. I figured out the rgb format by dumping before I read your mail. Thanks for that bit about PNM file format though. That makes it a lot easier to view the images than RAW format which is only supported by some obscure image viewers. That tip on falling objects was very useful too. Thank you very much for your time. Cheers, Prabhu --- glxinfo output: name of display: :0.0 display: :0 screen: 0 direct rendering: Yes server glx vendor string: SGI server glx version string: 1.2 server glx extensions: GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_EXT_import_context client glx vendor string: SGI client glx version string: 1.2 client glx extensions: GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_EXT_import_context GLX extensions: GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_EXT_import_context OpenGL vendor string: Tungsten Graphics, Inc. OpenGL renderer string: Mesa DRI Radeon 20020611 AGP 1x x86/MMX/SSE TCL OpenGL version string: 1.2 Mesa 4.0.4 OpenGL extensions: GL_ARB_imaging, GL_ARB_multisample, GL_ARB_multitexture, GL_ARB_texture_border_clamp, GL_ARB_texture_compression, GL_ARB_texture_env_add, GL_ARB_texture_env_combine, GL_ARB_texture_env_dot3, GL_ARB_texture_mirrored_repeat, GL_ARB_transpose_matrix, GL_EXT_abgr, GL_EXT_bgra, GL_EXT_blend_color, GL_EXT_blend_logic_op, GL_EXT_blend_minmax, GL_EXT_blend_subtract, GL_EXT_clip_volume_hint, GL_EXT_convolution, GL_EXT_compiled_vertex_array, GL_EXT_histogram, GL_EXT_packed_pixels, GL_EXT_polygon_offset, GL_EXT_rescale_normal, GL_EXT_secondary_color, GL_EXT_texture3D, GL_EXT_texture_env_add, GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3, GL_EXT_texture_filter_anisotropic, GL_EXT_texture_object, GL_EXT_texture_lod_bias, GL_EXT_vertex_array, GL_IBM_rasterpos_clip, GL_IBM_texture_mirrored_repeat, GL_MESA_window_pos, GL_NV_blend_square, GL_NV_texgen_reflection, GL_SGI_color_matrix, GL_SGI_color_table, GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp glu version: 1.3 glu extensions: GLU_EXT_nurbs_tessellator, GLU_EXT_object_space_tess visual x bf lv rg d st colorbuffer ax dp st accumbuffer ms cav id dep cl sp sz l ci b ro r g b a bf th cl r g b a ns b eat ---------------------------------------------------------------------- 0x23 16 tc 0 16 0 r . . 5 6 5 0 0 16 0 0 0 0 0 0 0 None 0x24 16 tc 0 16 0 r . . 5 6 5 0 0 16 8 0 0 0 0 0 0 None 0x25 16 tc 0 16 0 r . . 5 6 5 0 0 16 0 16 16 16 0 0 0 Slow 0x26 16 tc 0 16 0 r . . 5 6 5 0 0 16 8 16 16 16 0 0 0 Slow 0x27 16 tc 0 16 0 r y . 5 6 5 0 0 16 0 0 0 0 0 0 0 None 0x28 16 tc 0 16 0 r y . 5 6 5 0 0 16 8 0 0 0 0 0 0 None 0x29 16 tc 0 16 0 r y . 5 6 5 0 0 16 0 16 16 16 0 0 0 Slow 0x2a 16 tc 0 16 0 r y . 5 6 5 0 0 16 8 16 16 16 0 0 0 Slow 0x2b 16 dc 0 16 0 r . . 5 6 5 0 0 16 0 0 0 0 0 0 0 None 0x2c 16 dc 0 16 0 r . . 5 6 5 0 0 16 8 0 0 0 0 0 0 None 0x2d 16 dc 0 16 0 r . . 5 6 5 0 0 16 0 16 16 16 0 0 0 Slow 0x2e 16 dc 0 16 0 r . . 5 6 5 0 0 16 8 16 16 16 0 0 0 Slow 0x2f 16 dc 0 16 0 r y . 5 6 5 0 0 16 0 0 0 0 0 0 0 None 0x30 16 dc 0 16 0 r y . 5 6 5 0 0 16 8 0 0 0 0 0 0 None 0x31 16 dc 0 16 0 r y . 5 6 5 0 0 16 0 16 16 16 0 0 0 Slow 0x32 16 dc 0 16 0 r y . 5 6 5 0 0 16 8 16 16 16 0 0 0 Slow End ------------ ----Original Message Follows---- From: Nathan Koenig <nk...@ro...> To: Prabhu VijaiRengam <tvg...@ho...> CC: pla...@li... Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls Date: Fri, 23 Apr 2004 08:45:37 -0700 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 <tvg...@ho...>: >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 <nk...@ro...> >To: tvg...@ho... >CC: pla...@li... >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 <tvg...@ho...> > > > To: ah...@po... > > > Cc: pla...@li... > > > 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 > > > > > > _________________________________________________________________ > > >> From must-see cities to the best beaches, plan a getaway with the >Spring > > > Travel Guide! http://special.msn.com/local/springtravel.armx > > > > > > > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by: IBM Linux Tutorials > > > Free Linux tutorial presented by Daniel Robbins, President and CEO of > > > GenToo technologies. Learn everything from fundamentals to system > > > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Pla...@li... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > > > >_________________________________________________________________ >Watch LIVE baseball games on your computer with MLB.TV, included with MSN >Premium! >http://join.msn.com/?page=features/mlb&pgmarket=en-us/go/onm00200439ave/direct/01/ > > > >------------------------------------------------------- >This SF.net email is sponsored by: The Robotic Monkeys at ThinkGeek >For a limited time only, get FREE Ground shipping on all orders of $35 >or more. Hurry up and shop folks, this offer expires April 30th! >http://www.thinkgeek.com/freeshipping/?cpg=12297 >_______________________________________________ >Playerstage-gazebo mailing list >Pla...@li... >https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo _________________________________________________________________ From must-see cities to the best beaches, plan a getaway with the Spring Travel Guide! http://special.msn.com/local/springtravel.armx |
From: Prabhu V. <tvg...@ho...> - 2004-04-26 02:08:45
|
Hi Nate, Couple of quick questions: * The objects in the world tend to slowly drift aimlessly. Is there a way to stop them from doing this? * Can I make the simple solids heavy? Right now when a robot runs into a solid, it displaces the object a little. Cheers, Prabhu _________________________________________________________________ Get rid of annoying pop-up ads with the new MSN Toolbar FREE! http://toolbar.msn.com/go/onm00200414ave/direct/01/ |
From: Prabhu V. <tvg...@ho...> - 2004-04-28 02:26:32
|
Hi Nate, I tried adding mass to the solids. Do you remember the world file I sent you earlier? I had added a series of pillars lying on their sides around the cubes. The snippet of world file is: <!-- Wall --> <model:SimpleSolid> <xyz> -6 0 0.5 </xyz> <shape>box</shape> <size>0.5 11.25 0.5</size> <color>0.4 0.1 0.1</color> <mass> 500.0 </mass> </model:SimpleSolid> <model:SimpleSolid> <xyz> 6 0 0.5 </xyz> <shape>box</shape> <size>0.5 11.25 0.5</size> <color>0.4 0.1 0.1</color> <mass> 500.0 </mass> </model:SimpleSolid> <model:SimpleSolid> <xyz>0 -6 0.5 </xyz> <shape>box</shape> <size>11.25 0.5 0.5</size> <color>0.4 0.1 0.1</color> <mass> 500.0 </mass> </model:SimpleSolid> <model:SimpleSolid> <xyz> 0 6 0.5 </xyz> <shape>box</shape> <size>11.25 0.5 0.5</size> <color>0.4 0.1 0.1</color> <mass> 500.0 </mass> </model:SimpleSolid> When I didn't set any mass, the objects drifted aways slowly over a period of time. A mass of 100 seemed to accelarate this effect. A value of 1000 produced something interesting: the objects sunk! 500 made them look like they were floating - bobbing up and down and stuff. No, I haven't solved the brightness problem. I am actually using libGazebo interface, not player interface. So I'm not sure if your tip will be helpful. But it is an interesting nugget of information. If you are asking about the image format issue I had, I have figured that out, thanks to your help. ATI drivers? Hmmm. The last time I attempted to twiddle with my display I ended up reinstalling the OS. (That's how I got Fedora installed :) Linux is a new playing field for me. I'll add your suggestion to my summer break things to do though. Cheers, Prabhu ----Original Message Follows---- From: Nathan Koenig <nk...@ro...> To: Prabhu VijaiRengam <tvg...@ho...> Subject: Re: [PlayerStage-Gazebo] Texture on simple solids/walls Date: Mon, 26 Apr 2004 13:56:32 -0700 Hi Prabhu, I assume that the drifting objects are on a flat surface, and have not collided with anything. If that is the case, you can try adjusting the mass of the object in order to prevent it from drifting. In general, however, a newly created oject should not drift. Try starting the simulation with fewer objects, and slowly add more until (if) you find the culprit of the drift. You can give objects more mass via the "mass" attribute. E.g: <mass>10</mass> Would give a simplesolid a mass of 10 kg. Have you solved your image problem? If not, try adding the "save 1" tag to the camera config in your player config file, like : camera:0 ( driver "gz_camera" gz_id "camera1" save 1 ) This will cause player to spit out a series of pnm files from the camera. I didn't notice anything wrong with your glx information. I think you have an ATI graphics card, but are using the Mesa OpenGL drivers. You might want to consider using the ATI drivers. ATI's website should contain information on how to download and install them. Good luck, -nate Quoting Prabhu VijaiRengam <tvg...@ho...>: >Hi Nate, > >Couple of quick questions: >* The objects in the world tend to slowly drift aimlessly. Is there a way >to >stop them from doing this? >* Can I make the simple solids heavy? Right now when a robot runs into a >solid, it displaces the object a little. > >Cheers, >Prabhu > >_________________________________________________________________ >Get rid of annoying pop-up ads with the new MSN Toolbar FREE! >http://toolbar.msn.com/go/onm00200414ave/direct/01/ _________________________________________________________________ Get rid of annoying pop-up ads with the new MSN Toolbar FREE! http://toolbar.msn.com/go/onm00200414ave/direct/01/ |