Revision history [back]

That world file is meant for ROS Electric (Stage 3.2.2) and not for ROS Fuerte and ROS Groovy (both employ Stage 4.1.1). The code fails because in Stage 4.1.1, every point is defined by 4 parameters (x,y,z,theta) and not by 3 parameters. Hence the buggy part of the code is

    size [0.33 0.33 0.1]

    # This block approximates the circular shape of a Roomba
    block
    ( 
       points 16
       point[0]  [ 0.225 0.000 ]
       point[1]  [ 0.208 0.086 ]
       point[2]  [ 0.159 0.159 ]
       point[3]  [ 0.086 0.208 ]
       point[4]  [ 0.000 0.225 ]
       point[5]  [ -0.086 0.208 ]
       point[6]  [ -0.159 0.159 ]
       point[7]  [ -0.208 0.086 ]
       point[8]  [ -0.225 0.000 ]
       point[9]  [ -0.208 -0.086 ]
       point[10] [ -0.159 -0.159 ]
       point[11] [ -0.086 -0.208 ]
       point[12] [ -0.000 -0.225 ]
       point[13] [ 0.086 -0.208 ]
       point[14] [ 0.159 -0.159 ]
       point[15] [ 0.208 -0.086 ]

       color "gray50"
    )

Also this code uses laser and not ranger, the API changed from Stage 3.X.X to Stage 4.X.X. For help on that have a look here -- http://blog.aus10.org/?p=125.

So, you may have to put in some labour to make that world file work in ROS Groovy (Stage 4.1.1).