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Map scaling between Stage and RViz

asked 2015-01-07 08:13:07 -0500

DKS gravatar image

I'm trying to simulate a custom map in stage using RViz to send goals to the simulated robot. I recorded the map using a Turtlebot and the map scale is 0.05 according to the .yaml file. When I open RViz and take a look at the laser scan I see that the distance measured is scaled incorrectly as you can see in the screenshot. image description

I also set the map resolution to 0.05 in the stage world file:

define block model
(
  size [0.5 0.5 0.5]
  gui_nose 0
)

define topurg ranger
(
    sensor(             
    range [ 0.0  30.0 ]
    fov 270.25
   samples 1081
  )

  # generic model properties
  color "black"
  size [ 0.05 0.05 0.1 ]
)

define erratic position
(
  #size [0.415 0.392 0.25]
  size [0.35 0.35 0.25]
  origin [-0.05 0 0 0]
  gui_nose 1
  drive "diff"
  topurg(pose [ 0.050 0.000 0 0.000 ])
)

define floorplan model
(
  # sombre, sensible, artistic
  color "gray30"

  # most maps will need a bounding box
  boundary 1

  gui_nose 0
  gui_grid 0

  gui_outline 0
  gripper_return 0
  fiducial_return 0
  laser_return 1
)

# set the resolution of the underlying raytrace model in meters
resolution 0.05

interval_sim 100  # simulation timestep in milliseconds


window
( 
  size [ 745.000 448.000 ] 

  #rotate [ 0.000 0.0 ]
  scale 10 
)

# load an environment bitmap
floorplan
( 
  name "cave"
  size [51.2 62.4 0.5]
  pose [-25.7 31.2  0 00.000 ]
  bitmap "bitmaps/dks4e.png"
)

# throw in a robot
erratic( pose [ -20.00000 13.8 0.000000 0 ] name "era" color "blue")

This is the .yaml file:

image: dks4e.png
resolution: 0.050000
origin: [-34.600000, -13.800000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

The resolution of dks4e.png file is 1024x1248 pixels. So which value do I need to edit to get the scaling between Stage and RViz right?

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Comments

I don't really see anything wrong with this file you posted, the values of 51.2 and 62.4 look like they should work to me.

William gravatar image William  ( 2015-01-07 16:10:33 -0500 )edit

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answered 2016-03-13 10:30:37 -0500

gavran gravatar image

I believe that the pose in .world file should be (-9.0, 17.4) = (-34.6+51.2/2, -13.8+62.4/2). How did you come to your numbers? Furthermore, do you have a black border around the image file? (otherwise stage trims part of the image). I recently ran into same problem, so I summarized all that I found about it in this post

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Asked: 2015-01-07 08:11:57 -0500

Seen: 1,916 times

Last updated: Mar 13 '16