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roomba stage simulation roomba_isr_floor0.world

asked 2013-01-22 11:50:17 -0500

searchrescue gravatar image

updated 2013-01-28 14:49:33 -0500

Hi Everyone, I am practicing the tutorial here. i am using ros groovy on ubuntu 12.10. i am getting the following error; [Loading roomba_isr_floor0.world][Image "/lse_ressources/isr_maps/maps/isr_floor0.pgm"failed to open file: /lse_ressources/isr_maps/maps/isr_floor0.pgm

I can see the window for a second then it disappears, i checked the directory /opt/ros/groovy/stacks/navigation_tutorials/roomba_stage/maps

and i have only these two files.

  • lse_arena.pgm

  • lse_arena.yaml

I have created the world file roomba_isr_floor0.world into the roomba_stage directory though.

Thanks.

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answered 2013-01-29 04:25:33 -0500

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).

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answered 2014-09-18 07:05:25 -0500

tonyParker gravatar image

I am also trying to do the same Tutorial but using ROS Fuerte and using this package :

http://www.ros.org/browse/details.php...

My stage version is 4.1.1

But when I run first command : rosrun stage stageros roomba_isr_floor0.world

It gives this error

failed to open file: /home/blazz/myStacks/lse_ressources/isr_maps/maps/isr_floor0.pgm

The path given in .world file seems to be wrong but how I find this file ?

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Asked: 2013-01-22 11:50:17 -0500

Seen: 367 times

Last updated: Sep 18 '14