[PlayerStage-Gazebo] problems with player and gazebo CVS

Thu, 31 May 2007 12:43:40 -0700 

Hello again

Maybe this is a problem of gazebo and not of player, but because i change both  
to CVS i am sending this message to both forums

Yesterday i install the CVS versions of player and gazebo and now i have the 
following problems
1) when i try to save frames with the ObserverCam all of them ar saved in 
grayscale (extension pgm). This didnt happend with the player and gazebo 
release versions. The image of the ObserverCam is in color and is correct. the 
image view when i activate the frustrums is also correct.I dont know why it 
saves all frames in grayscale

2)I have problems with the camera interface of the simulation control of gazebo.
When i activate it, the image is in grayscale and the object is mirrored (the 
same object is view 3 times) and there is a black band in the bottom of the 
image.

3) when i use playercam to see de image in player, the image is correct but in 
gray scale.

My world file and cfg file are

WORLD FILE

<?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:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#params";
xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#params";>


  <model:ObserverCam>
    <id>userCam0</id>
    <xyz> 0 0 1</xyz>
    <rpy>0 60 0</rpy>
    <imageSize>640 480</imageSize>
    <updateRate>10</updateRate>
    
    <nearClip>0.2</nearClip>
    <farClip>100</farClip>

    <displayRays>false</displayRays>
    <displayAxes>false</displayAxes>
    <displayCoM>false</displayCoM>
    <displayTextures>true</displayTextures>
  </model:ObserverCam>

  <model:LightSource>
    <id>light0</id>
    <xyz>-5.000 -5.000 10.000</xyz>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
    <color>0.5 0.5 0.5</color>
    <textureFile>grid.ppm</textureFile>
  </model:GroundPlane>

  <model:Pioneer2AT>
    <id>robot1</id>
    <xyz>0 0 0</xyz>
    <rpy>0 0 0</rpy>
     <model:SonyVID30>
        <id>camera1</id>
        <xyz>0.18 0 0.322</xyz>
        <nearClip>0.02</nearClip>
        <farClip>10</farClip>
        <renderMethod>XLIB</renderMethod> 
     </model:SonyVID30>

     <model:Pioneer2Gripper>
      <id>gripper1</id> 
      <xyz>0.265 0 0.165</xyz>
      </model:Pioneer2Gripper>  

  </model:Pioneer2AT>

  <model:SimpleSolid>
    <xyz>1 0.3 0</xyz>
    <shape>sphere</shape>
    <size>.2</size>
    <color>255 0 0</color>
    <fiducial>4</fiducial>
      <model:TruthWidget>
       <id>truth3</id>
      </model:TruthWidget>
  </model:SimpleSolid>

  <model:SimpleSolid>
    <xyz>1.5 -0.35 0</xyz>
    <shape>sphere</shape>
    <size>.2</size>
    <color>255 0 0</color>
    <fiducial>4</fiducial>
      <model:TruthWidget>
       <id>truth3</id>
      </model:TruthWidget>
  </model:SimpleSolid>
</gz:world>

CFG FILE

driver
(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazeboplugin"
  server_id "default"
)

driver
(
  name "gazebo"
  provides ["position2d:0"]
  gz_id "robot1"
)

driver
(
  name "gazebo"
  provides ["sonar:0"]
  gz_id "robot1"
)


driver
(
  name "gazebo"
  provides ["camera:0"]
  gz_id "camera1"
  save 1
)


best regards

Daniel Mendoza

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