Hello, Thank you very much for this great info. I've added your email to a tutorials section on the player wiki.
http://playerstage.sourceforge.net/wiki/Gazebo:_Road_Tutorial -nate On 7/5/07, Stephen Williams <[EMAIL PROTECTED]> wrote: > I have spent quite some time going through the Road model, and thought I > would post the results for everyone else. > > The road file contains two types of lines, waypoint and track. The > format is as follows: > waypoint [display distance] [waypoint id] [X Position] [Y Position] [Z > Position] > > track [display distance] [waypoint id] [X Position] [Y Position] [Z > Position] [No of Profile Points] [Profile Height 1] [Profile Height > 2] ... > > The "waypoints" create a road sign inside the simulation, which displays > the [waypoint id] and the [display distance]. The "tracks" add a new > point in the road path; a spline is used to connect sequential track > points. In the track data line, the [display distance] and [waypoint id] > have no effect. > > Additionally, inside the world file, the parameter <roadSpacing> is > somewhat misleading. The first value is the number of intermediate > spline points that will be added between sequential track points. Note > that the total number of points (~= track Points * roadSpacing) must > equal or exceed 10,000 for the the native Gazebo road to work properly. > The second value is the lateral distance in meters between sequential > profile points. > > > Once I adjusted the <roadSpacing> value correctly, the road would > render. However, for short roads, the hard-coded 10,000 spline points > was causing serious CPU issues. Also, when large changes in the Z > Position were present, the road seemed to narrow considerably and > occasionally invert. > > To fix the above issues, as well as some data redundancy in the road > file, I have created a gazebo plugin called (imaginatively) "Road2". The > code is attached, or available at > http://swilliams.homelinux.net/websvn/listing.php?repname=Gazebo+Road > +Plugin&path=%2Ftrunk%2Fsrc%2F&rev=0&sc=0 > > Instructions on how to compile a plugin are available on the main Gazebo > site. Additionally, I had to copy the Image.hh file from the Gazebo > source to /usr/local/include/gazebo and include the path > path /usr/include/libxml2 in the compile statement. Notes on how to use > the plugin are written the comments of Road2.cc > > > Hopefully some of this will help someone, > Stephen Williams > > ------------------------------------------------------------------------- > This SF.net email is sponsored by DB2 Express > Download DB2 Express C - the FREE version of DB2 express and take > control of your XML. No limits. Just data. Click to get it now. > http://sourceforge.net/powerbar/db2/ > > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
