osrf / gazebo_osm Goto Github PK

ll=37.392993,-122.078788
spn=0.00214,0.002041

https://maps.google.com/maps?q=94043&hl=en&ll=37.392993,-122.078788&spn=0.00214,0.002041&geocode=+&hnear=Mountain+View,+California+94043&t=h&z=19

Just simply using the gz_osm.py with default value, the SDF is produced with road elements, which have a non-existent sub element , like so:

<road name="footway_87383624">
      <texture>footway</texture>
      <width>0.3</width>
      <point>80.8064537091 -127.894211004 0.0</point>
      <point>65.8062953159 -130.038706459 0.0</point>
</road>

I believe it should be instead of as defined here: http://sdformat.org/spec?ver=1.5&elem=world#world_road and example here: https://bitbucket.org/osrf/gazebo/src/3e1e86e456efae91240b61a42238e437ab07bdad/worlds/road_textures.world?at=default

When loading it into gazebo theres a warning from parser.cc stating as well:

Warning [parser.cc:713] XML Element[texture], child of element[road] not defined in SDF. Ignoring[texture]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:713] XML Element[texture], child of element[road] not defined in SDF. Ignoring[texture]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:713] XML Element[texture], child of element[road] not defined in SDF. Ignoring[texture]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.

My question is, how are the road texture images still showing?

We should consider using the gzsdf tool to validate auto-generated sdf files.

gzsdf check world.sdf

An alternative is to validate against a schema, when one exists (see this ticket).

cc'ing @nkoenig

I have been having issues with respect to layout of the footways.

I have added some screenshots from the actual map, and the gazebo simulator along with the sdf file generated in gist.

https://gist.github.com/Tashwin/f0cb1c41354d382eecfe

I think it has to do with the sorting and ordering of the points.

You can also regenerate these results by simply running gz_osm without any input arguments. (i.e., $ ./gz_osm)

hi
I want to convert a osm map, but it doesn't work

 ./gz_osm.py -O map.osm 
Downloading the osm data ... 
Elapsed time is 0.159263849258 seconds.
Extracting the map data for gazebo ...
Traceback (most recent call last):
  File "./gz_osm.py", line 175, in <module>
    roadPointWidthMap, modelPoseMap, buildingLocationMap = osmRoads.getMapDetails()
  File "source/osm2dict.py", line 308, in getMapDetails
    self.getModelDetails()
  File "source/osm2dict.py", line 195, in getModelDetails
    modelLocation = self.getPoints(coords)
  File "source/osm2dict.py", line 107, in getPoints
    dLat = lat2-np.radians(self.latStart)
TypeError: Not implemented for this type

I see a fork of 10+ commits of this repo: https://github.com/ilidar/gazebo_osm is this project still active? However the fork does not provide any command line tools.

In sdf file, road elements have points and all points have z axis value default 0.0. As known osm does not provide elevation data. Is there any possibilities to obtain z axis values to points?