Modifications for noetic/python3 and switched output to DAE.

[simchanu29]

Hi, since in my team we already made the changes to make your package compatible with ROS noetic. I thought that it would be nice to share it.

Changes :

• Python3 support
• The mesh has been changed from stl to dae :
  In python3 it was easier to generate a COLLADA file. I noticed as well that gazebo seems to prefer COLLADA files as a mesh.

[simchanu29]

Solves #1

[aniskoubaa]

Hi
Thanks for sharing the PY3 solution. I tried it in my ROS Noetic but I am getting this error
#I started my map
rosrun map_server map_server riotulab_map.yaml

#I try to convert it but I get an error. I have used map2gazebo_py3.py in the launch file
roslaunch map2gazebo map2gazebo.launch export_dir:=/home/akoubaa/

... logging to /home/akoubaa/.ros/log/106d5a8c-15f8-11eb-9e77-fd1ed3a393c5/roslaunch-ubuntu-26846.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:40743/

SUMMARY

PARAMETERS

• /map2gazebo/box_height: 2.0
• /map2gazebo/export_dir: /home/akoubaa/
• /map2gazebo/map_topic: map
• /map2gazebo/mesh_type: stl
• /map2gazebo/occupied_thresh: 1
• /rosdistro: noetic
• /rosversion: 1.15.8

NODES
/
map2gazebo (map2gazebo/map2gazebo_py3.py)

ROS_MASTER_URI=http://localhost:11311

process[map2gazebo-1]: started with pid [26860]
[INFO] [1603544933.114252]: map2gazebo running
[INFO] [1603544933.168979]: Received map
[ERROR] [1603544936.225797]: bad callback: <bound method MapConverter.map_callback of <main.MapConverter object at 0x7f4bb50cc1c0>>
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/akoubaa/catkin_ws/src/map2gazebo/src/map2gazebo_py3.py", line 43, in map_callback
mesh.export(f, "stl")
File "/home/akoubaa/.local/lib/python3.8/site-packages/trimesh/base.py", line 2551, in export
return export_mesh(mesh=self,
File "/home/akoubaa/.local/lib/python3.8/site-packages/trimesh/exchange/export.py", line 81, in export_mesh
result = util.write_encoded(file_obj, export)
File "/home/akoubaa/.local/lib/python3.8/site-packages/trimesh/util.py", line 2133, in write_encoded
file_obj.write(stuff.decode(encoding))
UnicodeDecodeError: 'utf-8' codec can't decode byte 0x80 in position 86: invalid start byte

[malwaru]

Hi Thanks for sharing the PY3 solution. I tried it in my ROS Noetic but I am getting this error #I started my map rosrun map_server map_server riotulab_map.yaml

#I try to convert it but I get an error. I have used map2gazebo_py3.py in the launch file roslaunch map2gazebo map2gazebo.launch export_dir:=/home/akoubaa/

... logging to /home/akoubaa/.ros/log/106d5a8c-15f8-11eb-9e77-fd1ed3a393c5/roslaunch-ubuntu-26846.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:40743/

SUMMARY

PARAMETERS

• /map2gazebo/box_height: 2.0
• /map2gazebo/export_dir: /home/akoubaa/
• /map2gazebo/map_topic: map
• /map2gazebo/mesh_type: stl
• /map2gazebo/occupied_thresh: 1
• /rosdistro: noetic
• /rosversion: 1.15.8

NODES / map2gazebo (map2gazebo/map2gazebo_py3.py)

ROS_MASTER_URI=http://localhost:11311

process[map2gazebo-1]: started with pid [26860] [INFO] [1603544933.114252]: map2gazebo running [INFO] [1603544933.168979]: Received map [ERROR] [1603544936.225797]: bad callback: <bound method MapConverter.map_callback of <main.MapConverter object at 0x7f4bb50cc1c0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/home/akoubaa/catkin_ws/src/map2gazebo/src/map2gazebo_py3.py", line 43, in map_callback mesh.export(f, "stl") File "/home/akoubaa/.local/lib/python3.8/site-packages/trimesh/base.py", line 2551, in export return export_mesh(mesh=self, File "/home/akoubaa/.local/lib/python3.8/site-packages/trimesh/exchange/export.py", line 81, in export_mesh result = util.write_encoded(file_obj, export) File "/home/akoubaa/.local/lib/python3.8/site-packages/trimesh/util.py", line 2133, in write_encoded file_obj.write(stuff.decode(encoding)) UnicodeDecodeError: 'utf-8' codec can't decode byte 0x80 in position 86: invalid start byte

Here you have to change from stl to dae in the config/default.yaml file