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Gazebo world file from a collada file

asked 2011-08-14 20:47:12 -0500

Peshala gravatar image

Dear ROS users,

I created a collada file of a terrain using Blender and now I want it to be included in a Gazebo .world file. How is this done?

Thanks in advance Peshala

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answered 2011-08-15 00:56:41 -0500

Have a look at the files world/wg_collada.world and launch/wg_collada_world.launch in the gazebo_worlds package. They load a map from a collada file.

The code in question is:

<model:physical name="willow_map">
   <xyz>-33.0 -15.0 0</xyz>
   <rpy>0 0 0</rpy>
   <static>true</static>
   <body:trimesh name="willow_map_body">
     <geom:trimesh name="willow_map_geom">
       <scale>0.02 0.02 0.02</scale>
       <mesh>willowgarage.dae</mesh>
       <visual>
         <scale>0.02 0.02 0.02</scale>
         <mesh>willowgarage.dae</mesh>
       </visual>
     </geom:trimesh>
   </body:trimesh>
  </model:physical>
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Comments

Thank you for your answer. I already looked at it but I do not know why my terrain model is not loaded. Is there any special way of creating the collada file ?(for e.g. to check some kind of options when I export) One more thing. Do we have to copy the .dae file into gazebo share folder? Can't we just have it on a user specified location? Thank you in advance. Peshala ( 2011-08-15 15:09:28 -0500 )edit
1
Actually, in Gazebo there is a terrain builder utility called gzbuilder. But it seems like it does not exist in ROS Gazebo. That is why I went for collada files. If anyone can shed light on how to build a simple terrain, it would be really appreciated. Thanks Peshala ( 2011-08-15 17:58:08 -0500 )edit
gzbuilder has not been kept up-to-date. How big is your terrain file (faces/vertices)? Make sure the scale is correct (default view suitable for meters). Take a look at http://www.ros.org/wiki/simulator_gazebo/GazeboConfiguration for where to put the meshes. hsu ( 2011-09-02 12:20:37 -0500 )edit
Thanks for your answer hsu. Peshala ( 2011-09-11 20:22:40 -0500 )edit

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Asked: 2011-08-14 20:47:12 -0500

Seen: 713 times

Last updated: Aug 15 '11