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Creating a Gazebo World using a Ground Truth Model

asked 2012-11-02 05:39:38 -0500

Ammar
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updated 2012-11-02 07:51:31 -0500

dornhege

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Hi All, I am just starting off with Gazebo to perform some multirobot simulations. In order to keep our project relevant to the topic, I wanted to perform these simulations in a visually relevant environment rather than a box world with obstacles. We have some ground truth models created using Faro Scans of the test site. I wanted to use these models as my Gazebo world and perform the simulations in there. Does anyone know if it is possible ? Thanks Ammar

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answered 2012-11-02 07:35:45 -0500

Stefan Kohlbrecher

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I assume the Faro scans are point cloud data. You would have to create a polygon representation out of that (for example using Meshlab) and save that as a .dae or .stl file. You can then use that inside a gazebo model and load it.

I did the same with a landscape modeled in Blender (COLLADA named "120m_landscape_smooth_tri.dae").

Here's the world file for electric's gazebo: http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/branches/electric/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world

and here for fuerte: http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/branches/fuerte/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world