creating a labeled point cloud in gazebo [closed]

asked 2021-01-10 08:23:03 -0600

nomasmax gravatar image


In GAZEBO i am trying to generate point cloud messages that not only contain 3D point information but also information on the belonging object class (e.g. Wall, Table, Chair, Door) for each point.

I thought about creating a custom ros message that in a addition to the pc2-msg would contain an int array indexed just like the pc2. i thought i indicate the class of an object model in the sdf file via an additional parameter "class" valued with an int. as a last step i would then need to write plugins for the models but also for the sensor that creates this message.

the problem seems to be that i cannot handle the process of laserscan creation (the actual ray "shooting" and interpretion yadayada^^) myself. which makes this elegant solution difficult without build gazebo from sources and adding this functionality.

am i right?

gazebo features intensity for each ray on an object and i could use this as a work around like so: (scientific paper)

still i don't think it is an elegant solution to the problem.. thoughts?

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Closed for the following reason duplicate question by 130s
close date 2021-01-12 12:17:18.964935


I guess you cross-posted at (and you've got responses)? Doing so is discouraged Making this as closed as the gazebo community seems to be appropriate.

130s gravatar image 130s  ( 2021-01-12 12:17:13 -0600 )edit