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How to create an ellipsoid

asked 2017-03-09 10:34:46 -0500

Kittenator gravatar image

I would like to create an ellipsoid in Gazebo (and use it as static, and only visual, no collision). Reason for that is that I want to show an object and the minimum-volume ellipsoid enclosing the object. I have the algorithm to calculate the ellipsoid, but I don't know how to spawn it in Gazebo (no problem for a sphere, but I can't find any ellipsoid model). Is there any way to do so ? I'm using Gazebo7 and ROS Kinetic.

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answered 2017-03-09 13:14:57 -0500

Unfortunately, there isn't yet an ellipsoid primitive in Gazebo. The only way to use one right now would be to create one with a CAD program and export it to a mesh format supported by Gazebo 7 (COLLADA, STL or OBJ).

Here's a tutorial explaining how to import meshes using SDF:


And here's an issue tracking the feature request for ellipsoid support. You could vote for that issue:


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Thank you for the answer, concise and clear. I voted for the issue and will be waiting for the ellipsoid update !

Kittenator gravatar imageKittenator ( 2017-03-13 07:20:55 -0500 )edit
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Asked: 2017-03-09 10:34:46 -0500

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Last updated: Mar 09