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Problem with laser sensor and heigthmap

asked 2018-08-18 04:30:24 -0500

Mansan gravatar image

updated 2018-08-18 04:30:53 -0500

Hi! I'm working in a simulation that includes a laser sensor (the Hokuyo model) and a heigthmap. I have found a problem , and in some places of my heigthmaps, it seems that the laser is going through the model. In this picture you can see the effect:

image description

Has anyone have a similar problem?Any idea how this can be solve? I use Gazebo 7 in Ubuntu 16.04.

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answered 2018-08-21 02:37:53 -0500

Raskkii gravatar image

This is a known bug. I've had a similar problem with objects falling through the heightmap. See here: http://answers.gazebosim.org/question...

And here's the bitbucket issue: https://bitbucket.org/osrf/gazebo/iss...

Until this issue is solved, you'll have to come up with a workaround. One possible way would be to create a 3D model (in Blender for example) of your terrain and insert that into your world. However, that would probably be very tedious and I haven't actually tested if the collision of 3D models is accurate.

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Thanks! I actually was able to create the heigthmap as a model in blender following this tutorial http://stevemarti.com/from-2d-to-3d-turning-images-into-objects/ and I think the problem is solved. Now I have to find a way to make this new heightmap fixed (like the one that Gazebo creates) so i don't accidentally move it when I try to place and move things on top of it.

Mansan gravatar imageMansan ( 2018-08-21 05:43:14 -0500 )edit

As Raskkii says, default Gazebo height map isn't great. Look at the default empty .world's ground plane model. That should be a good reference as to how to configure your custom heightmap. link: https://bitbucket.org/osrf/gazebo/src/default/models/ground_plane/model.sdf You'll want to set the model's static flag to true: http://sdformat.org/spec?ver=1.6&elem=model#model_static

josephcoombe gravatar imagejosephcoombe ( 2018-08-21 09:31:48 -0500 )edit
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Asked: 2018-08-18 04:30:24 -0500

Seen: 367 times

Last updated: Aug 21 '18