Gazebo performance for very large point clouds

asked 2019-03-05 16:49:19 -0600

Milos9304 gravatar image

I am at the beginning of my bachelors university project, where I aim to achieve autonomous 3D mapping of caves using flying drones.

I need to build a simulation environment to test my algorithms. For now, I am thinking about ROS+Gazebo. I've got several Point Cloud maps of caves, which I want to use as a world model and equip the simulated robot with LiDAR sensor.

The point clouds are very large (>=2GB) and I am worried Gazebo would not be able to render this efficiently. What is the reality?

Is there a way I could achieve a realistic performance? If this will not work, do you have any idea which tool might work for me? I am thinking also about e.g. ROS+Unity.

Thanks for suggestions, it's very important for me to start on the right track.

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Comments

you could filter your pointcloud first http://pointclouds.org/documentation/... and then try to convert it into a mesh that you can import in Gazebo. https://github.com/PointCloudLibrary/... . I am not sure about the converter thing, did not have the chance to try it.

mehdi gravatar imagemehdi ( 2019-03-14 08:37:49 -0600 )edit