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How do you render a realistic outdoor world with Gazebo?

asked 2014-11-18 09:28:38 -0600

Cerin gravatar image

How would you simulate an outdoor environment with the Gazebo simulator? e.g. I would need to provide a texture map of the ground, sky and background, so that the robot sees more than just a flat color shade. The tutorials explain how to populate a simple world with objects, but they all seem to assume I'm simulating an indoor environment with no background or special lighting conditions. I can't find how to texture the ground/sky/background to mimic an outdoor environment.

I'm thinking about participating in an autonomous vehicle competition, and I'm trying to find a way to simulate the course so I can easily test how my "virtual" robot reacts to camera input that roughly mimics input from the real course.

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answered 2014-11-18 09:48:01 -0600

AndreiHaidu gravatar image


Check out this answer.

Take a look at the <scene> tag , you can add numerous stuff (sunrise, fog, clouds etc).

Cheers, Andrei

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Thanks, but that doesn't completely answer my question. I need to apply specific textures, possibly sampled from satellite images or video. I don't see anything in the <scene> tag docs for specifying texture, only lighting and some generic atmospheric settings.

Cerin gravatar imageCerin ( 2014-11-18 10:47:09 -0600 )edit

answered 2014-11-18 10:58:29 -0600

nkoenig gravatar image

You can use a terrain with custom textures.

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Hi, this solution only works with Gazebo 3? Is there any solution or trick to add terrain map or to get similar effect in Gazebo 2.2?

green96 gravatar imagegreen96 ( 2014-11-20 18:08:22 -0600 )edit

You can use a 3D collada mesh. Or apply a texture to the ground plane (if a flat surface is acceptable).

nkoenig gravatar imagenkoenig ( 2014-11-20 18:11:31 -0600 )edit
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Asked: 2014-11-18 09:28:38 -0600

Seen: 2,003 times

Last updated: Nov 18 '14