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Simple way to build 3D mountain world

asked 2014-12-04 12:43:24 -0500

green96 gravatar image

updated 2014-12-04 16:26:49 -0500

Hi,

could you tell me what is the best and the easiest way to build 3D mouintain world in Gazebo? I would like to simulate quadrocopter and I am going to import 3D terrain or 3D model.

I checked this topic but it only works with Gazebo 3.0 and unfortunately I use Gazebo 2.2, correct me if I am wrong, it will not work with Gazebo 2.2 or on this site is mistake?

I have also found old topics and read that someone use heightmap terrain.

Is there any tutorial how to do it?

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answered 2014-12-04 17:02:03 -0500

Carlos Agüero gravatar image

I confirm you that Gazebo 2.2 doesn't have DEM support. It started in Gazebo 3.0. You have a few options:

  • Implement the terrain using heightmaps. Here you have an old tutorial that might be useful. Also, you can take a look at the heightmaps that we created for the VRC. Here you can see an example.
  • Install a newer Gazebo version. Take a look at this tutorial because maybe it's not so difficult to update your Gazebo and you will be able to use DEMs.
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I am using ROS so, I have to stay with Gazebo 2.2. Thanks for this wiki tutorial but I found sth simmilar before http://vimeo.com/58409707 : ) Maybe it should be posted also on this wiki, it is better than only text version.

I am a little bit confused because here http://answers.gazebosim.org/question/7383/dem-tutorial-errors-unkown-image-format/

I found info that it will work with version 2.2.2. So what is the answer?

green96 gravatar imagegreen96 ( 2014-12-04 18:25:14 -0500 )edit
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answered 2014-12-04 18:43:30 -0500

Carlos Agüero gravatar image

The heightmap video tutorial is even better! That's a good resource too.

You can use newer versions of Gazebo in ROS. Read this tutorial.

I mentioned in the other thread that you shouldn't use 2.2.2 if you want to use DEMs. You have to use a newer version compiled from sources.

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I am using tum_simulator with Gazebo and I am worrying that when I install version from source something go wrong and I don't want to risk.

green96 gravatar imagegreen96 ( 2014-12-04 19:14:26 -0500 )edit

According to this document: http://www.stephenwilliams.info/wp-content/uploads/2011/10/aiaa-2010a.pdf which is from 2011, author says that it is possible to download dem file and convert it to heightmap and it will work with Gazebo. I found this tutorials: http://forums.nexusmods.com/index.php?/topic/517230-tutorial-converting-a-dem-to-a-heightmap/http://johnflower.org/tutorial/getting-height-maps-qgis what do you think about it? it will work?

green96 gravatar imagegreen96 ( 2014-12-04 19:14:26 -0500 )edit
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answered 2014-12-04 19:57:29 -0500

Carlos Agüero gravatar image

Sure, if you generate a heightmap it will work. Keep in mind that there are some restrictions about the heightmap shape (square greyscale image, and each side must be 2^n+1 pixels). So, after the conversion you will probably need to tweak your heigthmap to satisfy these restrictions.

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Hello! For the others who have similar questions later, you should ensure that you answer the question asked in the post as a single coherent answer. If you'd like to have a dialog, you can use the comment tool. You can also revise you answer as needed, if there are more accurate details for the community. Keep coding!

SL Remy gravatar imageSL Remy ( 2014-12-06 17:59:39 -0500 )edit

Hi, could you tell me: using this tutorial I will generate world but it will be possiblle to add my robot model to this world?

I tried to create terrain from this video tutorial which I posted above but it doesn't work. http://answers.gazebosim.org/question/7746/problem-with-heightmap/

Could you also tell me how did you create this world?https://bitbucket.org/osrf/drcsim/src/55bddb26dda1672eac2bc134f2f06b9327e26ad0/drcsimmodelresources/gazebomodels/vrcheightmap_1/?at=default

green96 gravatar imagegreen96 ( 2014-12-20 10:58:33 -0500 )edit
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Asked: 2014-12-04 12:43:24 -0500

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Last updated: Dec 04 '14