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imported mesh (.dae) with texture too dark in gazebo

asked 2015-04-14 10:04:46 -0500

edith gravatar image


I acquired a point cloud with the kinect and generated a mesh with texture in meshlab leading to a dae-file and a png.

First, the object was completely black in gazebo. I changed the ambient value from 0 0 0 1 to 1 1 1 1. Now, I can see the texture but it is still darker than it should be.

Visualizing the object with rviz it looks as I would expect (it is a little darker if i set the ambient value to 0 0 0, but still fine).

This is how it looks like in rviz: rviz

and here with gazebo: gazebo

Is this a normal behavior?

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answered 2015-04-14 13:14:06 -0500

nkoenig gravatar image

Shading in gazebo depends on:

  1. Material properties of the object being rendered. This is found in your dae file, and possibly in your SDF file.
  2. Lighting properties, which includes ambient light and any lights
  3. Normals of the object being rendered.

Try to visualize the normals of you mesh in blender, and possibly recalculate the normals in blender to see if the problem is fixed.

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Asked: 2015-04-14 10:04:46 -0500

Seen: 2,144 times

Last updated: Apr 14 '15