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programatically generating worlds (from Google Earth KML files)

asked 2017-10-08 18:01:06 -0500

Galto2000 gravatar image

updated 2017-10-08 18:01:22 -0500

Howdy folks

I have a bunch of Google Earth KML files with polygons indicating buildings, paths, special areas and pins indicating feature locations such as trees, poles, benches, etc.

I'd like to convert this into a gazebo world - does anybody know if there is already a body of work on this subject that I can get access to (and build upon)?

I suppose at this points, some tutorials and examples on procedurally building Gazebo worlds in general would also be very helpful. I have been Googling left and right on this subject, but didn't find much.

I was initially thinking on creating a parser that reads the KML file, and then spits out a .world file, but I probably could also create a Gazebo plugin that reads in the KML file and then generates the world accordingly. Does anyone have an opinion on these approaches, one vs the other or some other way?

Thanks in advance


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answered 2017-10-09 12:25:41 -0500

Carlos Agüero gravatar image

updated 2017-10-09 12:26:30 -0500

Here's something related:

This is part of the Terminus project that generates some procedural cities for simulation. In particular, you can find some Gazebo plugins for rendering the roads based on an external RNDF file. A plugin is a good initial approach for supporting KML files.

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Thank you Carlos, that sure looks like a great source of inspiration!

Galto2000 gravatar imageGalto2000 ( 2017-10-09 12:44:43 -0500 )edit

And please, keep us posted. This sounds like a great project!

Carlos Agüero gravatar imageCarlos Agüero ( 2017-10-09 14:25:16 -0500 )edit

I got something very basic working, a plugin called world_builder and in its current state it allows my main project (the reason for the need of world_builder in the first place) to make use of it. The plugin is designed with expansion in mind, but I currently have little bandwidth to turn this into a quality general purpose world-builder plugin all by myself. I'd consider putting it up as an open source project if I knew there were folks interested - let me know. Cheers - Galto

Galto2000 gravatar imageGalto2000 ( 2017-10-30 19:18:31 -0500 )edit
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Asked: 2017-10-08 18:01:06 -0500

Seen: 1,268 times

Last updated: Oct 09 '17