How to dynamically create or modify terrain

I run Gazebo with another 'partner' simulation, that provides terrain info to Gazebo around the actor at runtime, via C++ plugin.

So I want to put a small patch of terrain under the actor, say 10x10 vertex grid, and have a plugin that will dynamically change the grid points altitude.

How can I modify vertex grid at runtime in Gazebo from a C++ Plugin? If that is not possible, can I at least create/destroy collider geometry at runtime in Gazebo?

Asked by Grisha on 2019-09-24 04:46:23 UTC

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Answers

Looking into the Gazebo API for the world plugin, you can insert model (several different ways), remove model and update state SDF. Those functions might be what you need, but I do not have any personal experience with them.

Asked by kumpakri on 2019-09-26 04:40:08 UTC