How to add light source in gazebo which gives shadows.

I want to create an indoor environment and hence need an indoor light source, I have tried out the led plugin, but it does not give out any shadows. I have tried out the directional lights, but it could not be contained inside the walls. Can you please guide me regarding this.

Asked by awh18 on 2021-06-29 22:47:50 UTC

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Answers

So far Gazebo's point & spot lights don't cast shadows yet. Only directional lights cast shadows and the size is infinitely large, with position doesn't give any difference. Recently I saw that there is some update in Gazebo 11 adding texture for spotlight shadow https://github.com/osrf/gazebo/pull/2914, but last time I tried it didn't cast shadows yet.

Asked by Veerachart on 2021-07-05 23:58:05 UTC