What I am trying to achieve

• Create Gazebo simulation world using Blender. But...
• Due to my problems, with reusing my Collada models, I have reduced the scope to "Create a simple cube in Blender + Export => Create an Gazebo model using the cube.dae meshes for <visual> and <collision>"

My problem/symptom

• My test model seems ok when I insert it.... But...
• Problem #1: The <collision> mesh does not work (My robot run truth the model)
• Problem #2: The <visual> is not recognized by my robot camera (see picture below)

- Note!: My cube model is the big black 1mx1mx1m box to the upper right in the picture above. - Note!: The other barriers/walls in picture above is modeled using plain URDF box primitives.

What I think I need help with...

• A step by step guideline "From Blender, via Collada => Gazebo model"-guide.
  • Is it how I made my Blender model?
  • Is it how I exported from Blender to Collada? Parameter settings...
  • Is it how, and where, I created my Gazebo model?
  • Or is it some ROS1 and/or Gazebo environmental issues?

Step by step - What I have tried

1. In Blender: Exported the "Blender default cube" as a collada .dae file.

   • Is it how I made my Blender model?
   • Is it how I exported from Blender to Collada? Parameter settings...

2. Created an model folder

1. Added model path to gui.ini file

   sk@Yoda:~/.gazebo$ cat gui.ini
   [geometry]
   x=279
   y=81
   width=1219
   height=896
   [modelpaths]
   filenames=/home/sk/rosws/src/Pet-Mk-IV/petmkiv_simulation/models
   sk@Yoda:~/.gazebo$ 

2. My model.config

   sk@Yoda:~/rosws/src/Pet-Mk-IV/petmkivsimulation/models/cube$ cat model.config
   <?xml version="1.0" ?>
   <model>
   <name>cube</name>
   <version>1.0</version>
   <sdf>model.sdf</sdf>
   <author>
       <name>Stefan Kull</name>
       <email>stefan.kull@gmail.com</email>
   </author>
   <description>
       Blender default cube exported as Collada .dae-file
   </description>
   </model>
   sk@Yoda:~/rosws/src/Pet-Mk-IV/petmkivsimulation/models/cube$ 
   

3. My model.sdf

   sk@Yoda:~/rosws/src/Pet-Mk-IV/petmkivsimulation/models/cube$ cat model.sdf
   <?xml version="1.0" ?>
   <sdf version="1.5">
   <model name='cube'>
     <static>true</static>
     <pose>0 0 0 0 0 0</pose>
     <link name='link'>
       <visual name='visual'>
         <castshadows>0</castshadows>
         <geometry>
          <mesh>
             <uri>model://cube/mesh/cube.dae</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
   
       </visual>
       <collision name='collision'>
         <geometry>
          <mesh>
             <uri>model://cube/mesh/cube.dae</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
         <maxcontacts>10</maxcontacts>
         <surface>
           <contact>
             <ode/>
           </contact>
           <bounce/>
           <friction>
             <ode/>
           </friction>
         </surface>
       </collision>
       <selfcollide>0</selfcollide>
       <kinematic>0</kinematic>
       <gravity>1</gravity>
     </link>
   </model>
   </sdf>
   sk@Yoda:~/rosws/src/Pet-Mk-IV/petmkivsimulation/models/cube$ 

4. Launched Gazebo, RViz and Rqt

Environment

• Or is it some ROS1 and/or Gazebo environmental issues?
  • ROS1 melodic (Gazebo 9.0)
  • Ubuntu 20.04
  • Blender 2.93
  • $ env | grep ROS

    sk@Yoda:~/rosws$ env | grep ROS
    ROSCONSOLEFORMAT=[${severity}] [${time}] [${node}]: ${message}
    ROSETCDIR=/opt/ros/melodic/etc/ros
    ROSROOT=/opt/ros/melodic/share/ros
    ROSMASTERURI=http://localhost:11311
    ROSVERSION=1
    ROSPYTHONVERSION=2
    ROSPACKAGEPATH=/home/sk/rosws/src/BehaviorTree.ROS:/home/sk/rosws/src/actionlibtutorials:/home/sk/rosws/src/Groot:/home/sk/rosws/src/Pet-Mk-IV/petmkivdescription:/home/sk/rosws/src/Pet-Mk-IV/petmkivlaunch:/home/sk/rosws/src/Pet-Mk-IV/petmkivmsgs:/home/sk/rosws/src/Pet-Mk-IV/petmkivlocalisation:/home/sk/rosws/src/Pet-Mk-IV/petmkivmissioncontrol:/home/sk/rosws/src/Pet-Mk-IV/petmkivpathplanner:/home/sk/rosws/src/Pet-Mk-IV/petmkivsimulation:/home/sk/rosws/src/Pet-Mk-IV/roslcddriver:/home/sk/rosws/src/rosserial/rosserial:/home/sk/rosws/src/rosserial/rosserialarduino:/home/sk/rosws/src/rosserial/rosserialmbed:/home/sk/rosws/src/rosserial/rosserialmsgs:/home/sk/rosws/src/rosserial/rosserialclient:/home/sk/rosws/src/rosserial/rosserialembeddedlinux:/home/sk/rosws/src/rosserial/rosserialpython:/home/sk/rosws/src/Pet-Mk-IV/petmkivarduino:/home/sk/rosws/src/rosserial/rosserialserver:/home/sk/rosws/src/rosserial/rosserialtest:/home/sk/rosws/src/rosserial/rosserialtivac:/home/sk/rosws/src/rosserial/rosserialvexcortex:/home/sk/rosws/src/rosserial/rosserialvexv5:/home/sk/rosws/src/rosserial/rosserialwindows:/home/sk/rosws/src/rosserial/rosserialxbee:/opt/ros/melodic/share
    ROSLISPPACKAGEDIRECTORIES=/home/sk/rosws/devel/share/common-lisp
    ROSDISTRO=melodic
    sk@Yoda:~/ros_ws$ 
    

  • $ env | grep GAZEBO

    sk@Yoda:~/rosws$ env | grep GAZEBO
    sk@Yoda:~/rosws$