Change a model's appeareance within IGNITION Gazebo

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Hi there!

I'm honestly unfamiliar with the classic gazebo as you mentioned above. I've used it very short time but then go back to ign as it is very easy and comfortable for me.

I will try my best to give you some answers. I hope they are useful answers or at least, help you to find a better solution!

First of all, those links are 6.0. I think we have 7.0 as latest. Here

Secondly, Citadel and Fortress are LTS. Citadel isn't outdated...YET ;) Two more years to go!

So, the material part..I think this is removed in ign as I have not seen it anywhere in ign.

So, let's use this example from Classic Gazebo tutorial

You use this:

material green_on { technique {   pass {
     lighting on

     ambient 0.08207 0.64 0.040269 1
     diffuse 0.08207 0.64 0.040269 1
     emissive 0.08207 0.64 0.040269 1   } } } material green_off { technique { pass   {
     lighting on

     ambient 0.3 0.3 0.3 1
     diffuse 0.08207 0.64 0.040269 1
     emissive 0 0 0 1   
     } } }

As it relies on image, right?

So, in ignition..they get rid of it. It's now this new feature, see my example from github:

      <material>
        <ambient>0.8 0.8 0.8 1</ambient>
        <diffuse>0.8 0.8 0.8 1</diffuse>
        <pbr>
            <metal>
              <albedo_map>Track4.png</albedo_map>
              <normal_map>Track4.png</normal_map>
            </metal>
          </pbr>
      </material>

Which made my floor look pretty

No more humor. Here is the actual picture for line tracking:

So, you have this template (Feel free to look at this handsome made model)

    <material>
      <diffuse>x x x</diffuse>
      <specular>x x x</specular>
      <pbr>
        <metal>
          <albedo_map></albedo_map>
          <normal_map></normal_map>
          <metalness_map></metalness_map>
          <roughness_map></roughness_map>
        </metal>
      </pbr>

Replace x to between 0 to 1. You can't make it more than 1.0 or less than 0. Remember this part.

As stated in [3], the rendering API only affects one of both "worlds". Since i want to change the model's appeareance,

I dont know this witchcraft from classic gazebo but what you can do is to make sdf as a "module". I was trying to make a blanket in sdf where it can move like realistic blanket (it's not even close btw)

See how you can import sdf as many as you want inside the world

So, see the blanket.sdf..don't put anything related world in the sdf. Since you can't have two worlds or more at once. You must have one world with unlimited sdf imports. (depends on your hardware capable)

What you need to do is to load world first then you can import sdf as many as you want.

So, there is two ways (probably more than 2 but I just know 2 btw)

1. See the example in blanket_in_a_world.sdf
2. You can load model inside the ign during runtime through command line or python (I don't even code Cpp btw, sorry for ...