Loading multiple heightmap files
Hi, I want to create a terrain with varying friction. Because I couldn't find an easier way, I'm trying to divide a heightmap in multiple patches and attribute each patch with a different friction. However, when I try to load the model, only one of the patches appear. Can someone help me to find the issue?
This is my sdf file:
<?xml version="1.0"?>
<?xml-model href="http://sdformat.org/schemas/root.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<sdf version="1.7">
<model name="terrain">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="link">
<pose>0 0 0 0 0 0</pose>
<collision name="terrain_collision0">
<pose>-5.5 5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<uri>model://random_terrain_friction/dem/height_map0.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
</heightmap>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5381586550926517</mu>
<mu2>0.5381586550926517</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="terrain_visual0">
<pose>-5.5 5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<uri>model://random_terrain_friction/dem/height_map0.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
<texture>
<diffuse>model://random_terrain_friction/dem/friction_map0.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10.0</size>
</texture>
</heightmap>
</geometry>
</visual>
<collision name="terrain_collision1">
<pose>5.5 5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<uri>model://random_terrain_friction/dem/height_map1.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
</heightmap>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5255421994853569</mu>
<mu2>0.5255421994853569</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="terrain_visual1">
<pose>5.5 5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<uri>model://random_terrain_friction/dem/height_map1.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
<texture>
<diffuse>model://random_terrain_friction/dem/friction_map1.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10.0</size>
</texture>
</heightmap>
</geometry>
</visual>
<collision name="terrain_collision2">
<pose>-5.5 -5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<uri>model://random_terrain_friction/dem/height_map2.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
</heightmap>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5308397295261479</mu>
<mu2>0.5308397295261479</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="terrain_visual2">
<pose>-5.5 -5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<uri>model://random_terrain_friction/dem/height_map2.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
<texture>
<diffuse>model://random_terrain_friction/dem/friction_map2.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10.0</size>
</texture>
</heightmap>
</geometry>
</visual>
<collision name="terrain_collision3">
<pose>5.5 -5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<uri>model://random_terrain_friction/dem/height_map3.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
</heightmap>
</geometry>
<surface>
<friction>
<ode>
<mu>0.477317298502133</mu>
<mu2>0.477317298502133</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="terrain_visual3">
<pose>5.5 -5.5 0 0 0 0</pose>
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<uri>model://random_terrain_friction/dem/height_map3.tif</uri>
<pos>0 0 0</pos>
<size>10.0 10.0 2</size>
<texture>
<diffuse>model://random_terrain_friction/dem/friction_map3.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10.0</size>
</texture>
</heightmap>
</geometry>
</visual>
</link>
</model>
</sdf>
Asked by matval on 2022-12-16 18:30:31 UTC
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