Texture of object loading as black with dots and text

asked 2023-03-14 20:53:51 -0500

mmDrone
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For some reason the texture on my mesh file loads as black for Gazebo 11 with ROS Noetic (gazebo fortress). The texture setup I have will load and configure perfectly fine for Gazebo garden on a different system with ROS2 Humble.. For some reason, when I load the same exact object into the predecessor version, the object renders with a black layer that has text and dots in it sometimes around the object. When I zoom in close onto the object, I can see through the black shielding layer and observe the true colors of the object. Does anyone know why this could be happening?

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Can you clarify if you're using Gazebo-classic (Gazebo 11) or Gazebo Fortress? Also, can you provide a minimal example that shows the problem?

azeey ( 2023-03-16 10:57:19 -0500 )edit

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answered 2023-03-16 12:01:26 -0500

chutsu
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updated 2023-03-16 12:05:37 -0500

The way the new Gazebo Garden loads models with textures is totally different to how it used to be. See "Textures" towards the bottom of this page: https://gazebosim.org/api/gazebo/3.7/...

Took some creative google search to find this information. But the TLDR is instead of importanting a model texture the old OGRE way where you defined a .material file that ogre reads, you just import a MTL + OBJ or DAE file.

If you know how to use Blender it isn't too bad. You can create your 3D model with blender and then export it to MTL + OBJ (make sure you use PBR + Relative paths), or DAE (easier) file format. Then include the model as

<geometry>
  <mesh>uri://PATH_TO_MODEL</mesh>
<geometry>

^ where PATH_TO_MODEL is the folder name of your model with the appropriate model.sdf model.conf and other files.

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The documentation shared worked great for me. I used:

<include> <uri> model://<model_name> </uri> </include>

The texture is now loaded in properly. Thank you!

mmDrone ( 2023-03-27 16:09:11 -0500 )edit

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Texture of object loading as black with dots and text

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