Heightmap with Gazebo 1.3

edit

The Gazebo heightmap tutorial is for Gazebo 1.0 and the example is not directly applicable to Gazebo 1.3.

I tried to create my own heightmap model file :

<?xml version="1.0"?>
<sdf version="1.3">
  <model name="ground_plane">
    <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <heightmap>
        <uri>file://myheightmap.png</uri>
            <size>20.0 2.0 5.0</size>
          </heightmap>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <heightmap>
        <uri>file://myheightmap.png</uri>
            <size>20.0 2.0 5.0</size>
          </heightmap>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>

When adding this to simulation, the Gazebo console reports

Error [Visual.cc:1946] No mesh specified

I took a look at the sourcecode. From there it seems to me, that in case of the < heightmap > tag, the tmpElem object is invalid and that is why the < uri > value is not found.

Is there something wrong with the model file for the heightmap? Is there a better way for doing a heightmap?