How do you render a realistic outdoor world with Gazebo?

asked 2014-11-18 09:28:38 -0500

Cerin
75 ●18 ●20 ●26

How would you simulate an outdoor environment with the Gazebo simulator? e.g. I would need to provide a texture map of the ground, sky and background, so that the robot sees more than just a flat color shade. The tutorials explain how to populate a simple world with objects, but they all seem to assume I'm simulating an indoor environment with no background or special lighting conditions. I can't find how to texture the ground/sky/background to mimic an outdoor environment.

I'm thinking about participating in an autonomous vehicle competition, and I'm trying to find a way to simulate the course so I can easily test how my "virtual" robot reacts to camera input that roughly mimics input from the real course.

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answered 2014-11-18 10:58:29 -0500

nkoenig
7661 ●8 ●44 ●71 http://gazebosim.org/

You can use a terrain with custom textures.

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Hi, this solution only works with Gazebo 3? Is there any solution or trick to add terrain map or to get similar effect in Gazebo 2.2?

green96 ( 2014-11-20 18:08:22 -0500 )edit

You can use a 3D collada mesh. Or apply a texture to the ground plane (if a flat surface is acceptable).

nkoenig ( 2014-11-20 18:11:31 -0500 )edit

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answered 2014-11-18 09:48:01 -0500

AndreiHaidu

2108 ●48 ●60 ●80 http://haidu.eu/

Hi,

Check out this answer.

Take a look at the <scene> tag , you can add numerous stuff (sunrise, fog, clouds etc).

Cheers, Andrei

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Thanks, but that doesn't completely answer my question. I need to apply specific textures, possibly sampled from satellite images or video. I don't see anything in the <scene> tag docs for specifying texture, only lighting and some generic atmospheric settings.