Hi,
I am trying to use heightmaps for random map generation that I plan to use for testing the Navigation 2 stack.
I am able to generate heightmaps, but I am having a problem when using a laser sensor. The laser scan rays go through the model. You can see the problem in the images as well.
I have attached the model files (heightmap model and the turtlebot 3 robot model) that can be used to reproduce this issue. I was wondering if this is a Gazebo bug or I set some parameters wrong in my .sdf file.
(In the images, I increased the laser scan range to show the problem)
view from top
view from bottom
- heightmap sdf: C:\fakepath\model.sdf
- grayscale image: C:\fakepath\random_world.png
- Turtlebot 3 model - I used TB3 waffle https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/master/turtlebot3_gazebo/models
Test system:
- Ubuntu 18.04.03
- Gazebo 9.11.0
- Grayscale image resolution: 513x513
Thanks, Melih
PS: A similar issue is mentioned here http://answers.gazebosim.org/question/20267/problem-with-laser-sensor-and-heigthmap/
