From: Brian G. <ge...@ro...> - 2004-03-04 00:14:58
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Forwarding to appropriate list.... On Wed, 3 Mar 2004, mattia wrote: > I am an Italian Phd student at Georgia Tech, I am trying to improve something that helps Segway to detect the roughness of terrain. > I will use a Sick pointing to the ground, before trying with real robot I would like to use GAZEBO. > Do you know if it is possible to apply texture with different roughnesses on the simulated ground to test the data collected with the sick? > > Mattia Castelnovi > > ma...@cc... |
From: Nathan K. <nk...@ro...> - 2004-03-04 01:22:14
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Hello Mattia, I am assuming that by "texture" you mean creating real bumps on the ground. This can be accomplished by using the CVS version of Gazebo, which has a terrain generator. If by "texture" you mean an image mapped onto the ground, then you will have to do a bit of work as this feature is not yet implemented. If you are working from the latest stable release, then take in the toolkit/GzGLRenderDevice class for the openGL rendering code. The latest CVS version requires a few extra packages to be installed. To help you out a bit, I have included a few instructions. -nate A few major changes have been incorporated into Gazebo. In brief, these include a new rendering engine, and the ability to use terrains. Of primary concern to most is that old world files will no longer work properly with this new code. The changes are not significant, and there are plenty of examples in the example1.world file. The new rendering engine is OpenSceneGraph, which can be found at: http://www.openscenegraph.org The usage of this library should be relatively transparent. Terrains are currently generated from grayscale png files. We make use of the GDAL library to import the data. This library can also import many other data formats, so please don't feel limited to png files. The library can be found at: http://www.remotesensing.org/gdal Download Links: GDAL: ftp://ftp.remotesensing.org/pub/gdal/gdal-1.1.9.tar.gz OSG: http://sourceforge.net/project/showfiles.php?group_id=11278&release_id=188165 If you have any problems, particularly with installation of the new libraries please let us know., suggestions, patches please let us know. Below is a list of more specific information. Enjoy, -nate and andrew Important Notes: - The <pos> and <rot> world file tags are now depricated in favor of <xyz> and <rpy>. Use <xyz> to specify the x, y, and z coordinates of a model, and <rpy> for the roll, pitch, and yaw. The old tags are still valid, but will be remove in the near future. - In order to use terrains, ODE must be compiled with OPCODE. In the user-settings file, set PRECSION=SINGLE and set the OPCODE_DIRECTORY=OPCODE. It is recommended that you NOT use the ode version in the gazebo distribution. - Terrains can only handle collisions with spheres. Anything else will pass through. To handle this, a new geom has been added called WheelGeom. This geom behaves as a sphere (for collision detection purpose) but is drawn as a cylinder. All wheel based models have been updated with this new geom. - Place models relatively close to the terrain when starting the simulation. If they fall too far they may pass through the terrain. - The laser currently does not work with terrains. This should be fixed relatively soon. - A new tag named <visualization> (see exampl1.world), allows you to override model specific rendering preferences. - Light sources can be placed and adjusted in the environment. Again see example1.world On Wed, 2004-03-03 at 16:09, Brian Gerkey wrote: > Forwarding to appropriate list.... > > On Wed, 3 Mar 2004, mattia wrote: > > > I am an Italian Phd student at Georgia Tech, I am trying to improve something that helps Segway to detect the roughness of terrain. > > I will use a Sick pointing to the ground, before trying with real robot I would like to use GAZEBO. > > Do you know if it is possible to apply texture with different roughnesses on the simulated ground to test the data collected with the sick? > > > > Mattia Castelnovi > > > > ma...@cc... > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IBM Linux Tutorials > Free Linux tutorial presented by Daniel Robbins, President and CEO of > GenToo technologies. Learn everything from fundamentals to system > administration.http://ads.osdn.com/?ad_id=1470&alloc_id=3638&op=click > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo |