I happen to be working on the same thing right now! A custom mesh seems to
be the way to go, i.e. a trimesh geometry with a custom mesh visual. I've
got the visual working, but I'm lacking the collision as yet. Just from
playing around, it looks like the proportions issue is that gazebo scales
the mesh such that it's bounding box comes out the size specified in the
world file (or [1, 1, 1] by default I suppose). So you just have to
calculate/measure the width/height/depth of your mesh and set that as the
size in the world file.
The issue I came across was to do with some ode mass calculation. It doesn't
seem to like inside out meshes. I'm trying to solve that by giving my walls
some thickness, I'll let you know how that goes.
David
2008/5/10 Olaf Neugebauer <[EMAIL PROTECTED]>:
> Hi,
>
> i want to construct an indoor environment for gazebo 0.8. What is the best
> way to do that?
> I tried a few ideas with different results:
>
> 1. I tried to use a heightmap but if i reduce the size of the terrain to
> 25, 25, 2 gazebo slows down dramatically to 0 fps. The size of my room's
> heightmap is 257x257px and it's just a simple room.
>
> 2. I built up the room with blender as a custom mesh. Works but i think
> that the proportions of the mesh doesn't fit with my map...
>
> I think the best way is to build a room out of my map so that my map fits
> with the simulated map.
>
> Is anybody able to help me? Is there a tutorial or something like that?
>
> Regards
>
> gd
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