hi,
Is there a way to create a compact 3D world for Gazebo by extruding a
2D map? Specifically, I have a 2D bitmap that represents free and
occupied space, and I want the 3D extruded version of it to appear in
Gazebo. The input map is what you'd expect from a SLAM system.
I've tried using a 'geom:heightmap' tag. This appears to work, but
results in a *lot* of polygons, so many that it nearly halts the
simulator when it comes time to raytrace laser hits. Also, the laser
sometimes sees through walls, which I believe is caused by the fact
that the extrusion contains lots of really really skinny triangles.
In the wireframe view, it looks Gazebo is converting each pixel in my
bitmap into a vertically oriented rectangular polygon, comprising 12
triangles: 8 skinny ones around the sides, and 4 others on the top and
bottom.
Is there a way to get Gazebo to produce a more compact model than
this? While one could get arbitrarily sophisticated in make the model
compact, my first cut would be to find axis-aligned rectangular
obstacles in the 2D map and extrude the rectangle, in place of the
constituent pixels.
I went to implement this in Gazebo, but found that Gazebo is actually
handing off the heightmap construction to OGRE (server/physics/
HeightmapGeom.cc, HeightmapGeom::LoadChild).
Any ideas?
brian.
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