On Jul 14, 2008, at 2:57 PM, Nate Koenig wrote:
I had a method for creating efficient maps from 2D maps in an older version of gazebo. It essentially created boxes to fit the occupied space. I haven't put this functionality back into the current version of Gazebo. I still have the code kicking around, so I guess now is a good time. I'll see what I can do tonight, and I'll get back to you tomorrow with either something that works or at least a starting point that you can run with.
Thanks, Nate, I'd like to see that.In the meantime, I ran with your idea and wrote a little parser to find axis-aligned rectangles in the 2D map (code courtesy of Stage) and output boxes in XML. This works fine, and improves performance noticeably.
However, it's still slower than I was expecting, and I wonder if I'm doing something wrong.
Attached is a simple .world file that includes a second world file. The second file contains my auto-generated walls, basically about 700 boxes, plus one more to form a ground plane. The boxes each look like this:
<body:box name="wall_0_body">
<xyz> 4.700 25.550 1.0</xyz>
<rpy> 0.0 0.0 0.0</rpy>
<static>true</static>
<geom:box name="wall_0_geom">
<mesh>default</mesh>
<size> 34.500 0.200 2.0</size>
<visual>
<size> 34.500 0.200 2.0</size>
<material>Gazebo/PioneerBody</material>
<mesh>unit_box</mesh>
</visual>
</geom:box>
</body:box>
Judging from the sim time and real time counters in the GUI, I'd say
that Gazebo is running at about 1/4 of real time on this world. I'm
surprised by that, since it's all static objects. What can I tweak to
make things run faster?
Apologies in advance for anything obvious that I've missed. I'm coming back to Gazebo after years of not using it....
brian.
walls-only.world
Description: Binary data
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