Terrain-to-Gazebo Converter

This guide explains how to convert grayscale heightmaps into terrain files compatible with Gazebo. The purpose is to recreate realistic ground environments in the Gazebo simulation environment.

This project is a modification of the excellent open-source repository uneven_planner by ZJU-FAST-Lab. Most of the structure originates from the original repository, which focuses on planning in unstructured environments. Users are encouraged to explore the uneven_planner repository for additional insights and resources.

Quick Start

Step 1: Install Requirements

Install the necessary Gazebo plugins. Below is an example for ROS Noetic with Ubuntu 20.04:

sudo apt install ros-noetic-robot-state-publisher*
sudo apt install ros-noetic-joint-state-controller*
sudo apt install ros-noetic-controller*
sudo apt install ros-noetic-velocity-controllers*
sudo apt install ros-noetic-effort-controllers
sudo apt install ros-noetic-position-controllers
sudo apt install ros-noetic-gazebo-ros-control
sudo apt install ros-noetic-hector-gazebo
sudo apt install ros-noetic-effort-controllers
sudo apt install ros-noetic-joint-state-controller
sudo apt install ros-noetic-position-controllers
sudo apt install ros-noetic-velocity-controllers
sudo apt install ros-noetic-ompl
sudo apt install ros-noetic-tf2-geometry-msgs ros-noetic-ackermann-msgs ros-noetic-joy 

Step 2: Build the Project

cd carsim
catkin_make

Step 3: Run the Simulation

source devel/setup.bash
roslaunch carsim test.launch

Modify Terrain Files

Use Preset Terrain Models

To use a predefined terrain model:

1. Edit the test.launch file and set the map_name argument to one of the following predefined terrain models:

   <arg name="map_name" default="forest"/><!-- desert, forest, hill, snow, volcano -->

   Available models in uneven_planner:

   • hill

   • desert

   • volcano

   • forest

Use Custom Terrain Models

1. Generate a Grayscale Image

   Create a grayscale image that encodes elevation information. For example:

   

   Grayscale heightmaps can be generated by fusing multi-scan LiDAR data to create a grid_map with elevation information, then saving it as an image.

2. Convert the Image to a DAE File

   Smooth the image (via a Python script or interpolation during export) and convert it to a DAE file. A conversion tool such as ImageToSTL can be used.

   

3. Replace the Existing Model

   Rename the exported DAE file to real.dae and replace the file in:

   src/carsim/models/map_real/meshes/real.dae
   

4. Update the Launch File

   Modify the test.launch file to use the custom model:

   <arg name="map_name" default="real"/>

5. Start the Simulation

   roslaunch carsim test.launch

注意：这里通常要对图片做平滑操作，可通过python脚本或者在导出灰度图时插值完成

PNG转DAE可以可以参考网站https://imagetostl.com/convert/file/png/to/dae#convert

• 当导出的DAE文件重命名为real.dae，替换src/carsim/models/map_real/meshes中的real.dae

• 修改src/carsim/launch/test.launch 为

  <arg name="map_name" default="real"/>

• 启动仿真

  roslaunch carsim test.launch

  

Acknowledgements

Special thanks to the authors of uneven_planner for their excellent open-source project. If you use this repository, please also cite their corresponding paper.