search

Yelloooowww / real_to_sim_env

0 stars 3 forks source link

How to generate world file from 3D mesh #2

Open aaravrav142 opened 2 years ago

aaravrav142 commented 2 years ago

Hi there,

I want to effectively use this package to generate Gazebo world file from the real 3D map data. I have several point cloud data from RGBD SLAM of real environment. Your package is exactly what I wanted to test navigation performance in sim. Can you please explain or point out how to put the point cloud data (PCD, ply, or rtabmap .db format) as a world file in gazebo.

Deeply appreciate any help. Thanks a lot.

Yelloooowww commented 2 years ago

HI, I'm glad to have been helpful. First, instead of the point cloud data, you need to build a COLLADA (.dae) file. Maybe you could use MeshLab (https://www.meshlab.net/) to make a mesh from points. Then, use the COLLADA file to build a Gazebo model (https://classic.gazebosim.org/tutorials?tut=import_mesh).

Best regards

aaravrav142 commented 2 years ago

Hi thanks for the reply. I will test it and report back. Thank you again.