Closed evan-palmer closed 1 year ago
I'd like to note that I am in the process of switching over the STL files to COLLADA so that the resulting models preserve their coloring. I will update the PR once they have been updated.
@evan-palmer Thank you for contributing! This is a great addition!
It would be great to preserve the color if possible.
If it's easy, perhaps you could simplify the files a bit by removing the holes in the penetrators and other little bits that don't render well.
When this is ready, perhaps @srmainwaring will be interested in adding the model to https://github.com/ArduPilot/ardupilot_gazebo.
When this is ready, perhaps @srmainwaring will be interested in adding the model to https://github.com/ArduPilot/ardupilot_gazebo
@clydemcqueen sure! We'd add to https://github.com/ArduPilot/SITL_Models/tree/master/Gazebo which is where we've been placing models recently. I'll keep an eye out for when this PR is merged.
It would be great to preserve the color if possible.
If it's easy, perhaps you could simplify the files a bit by removing the holes in the penetrators and other little bits that don't render well.
Thank you for the review! With the latest commit, I switched the STL files over to COLLADA files to preserve the original coloring of the BlueROV2. I was able to improve the rendering quality with the new file format as well. Some additional changes I made included updating the lights to match the standard BlueROV2. The previous version used the Heavy configuration lighting. I also changed the coloring of the transparent parts (electronics enclosure, battery bottle, and camera dome) to light grey because those were pretty difficult to see in Gazebo.
I spent a little while trying to resolve your comment regarding simplifying the penetrators and some of the other bits as well, but the original CAD file is a Solidworks assembly which doesn't transfer super well to Inventor (what I have access too) and makes it a bit difficult to make changes to the bodies themselves. Consequently I wasn't able to fill up those penetrator holes. I tried removing them altogether, but getting the resulting holes filled up also managed to be beyond my experience level. I am currently working on getting the model cleaned up in Blender though.
Something else that I would like to note is that I wasn't able to get the back two propellers perfectly aligned without throwing off the top and front propeller alignment. I opted to leave those a little out of whack to preserve the accuracy of the more visible thrusters.
Changes Made
This PR updates the BlueROV2 visualization to use a mesh generated from the BlueROV2 Solidworks model. Additionally, T200 propeller meshes obtained from the T200 Solidworks model have been included to support propeller visualization.
Files Changed
/models/bluerov2/meshes/**
: Introduced three new meshes: one for the BlueROV2 with the thrusters angled at 45 degrees and two for the T200 propellers (including CW & CCW)/models/bluerov2/model.sdf.in
: Updated the visual elements to use the added meshes/scripts/generate_model.py
: Adjusted the placement of the thrusters in the model/images/gazebo.png
: Modified the image to use the updated meshes