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clydemcqueen / bluerov2_ignition

BlueROV2 model for Gazebo Garden
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Added BlueROV2 mesh for visualization #6

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

gazebo

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

evan-palmer commented 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.

clydemcqueen commented 1 year ago

@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.

srmainwaring commented 1 year ago

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.

evan-palmer commented 1 year ago

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.