Only the, and tags, removing the following:Īt this point, we should be able to start Gazebo, and dynamically insert gedit ~/.gazebo/models/velodyne_hdl32/model.sdfĬopy the contents of velodyne.world into model.sdf and leave Model.sdf file will contain the description of the Velodyne laser.Ĭreate the model.sdf file. Notice that the nfig file references a model.sdf file. Ī model of a Velodyne HDL-32 LiDAR sensor. gedit ~/.gazebo/models/velodyne_hdl32/nfigĬopy the following into the nfig file. That describes the model, the author, and any dependencies. Each model requires some meta information mkdir ~/.gazebo/models/velodyne_hdl32Ĭreate the nfig file. Models and this will speed the developement process. We will place theĭirectory in ~/.gazebo/models, since Gazebo knows to look there for Section, we will create a Velodyne SDF model and add the two mesh files,Ĭreate a new directory to hold the Velodyne model. Organizes resources, such as mesh files, required by the model. ReviewĪnother benefit of Gazebo's model structure is that it conveniently Models, and the ability to share models via an online model database. Gazebo has defined a model directory structure that supports stand-alone In the next section, we will cover adding these meshes to the SDF model. These two files are also available from the following links: Translate button in the upper left (click on it twice to open a dialog in the lower left) to move the model down the Z-axis by -0.06096.Īt this point You should have two collada files: velodyne_base.dae and velodyne_top.dae. You will also have to translate this mesh so that the bottom is on the XY-plane. "HD元2E OUTLINE MODEL006" as velodyne_top.dae. Repeat this process for the top of the velodyne. The mesh should not look like the following image.Įxport the mesh as a collada file. In the same tab, rotate the model by 90 degrees around the X-axis. Section of this tab, divide the x,y,z components by 1000. Sign near the upper right of the render window). Pull out the right-tab in blender (look for a plus Would like the top to face along the Z-axis. Model is also rotated so that the top is facing along the Y-axis, and we The units are currently in millimeters, and Gazebo requires meters. Note: You may have to download a newer version of Blender to get the Collada import feature. We need to modify the velodyne_base.dae file inīecause the units are incorrect and we want the mesh centered on the Select the base of Velodyne, by clicking on "HD元2 OUTLINE MODEL" in theĮxport to Collada, into a file called velodyne_base.dae. If you're using Ubuntu, you can install freecad using: sudo apt-get install freecad freecad ~/Downloads/HD元2E_Outline_Model.STEP Right-click and save-as on this link to save the STEP file. Step 1: Mesh Acquisitionĭownload the STEP file. Gazebo can only use STL, OBJ or Collada files, so we'll have to convert thisįile and then add it to our model. Velodyne has a STEP file for the HDL-32 located on their In these cases you can try your hand at mesh creation, work with anĪrtist, or contact the manufacturer directly. Meshes available, however it can sometimes be difficult to find an existing Improve the visual appearance of our model. In this section, we will use 3D meshes available on the Velodyne website to That feed information to vision processing algorithms will benefit from More importantly improve the realism of an environment. Models with textures and 3D meshes can improve your visual experience, and
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