Simulation Objects

Downloading and Inserting Default Gazebo Models

See this tutorial for how to download the default gazebo models on to your computer: http://machineawakening.blogspot.com/2015/05/how-to-download-all-gazebo-models.html

Inserting Gazebo Models:

• On the left panel, click on the "Insert" panel
• Click on the object you want to insert
• Click at the location of where you want to insert the object

Create Custom Models

In order to test our virtual tractor on "test track" conditions or on "real life" conditions, we need to be able to make a world file for the tractor to drive around on. We can do this in one of two ways:

• Solidworks: Good for ideal tracks to test sensor logic (i.e. can make perfect sinusoidal hills to test code on)
• 3D Scanning: Good for bringing organic geometry into Gazebo (i.e. dirt roads, grass, snow)

Solidworks

• After making your part in Solidworks, save it as a .STL file

3D Scanning

From .STL file

• Import the part into Blender - either in Windows or Linux (download)
• Make sure the part is scaled correctly and the axes line up properly (especially the location of the origin!)
• Export the part as a .dae file

From .dae file

Temporary notes

pathways: kinect > .STL > .DAE - Collada (use blender) > Gazebo World

pathways: Solidworks > .STL > .DAE - Collada (use blender) > Gazebo World