diff --git a/heightmap_demo/Dockerfile b/heightmap_demo/Dockerfile new file mode 100644 index 00000000..78b667ee --- /dev/null +++ b/heightmap_demo/Dockerfile @@ -0,0 +1,37 @@ + +FROM osrf/space-ros:latest + +# Install Gazebo Harmonic: +# https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu +RUN sudo apt-get update +RUN sudo apt-get install lsb-release gnupg +RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg +RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null +RUN sudo apt-get update + +# Install required packages +RUN sudo apt-get update \ + && sudo apt-get install -y --no-install-recommends \ + bash \ + bash-completion \ + build-essential \ + cmake \ + git \ + python-is-python3 \ + python3-pip \ + gz-harmonic \ + && sudo apt-get autoremove -y + +# Replace old entrypoint with an entrypoint that extends upon it +# This is necessary as Gazebo Harmonic has been installed as well as some new ROS packages. +# RUN sudo mv /ros_entrypoint.sh /old_entrypoint.sh +# COPY entrypoint.sh /ros_entrypoint.sh +# RUN sudo chmod +x /ros_entrypoint.sh + +# Set up workspace +RUN mkdir -p /home/spaceros-user/heightmap_demo +WORKDIR /home/spaceros-user/heightmap_demo +# Copy over the files so that we can pre-build the package with colcon +COPY heightmap_demo /home/spaceros-user/heightmap_demo +# Source ROS environment and build the package +# RUN . /opt/ros/humble/setup.sh && . ${SPACEROS_DIR}/install/setup.sh && colcon build \ No newline at end of file diff --git a/heightmap_demo/README.md b/heightmap_demo/README.md new file mode 100644 index 00000000..41b10784 --- /dev/null +++ b/heightmap_demo/README.md @@ -0,0 +1,61 @@ +# Heightmap demo + + +This demo shows how to use custom DEM data from LRO & MRO to create performant terrain with Gazebo **heightmaps**. + +It was made as part of **NASA Space ROS Sim Summer Sprint Challenge** by @martincerven + + + +## Build container: + +``` +cd heightmap_demo +./build.sh +``` + +## Run container: + +``` +export GZ_SIM_RESOURCE_PATH=`pwd`/models:$GZ_SIM_RESOURCE_PATH + +gz sim -v 4 "apollo_16.sdf" +``` + + +# Workflow + +Digital elevation model (DEM) can be used in Gazebo as heightmaps. Example of such DEMs is data from [Lunar Reconaisance Orbiter's Apollo missions](https://wms.lroc.asu.edu/lroc/view_rdr/NAC_DTM_APOLLO16_4). DEM or DTM(Digital Terrain Model) is represented in float geotiff **.tiff** format. + +Gazebo accepts data in **.png** format, therefore we need to do a few data processing steps. +First, we need to crop image to $(2^k,2^k)$ size, for example $(4096,4096)$. + +For this we use free and open source tool [QGIS](https://qgis.org/). + +We load downloaded geotiff and use **layer->clip by extent**. + +Then we save squar tiff image. + +Values of tiff images are **32-bit float** representing **elevation** and since Gazebo heightmap accepts png, we need to convert it, to **16-bit** unsigned integer. + +``` +gdal_translate -outsize 4096 4096 -ot UInt16 -scale 0 65535 .tif .tif +``` + +You can gen min,max of extent in QGIS or with following command: +``` +gdalinfo .tif | grep Min +``` + +`gdal_translate` can also output .png format, but for some reason only 8bit version works, while 16-bit is not recognized by Gazebo and throws [out of bound error](https://github.com/gazebosim/garden_demo/pull/22#issuecomment-2322324064). This is probably due to wrong .png chunk encodings. + +We can circumvent this by importing .tif into FOSS image editor [Gimp](https://www.gimp.org/) which outputs correct .png file, by using **export->png->16bpc**. + + + +## References + +The idea for this demo comes from beautiful [Garden demo](https://github.com/gazebosim/garden_demo). +This demo descibes how the heightmap can be generated from publicly available data and using open source software. + + diff --git a/heightmap_demo/build.sh b/heightmap_demo/build.sh new file mode 100755 index 00000000..a530b6d2 --- /dev/null +++ b/heightmap_demo/build.sh @@ -0,0 +1,23 @@ +#!/usr/bin/env bash + +ORG=openrobotics +IMAGE=heightmap_demo +TAG=latest + +VCS_REF="" +VERSION=preview + +# Exit script with failure if build fails +set -eo pipefail + +echo "" +echo "##### Building Space ROS Demo Docker Image #####" +echo "" + +docker build -t $ORG/$IMAGE:$TAG \ + --build-arg VCS_REF="$VCS_REF" \ + --build-arg VERSION="$VERSION" . + +echo "" +echo "##### Done! #####" + diff --git a/heightmap_demo/entrypoint.sh b/heightmap_demo/entrypoint.sh new file mode 100755 index 00000000..045695ed --- /dev/null +++ b/heightmap_demo/entrypoint.sh @@ -0,0 +1,6 @@ +#!/bin/bash +set -e + +# Setup the Demo environment +# source "${DEMO_DIR}/install/setup.bash" +exec "$@" diff --git a/heightmap_demo/heightmap_demo/apollo_16.sdf b/heightmap_demo/heightmap_demo/apollo_16.sdf new file mode 100644 index 00000000..b4fd30ab --- /dev/null +++ b/heightmap_demo/heightmap_demo/apollo_16.sdf @@ -0,0 +1,263 @@ + + + 0 0 -1.6200000000000001 + + + + 3D View + false + docked + + ogre2 + scene + 0.0 0.0 0.0 + 0.0 0.0 0.0 + -9.249 -3.787 -5.543 0 0 0 + + 0.25 + 1000000 + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + World control + false + false + 72 + 121 + 1 + floating + + + + + + true + true + true + true + + + + World stats + false + false + 110 + 290 + 1 + floating + + + + + + true + true + true + true + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + true + true + 4000000 + + + + + + + + + false + 5 + 5 + floating + false + + + + 5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05 + + + 0.001 + 1 + 1000 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 1.0 + false + + + + Moon model + moon_model + 0 0 -400 0 0 0 + + + + + Gazebo flag + gazebo_flag + 0 0 -11.80316162109375 0 0 0 + + + 0 0 20 -1.3 1.1005873689362983e-17 0.5 + true + 2 + 0 0 -1 + 0.800000012 0.800000012 0.800000012 1 + 0.00999999978 0.00999999978 0.00999999978 1 + + 10 + 1 + 1 + 0 + + + 0 + 0 + 0 + + + + diff --git a/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_fs.metal b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_fs.metal new file mode 100644 index 00000000..aa37ee61 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_fs.metal @@ -0,0 +1,86 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + + +#include +using namespace metal; + +struct Params +{ + float3 light_dir; +}; + +struct PS_INPUT +{ + float3 pos; + float3 norm; + float2 texUv; + float flip; +}; + +fragment float4 main_metal +( + PS_INPUT inPs [[stage_in]], + texture2d texMap [[texture(0)]], + sampler texMapSampler [[sampler(0)]], + constant Params &p [[buffer(PARAMETER_SLOT)]] +) +{ + float3 lightAmbient = float3(0.1f, 0.1f, 0.1f); + float3 lightDiffuse = float3(0.7f, 0.7f, 0.7f); + float3 lightSpecular = float3(0.1f, 0.1f, 0.1f); + + float3 color = float3(0.8, 0.8, 0.8); + float3 ambientColor = color * 0.5; + float3 diffuseColor = texMap.sample(texMapSampler, inPs.texUv.xy).xyz; + float3 specularColor = color; + + float3 lightDir = normalize(p.light_dir); + if (inPs.flip > 0) + { + // not ideal but make sure the other side is always lit + lightDir = -lightDir; + } + + // normalize both input floattors + float3 n = normalize(inPs.norm); + float3 e = normalize(-inPs.pos); + + float specular = 0.0f; + float NdotL = max(dot(lightDir, inPs.norm), 0.0); + // if the vertex is lit compute the specular color + if (NdotL> 0.0) + { + // compute the half floattor + float3 halfVector = normalize(lightDir + e); + + // add specular + float NdotH = max(dot(halfVector, n), 0.0); + + float shininess = 10.0; + specular = pow(NdotH, shininess); + } + + float3 finalColor = lightAmbient * ambientColor; + finalColor += lightDiffuse * diffuseColor * NdotL; + finalColor += lightSpecular * specularColor * specular; + + // account for gamma correction + finalColor = finalColor * finalColor; + + return float4(finalColor, 1.0); +} diff --git a/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_fs_330.glsl b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_fs_330.glsl new file mode 100644 index 00000000..4e9e5fc0 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_fs_330.glsl @@ -0,0 +1,77 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#version 330 + +uniform sampler2D texMap; +uniform vec3 light_dir; +out vec4 fragColor; + +in block +{ + vec3 pos; + vec3 norm; + vec2 texUv; + float flip; +} inPs; + +void main() +{ + vec3 lightAmbient = vec3(0.1f, 0.1f, 0.1f); + vec3 lightDiffuse = vec3(0.7f, 0.7f, 0.7f); + vec3 lightSpecular = vec3(0.1f, 0.1f, 0.1f); + + vec3 color = vec3(0.8, 0.8, 0.8); + vec3 ambientColor = color * 0.5; + vec3 diffuseColor = texture(texMap, inPs.texUv.xy).xyz; + vec3 specularColor = color; + + vec3 lightDir = normalize(light_dir); + if (inPs.flip > 0) + { + // not ideal but make sure the other side is always lit + lightDir = -lightDir; + } + + // normalize both input vectors + vec3 n = normalize(inPs.norm); + vec3 e = normalize(-inPs.pos); + + float specular = 0.0f; + float NdotL = max(dot(lightDir, inPs.norm), 0.0); + // if the vertex is lit compute the specular color + if (NdotL> 0.0) + { + // compute the half vector + vec3 halfVector = normalize(lightDir + e); + + // add specular + float NdotH = max(dot(halfVector, n), 0.0); + + float shininess = 10.0; + specular = pow(NdotH, shininess); + } + + vec3 finalColor = lightAmbient * ambientColor; + finalColor += lightDiffuse * diffuseColor * NdotL; + finalColor += lightSpecular * specularColor * specular; + + // account for gamma correction + finalColor = finalColor * finalColor; + + fragColor = vec4(finalColor, 1.0); +} diff --git a/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_vs.metal b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_vs.metal new file mode 100644 index 00000000..6458d933 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_vs.metal @@ -0,0 +1,101 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +using namespace metal; + +struct VS_INPUT +{ + float4 position [[attribute(VES_POSITION)]]; + float2 uv0 [[attribute(VES_TEXTURE_COORDINATES0)]]; +}; + +struct Params +{ + // time + float t; + float4x4 worldview_matrix; + float4x4 worldviewproj_matrix; + float4x4 inverse_transpose_world_matrix; + float amplitude; + float speed; + float frequency; + float2 size; + // the flag is composed of two meshes. One with flipped normals. + // Here we need to change the shaders logic for deforming vertices and + // computing deformed normals + // 1 to flip vertex deformation and normal + int flip; +}; + +struct PS_INPUT +{ + float4 gl_Position [[position]]; + float3 pos; + float3 norm; + float2 texUv; + float flip; +}; + +float4 deform(float4 v, float2 uv, float speed, float frequency, float amplitude, float t) +{ + // requires flag mesh to be facing z direction + v.z += sin((uv.x - t * speed) * frequency) * amplitude * uv.x; + v.x += cos((uv.y - t * speed) * frequency) * amplitude*0.3 * uv.x; + return v; +} + +vertex PS_INPUT main_metal +( + VS_INPUT input [[stage_in]], + constant Params &p [[buffer(PARAMETER_SLOT)]] +) +{ + PS_INPUT outVs; + + // flip vertex deformation and normal calculation if needed + float2 uv = input.uv0.xy; + float incr = 1.0; + if (p.flip > 0) + { + uv = float2(1 - uv.x, uv.y); + incr = -1.0; + } + float4 v = deform(input.position, uv, + p.speed, p.frequency, p.amplitude, p.t); + + // compute deformed normal + float4 vertexX = float4((uv.x + (0.01*incr) - 0.5) * p.size.x, input.position.yzw); + float4 vertexY = float4(input.position.x, (uv.y + 0.01 - 0.5) * -p.size.y, input.position.zw); + float4 va = deform(vertexX, float2(uv.x + (0.01 * incr), uv.y), + p.speed, p.frequency, p.amplitude, p.t); + float4 vb = deform(vertexY, float2(uv.x, uv.y + 0.01), + p.speed, p.frequency, p.amplitude, p.t); + float3 norm = cross(normalize(vb.xyz - v.xyz), normalize(va.xyz - v.xyz)); + norm = normalize(norm); + + outVs.gl_Position = p.worldviewproj_matrix * v; + + float4 pos = p.worldview_matrix * v; + outVs.pos = pos.xyz / pos.w; + outVs.norm = float3((p.inverse_transpose_world_matrix) * float4(norm, 1.0)); + outVs.texUv = input.uv0.xy; + outVs.flip = p.flip; + + return outVs; +} + diff --git a/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_vs_330.glsl b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_vs_330.glsl new file mode 100644 index 00000000..6db5af41 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/programs/flag_vs_330.glsl @@ -0,0 +1,91 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#version 330 + +in vec4 vertex; +in vec4 uv0; + +// time +uniform float t; + +// constants +uniform mat4 worldview_matrix; +uniform mat4 worldviewproj_matrix; +uniform mat4 inverse_transpose_world_matrix; + +uniform float amplitude; +uniform float speed; +uniform float frequency; +uniform vec2 size; + +// the flag is composed of two meshes. One with flipped normals. +// Here we need to change the shaders logic for deforming vertices and +// computing deformed normals +// 1 to flip vertex deformation and normal +uniform int flip; + +out gl_PerVertex +{ + vec4 gl_Position; +}; + +out block +{ + vec3 pos; + vec3 norm; + vec2 texUv; + float flip; +} outVs; + +vec4 deform(vec4 v, vec2 uv) +{ + // requires flag mesh to be facing z direction + v.z += sin((uv.x - t * speed) * frequency) * amplitude * uv.x; + v.x += cos((uv.y - t * speed) * frequency) * amplitude*0.3 * uv.x; + return v; +} + +void main() +{ + // flip vertex deformation and normal calculation if needed + vec2 uv = uv0.xy; + float incr = 1.0; + if (flip > 0) + { + uv = vec2(1 - uv.x, uv.y); + incr = -1.0; + } + vec4 v = deform(vertex, uv); + + // compute deformed normal + vec4 vertexX = vec4((uv.x + (0.01*incr) - 0.5) * size.x, vertex.yzw); + vec4 vertexY = vec4(vertex.x, (uv.y + 0.01 - 0.5) * -size.y, vertex.zw); + vec4 va = deform(vertexX, vec2(uv.x + (0.01 * incr), uv.y)); + vec4 vb = deform(vertexY, vec2(uv.x, uv.y + 0.01)); + vec3 norm = cross(normalize(vb.xyz - v.xyz), normalize(va.xyz - v.xyz)); + norm = normalize(norm); + + gl_Position = worldviewproj_matrix * v; + + vec4 p = worldview_matrix * v; + outVs.pos = p.xyz / p.w; + outVs.norm = vec3((inverse_transpose_world_matrix) * vec4(norm, 1.0)); + outVs.texUv = uv0.xy; + outVs.flip = flip; +} + diff --git a/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/textures/gazebo.png b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/textures/gazebo.png new file mode 100644 index 00000000..9c1705e7 Binary files /dev/null and b/heightmap_demo/heightmap_demo/models/Gazebo flag/materials/textures/gazebo.png differ diff --git a/heightmap_demo/heightmap_demo/models/Gazebo flag/meshes/flag1cr.dae b/heightmap_demo/heightmap_demo/models/Gazebo flag/meshes/flag1cr.dae new file mode 100644 index 00000000..855d2580 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Gazebo 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<library_visual_scenes> + <visual_scene id="Stars" name="Stars"> + <node name="Star" id="Star" sid="Star"> + <matrix sid="matrix">100000.000000 0.017485 0.000000 0.000000 -0.017485 100000.000000 0.000000 0.000000 0.000000 0.000000 100000.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Star-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Star_ncl1_1" target="#Star_ncl1_1"/> + <instance_material symbol="FBXASC0488FBXASC032-FBXASC032Default" target="#FBXASC0488FBXASC032-FBXASC032Default"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.966667</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Stars"/> + </scene> +</COLLADA> diff --git a/heightmap_demo/heightmap_demo/models/Moon model/meshes/Sun.dae b/heightmap_demo/heightmap_demo/models/Moon model/meshes/Sun.dae new file mode 100644 index 00000000..561aaeb4 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Moon model/meshes/Sun.dae @@ -0,0 +1,173 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author/> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + <comments/> + </contributor> + <created>2021-11-30T23:27:39Z</created> + <keywords/> + <modified>2021-11-30T23:27:39Z</modified> + <revision/> + <subject/> + <title/> + <unit meter="1000.000000" name="centimeter"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_images> + <image id="MapFBXASC032FBXASC0353-image" name="MapFBXASC032FBXASC0353"> + <init_from>../materials/textures/SunOpaque.png</init_from> + </image> + </library_images> + <library_materials> + <material id="Sun_ncl1_1" name="Sun_ncl1_1"> + <instance_effect url="#Sun_ncl1_1-fx"/> + </material> + </library_materials> + <library_effects> + <effect id="Sun_ncl1_1-fx" name="Sun_ncl1_1"> + <profile_COMMON> + <technique sid="standard"> + <phong> + <emission> + <color sid="emission">0.000000 0.000000 0.000000 1.000000</color> + </emission> + <ambient> + <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color> + </ambient> + <diffuse> + <texture texture="MapFBXASC032FBXASC0353-image" texcoord="CHANNEL0"> + <extra> + <technique profile="MAYA"> + <wrapU sid="wrapU0">TRUE</wrapU> + <wrapV sid="wrapV0">TRUE</wrapV> + <blend_mode>ADD</blend_mode> + </technique> + </extra> + </texture> + </diffuse> + <specular> + <color sid="specular">0.000000 0.000000 0.000000 1.000000</color> + </specular> + <shininess> + <float sid="shininess">1.071773</float> + </shininess> + <reflective> + <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color> + </reflective> + <reflectivity> + <float sid="reflectivity">1.000000</float> + </reflectivity> + <transparent opaque="RGB_ZERO"> + <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color> + </transparent> + <transparency> + <float sid="transparency">0.000000</float> + </transparency> + </phong> + </technique> + </profile_COMMON> + </effect> + </library_effects> + <library_geometries> + <geometry id="Sun-lib" name="SunMesh"> + <mesh> + <source id="Sun-POSITION"> + <float_array id="Sun-POSITION-array" count="12"> +-128.854477 -128.842438 0.000013 +128.854477 -128.842438 0.000013 +-128.854446 128.842438 -0.000013 +128.854492 128.842468 -0.000013 +</float_array> + <technique_common> + <accessor source="#Sun-POSITION-array" count="4" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="Sun-Normal0"> + <float_array id="Sun-Normal0-array" count="18"> +0.000000 -0.000000 -1.000000 +0.000000 -0.000000 -1.000000 +0.000000 -0.000000 -1.000000 +0.000000 -0.000000 -1.000000 +0.000000 -0.000000 -1.000000 +0.000000 -0.000000 -1.000000 +</float_array> + <technique_common> + <accessor source="#Sun-Normal0-array" count="6" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="Sun-UV0"> + <float_array id="Sun-UV0-array" count="8"> +0.000000 0.000000 +1.000000 0.000000 +0.000000 1.000000 +1.000000 1.000000 +</float_array> + <technique_common> + <accessor source="#Sun-UV0-array" count="4" stride="2"> + <param name="S" type="float"/> + <param name="T" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Sun-VERTEX"> + <input semantic="POSITION" source="#Sun-POSITION"/> + </vertices> + <triangles count="2" material="Sun_ncl1_1"> + <input semantic="VERTEX" offset="0" source="#Sun-VERTEX"/> + <input semantic="NORMAL" offset="1" source="#Sun-Normal0"/> + <input semantic="TEXCOORD" offset="2" set="0" source="#Sun-UV0"/> + <p> 1 0 1 2 1 2 3 2 3 2 3 2 1 4 1 0 5 0</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="Sun" name="Sun"> + <node name="FDirect001" id="FDirect001" sid="FDirect001"> + <matrix sid="matrix">0.049821 -0.000001 -1.902578 -0.149409 0.000000 1.903230 -0.000001 0.000000 1.902578 -0.000000 0.049821 10.576575 0.000000 0.000000 0.000000 1.000000</matrix> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + <node name="Sun" id="Sun" sid="Sun"> + <matrix sid="matrix">0.016059 0.000000 -0.000000 0.000218 -0.000000 0.016059 0.000000 0.000039 0.000000 -0.000000 0.016059 64.656517 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Sun-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Sun_ncl1_1" target="#Sun_ncl1_1"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.966667</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Sun"/> + </scene> +</COLLADA> diff --git a/heightmap_demo/heightmap_demo/models/Moon model/model.config b/heightmap_demo/heightmap_demo/models/Moon model/model.config new file mode 100644 index 00000000..245ae1bf --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Moon model/model.config @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Moon model</name> + <version>1.0</version> + <sdf version="1.9">model.sdf</sdf> + + <author> + <name></name> + </author> + + <description> + + Example of loading custom DEMs. + </description> + +</model> diff --git a/heightmap_demo/heightmap_demo/models/Moon model/model.sdf b/heightmap_demo/heightmap_demo/models/Moon model/model.sdf new file mode 100644 index 00000000..e38fbb81 --- /dev/null +++ b/heightmap_demo/heightmap_demo/models/Moon model/model.sdf @@ -0,0 +1,107 @@ +<?xml version="1.0" ?> +<sdf version="1.9"> + <model name="moon_model"> + <static>true</static> + <pose>0 0 -5 0 0 0</pose> + + <link name="link"> + <pose>0 0 0 0 0 0</pose> + <collision name="collision"> + <geometry> + <heightmap> + <uri>materials/textures/final.png</uri> + <size>8192 8192 391.196</size> + <pos>0 0 -70</pos> + </heightmap> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <heightmap> + <use_terrain_paging>false</use_terrain_paging> + + <texture> + <diffuse>materials/textures/TerrainNew_Albedo.jpg</diffuse> + <normal>materials/textures/TerrainNew_Normal.jpg</normal> + <size>120</size> + </texture> + <!-- <blend> + <min_height>6</min_height> + <fade_dist>6</fade_dist> + </blend> --> + + <uri>materials/textures/final.png</uri> + + <size>4096 4096 391.196</size> + + <!-- <size>4096 4096 700</size> --> + + <!-- <size>8192 8192 391.196</size> --> + <pos>0 0 -70</pos> + <!-- <pos>-3005.41 86.0 -7869.73</pos> --> + </heightmap> + </geometry> + </visual> + + + </link> + + <link name="stars"> + <pose>0 0 0 0 0 0</pose> + <visual name="stars"> + <geometry> + <mesh> + <uri>meshes/Stars.dae</uri> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <emissive>1 1 1 1</emissive> + </material> + </visual> + </link> + <link name="sun"> + <pose>0 0 0 0 0 3.14</pose> + <visual name="sun"> + <geometry> + <mesh> + <uri>meshes/Sun.dae</uri> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/SunOpaque.png</albedo_map> + <emissive_map>materials/textures/SunOpaque_Emissive.png</emissive_map> + </metal> + </pbr> + </material> + </visual> + </link> + + <link name="earth"> + <pose>0 0 10000 0 0 0</pose> + <visual name="earth"> + <geometry> + <mesh> + <uri>meshes/Earth.dae</uri> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Earth.jpg</albedo_map> + <emissive_map>materials/textures/Earth.jpg</emissive_map> + <metalness>0</metalness> + </metal> + </pbr> + </material> + </visual> + </link> + + </model> +</sdf> diff --git a/heightmap_demo/run.sh b/heightmap_demo/run.sh new file mode 100755 index 00000000..7dea65be --- /dev/null +++ b/heightmap_demo/run.sh @@ -0,0 +1,20 @@ +#!/usr/bin/env bash + +# Runs a docker container with the image created by build.bash +# Requires: +# docker +# an X server + +IMG_NAME=openrobotics/heightmap_demo + +# Replace `/` with `_` to comply with docker container naming +# And append `_runtime` +CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")2" + +# Start the container +# docker run --rm -it --name $CONTAINER_NAME --network host \ +# -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME + +docker run -it --name $CONTAINER_NAME --network host \ + -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME +