NASA Challenge_[@martincerven]_[New Mars & Moon Gazebo sim high fidelity worlds]

heightmap_demo/Dockerfile

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+
+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

heightmap_demo/README.md

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+# 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 <min> <max>  0 65535 <input>.tif <output>.tif
+```
+
+You can gen min,max of extent in QGIS or with following command:
+```
+gdalinfo <input>.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. 
+
+

heightmap_demo/build.sh

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+#!/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! #####"
+

heightmap_demo/entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+# source "${DEMO_DIR}/install/setup.bash"
+exec "$@"

heightmap_demo/heightmap_demo/apollo_16.sdf

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+<sdf version='1.10'>
+  <world name='world_demo'>
+    <gravity>0 0 -1.6200000000000001</gravity>
+    <gui fullscreen='false'>
+      <plugin name='3D View' filename='MinimalScene'>
+        <gz-gui>
+          <title>3D View</title>
+          <property type='bool' key='showTitleBar'>false</property>
+          <property type='string' key='state'>docked</property>
+        </gz-gui>
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.0 0.0 0.0</ambient_light>
+        <background_color>0.0 0.0 0.0</background_color>
+        <camera_pose>-9.249 -3.787 -5.543 0 0 0 </camera_pose>
+        <camera_clip>
+          <near>0.25</near>
+          <far>1000000</far>
+        </camera_clip>
+      </plugin>
+      <plugin name='Entity context menu' filename='EntityContextMenuPlugin'>
+        <gz-gui>
+          <property key='state' type='string'>floating</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Scene Manager' filename='GzSceneManager'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Interactive view control' filename='InteractiveViewControl'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Camera Tracking' filename='CameraTracking'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Marker manager' filename='MarkerManager'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Select Entities' filename='SelectEntities'>
+        <gz-gui>
+          <anchors target='Select entities'>
+            <line own='right' target='right'/>
+            <line own='top' target='top'/>
+          </anchors>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Visualization Capabilities' filename='VisualizationCapabilities'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Spawn Entities' filename='Spawn'>
+        <gz-gui>
+          <anchors target='Select entities'>
+            <line own='right' target='right'/>
+            <line own='top' target='top'/>
+          </anchors>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='World control' filename='WorldControl'>
+        <gz-gui>
+          <title>World control</title>
+          <property type='bool' key='showTitleBar'>false</property>
+          <property type='bool' key='resizable'>false</property>
+          <property type='double' key='height'>72</property>
+          <property type='double' key='width'>121</property>
+          <property type='double' key='z'>1</property>
+          <property type='string' key='state'>floating</property>
+          <anchors target='3D View'>
+            <line own='left' target='left'/>
+            <line own='bottom' target='bottom'/>
+          </anchors>
+        </gz-gui>
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <use_event>true</use_event>
+      </plugin>
+      <plugin name='World stats' filename='WorldStats'>
+        <gz-gui>
+          <title>World stats</title>
+          <property type='bool' key='showTitleBar'>false</property>
+          <property type='bool' key='resizable'>false</property>
+          <property type='double' key='height'>110</property>
+          <property type='double' key='width'>290</property>
+          <property type='double' key='z'>1</property>
+          <property type='string' key='state'>floating</property>
+          <anchors target='3D View'>
+            <line own='right' target='right'/>
+            <line own='bottom' target='bottom'/>
+          </anchors>
+        </gz-gui>
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+      <plugin name='Shapes' filename='Shapes'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='x' type='double'>0</property>
+          <property key='y' type='double'>0</property>
+          <property key='width' type='double'>250</property>
+          <property key='height' type='double'>50</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+          <property key='cardBackground' type='string'>#666666</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Lights' filename='Lights'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='x' type='double'>250</property>
+          <property key='y' type='double'>0</property>
+          <property key='width' type='double'>150</property>
+          <property key='height' type='double'>50</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+          <property key='cardBackground' type='string'>#666666</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Transform control' filename='TransformControl'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='x' type='double'>0</property>
+          <property key='y' type='double'>50</property>
+          <property key='width' type='double'>250</property>
+          <property key='height' type='double'>50</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+          <property key='cardBackground' type='string'>#777777</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='Screenshot' filename='Screenshot'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='x' type='double'>250</property>
+          <property key='y' type='double'>50</property>
+          <property key='width' type='double'>50</property>
+          <property key='height' type='double'>50</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+          <property key='cardBackground' type='string'>#777777</property>
+        </gz-gui>
+      </plugin>
+      <plugin name='VideoRecorder' filename='VideoRecorder'>
+        <gz-gui>
+          <property key='resizable' type='bool'>false</property>
+          <property key='x' type='double'>300</property>
+          <property key='y' type='double'>50</property>
+          <property key='width' type='double'>50</property>
+          <property key='height' type='double'>50</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+          <property key='cardBackground' type='string'>#777777</property>
+        </gz-gui>
+        <record_video>
+          <use_sim_time>true</use_sim_time>
+          <lockstep>true</lockstep>
+          <bitrate>4000000</bitrate>
+        </record_video>
+      </plugin>
+      <plugin name='Key publisher' filename='KeyPublisher'>
+        <gz-gui>
+          <anchors target='3D View'>
+            <line own='right' target='right'/>
+            <line own='top' target='top'/>
+          </anchors>
+          <property key='resizable' type='bool'>false</property>
+          <property key='width' type='double'>5</property>
+          <property key='height' type='double'>5</property>
+          <property key='state' type='string'>floating</property>
+          <property key='showTitleBar' type='bool'>false</property>
+        </gz-gui>
+      </plugin>
+    </gui>
+    <magnetic_field>5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+
+    <scene>
+      <ambient>0.0 0.0 0.0 0.0</ambient>
+      <background>0.0 0.0 0.0 1.0</background>
+      <grid>false</grid>
+    </scene>
+
+    <include>
+      <uri>Moon model</uri>
+      <name>moon_model</name>
+      <pose>0 0 -400 0 0 0</pose>
+    </include>
+
+
+    <include>
+      <uri>Gazebo flag</uri>
+      <name>gazebo_flag</name>
+      <pose>0 0 -11.80316162109375 0 0 0</pose>
+    </include>
+    <light name='sun' type='directional'>
+      <pose>0 0 20 -1.3 1.1005873689362983e-17 0.5</pose>
+      <cast_shadows>true</cast_shadows>
+      <intensity>2</intensity>
+      <direction>0 0 -1</direction>
+      <diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
+      <specular>0.00999999978 0.00999999978 0.00999999978 1</specular>
+      <attenuation>
+        <range>10</range>
+        <linear>1</linear>
+        <constant>1</constant>
+        <quadratic>0</quadratic>
+      </attenuation>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+  </world>
+</sdf>