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The following codebase achieves the objective of projection of two-dimensional grayscale terrain images, as well as the projection of occupancy 2D grid maps. Gazebo handles this by percieving height as a function of how bright the pixel is. Therefore, grayscale images can easily converted into 3D projections.
(tested on ros-noetic with Gazebo-11)
The repository as a whole is a ROS package, and hence needs to built in a ROS workspace.
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Clone the repository in the
src
folder of your$WORKSPACE
directory:git clone https://github.com/blackcoffeerobotics/heightmap_generation.git
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Build the package in your workspace:
cd $WORKSPACE/ && catkin_make
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To prevent repeated sourcing of your
devel/
folder of your workspace, run the command to add a sourcing command to your bash script:echo "source $WORKSPACE_DIR/devel/setup.bash" >> ~/.bashrc && exec bash
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Launch an empty world using the package:
roslaunch heightmap_generation sim.launch
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The script launches an empty world with a Sun, clouds and a ground plane situated at the origin: