Gazebo models and worlds collection

This repository contains models and worlds files for Gazebo, which are collected from several public projects.

Usage

To use the models, the models directory needs to be added to the GAZEBO_MODEL_PATH environment variable. To do so, add the following line to the end of ~/.bashrc:

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<path to this repo>/models

It is also possible to add model path in the Gazebo Client GUI.

Adding worlds directory to the GAZEBO_RESOURCE_PATH environment variable allows you to specify the world without absolute path. To do so, add the following line to ~/.bashrc:

export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:<path to this repo>/worlds

Preview

Gazebo screenshots are provided in screenshots to preview the worlds.

Exporting sketchup to Gazebo

Exporting sketchup (*.skp) to Gazebo is not straightforward, it is often necessary to fix the collada file to make the model render correctly. This is an overview of the most common fixes that were used to create the models in this repository:

Textures appear dark

The default ambient color is too dark, this can be fixed by explicitly setting it to white. In the .dae file, replace </diffuse> by </diffuse><ambient><color>1 1 1 1</color></ambient>.

Emissive textures appear gray

The default ambient color is not black but dark gray. Set the emissive color to white using <emissive><color>1 1 1 1</color></emissive> and set the ambient color to black: <ambient><color>0 0 0 1</color></ambient>.

Transparency is ignored or causes depth sorting issues

Separately export the transparent object. Use an OGRE material script to set up the transparency:

material Cyberzoo/Poles
{
	technique
	{
		pass
		{
			alpha_rejection greater 128
			
			texture_unit
			{
				texture pole.png
			}
		}
	}
}

The material script needs to be included in the model's .sdf file:

<material>
  <script>
    <uri>model://cyberzoo/cyberzoo_poles</uri>
    <name>Cyberzoo/Poles</name>
  </script>
</material>

See the cyberzoo model as an example.

Incorrect smooth shading

Incorrect smoothing can sometimes be fixed by removing the <input semantic="NORMAL" source="..."/> lines from the .dae file.

Source

• 3DGEMS
• RotorS
• TU Delft
• ARTI-Robots
• Clearpath Robotics
• Fetch Robotics