Planetary-like environment in ROS Gazebo + Blender
Tested on Ubuntu 16.04 & Gazebo 8
Requires the Velodyne simulator for Gazebo:
https://bitbucket.org/DataspeedInc/velodyne_simulator
world.launch
: spawn world generated from cropped martian DTM + added populations of rocks of various sizeactor_long.launch
: spawn world and box with stereocamera and 3D LiDAR moving on a fixed closed path of ~300 metersactor_long_rocks.launch
: as before, but this time more rocks are present, some of them are big bouldersactor_short.launch
: spawn world and box with stereocamera and 3D LiDAR moving on a short path of ~60 meters
This simulated environment is used in "Simulation Framework for Mobile Robots in Planetary-Like Environments", in IEEE International Workshop on Metrology for Aerospace, 2020. If you find it useful for your projects and research, consider to cite our paper using the following BibTeX:
@INPROCEEDINGS{giubilato2020simulation,
author = {R. Giubilato and A. Masili and S. Chiodini and
M. Pertile and S. Debei},
booktitle = {2020 IEEE 7th International Workshop on Metrology
for AeroSpace (MetroAeroSpace)},
title = {Simulation Framework for Mobile Robots in
Planetary-Like Environments},
year = {2020},
}