How to import PLY/PCD to Gazebo world for simulation？

[robot-mh]

RT

[iker-lluvia]

I'm not sure if you can import them directly, but you can convert the PLY file to a COLLADA, and include it as a mesh in the SDF file, for example. Here you have a simple example:

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="<DAE filename>">
    <pose>0 0 0 0 0 0</pose>
    <link name="link">
      <inertial>
        <mass>100</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>file://<DAE file path relative to the ROS package>/<DAE filename>.dae</uri>
            <scale>1 1 1</scale>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>file://<DAE file path relative to the ROS package>/<DAE filename>.dae</uri>
          </mesh>
        </geometry>
        <meta>
          <layer>1</layer>
        </meta>
      </visual>
  </link>
  <static>1</static>
  </model>
</sdf>

I also share the steps to convert from PLY to COLLADA (.dae), keeping textures, with MeshLab in Ubuntu:

1. Install meshlab.

   sudo apt update
   sudo apt install meshlab
   

2. Open meshlab.

3. 'File' > 'Import Mesh (Ctrl+I)'.

4. 'Filters' > 'Texture' > 'Parametrization: Trivial Per-Triangle'.
   
   If you get 'Inter-Triangle border is too much', increase 'Texture Dimension (px)'.

5. 'Filters' > 'Texture' > 'Transfer Vertex Attributes to Texture (between 2 meshes)'.
   
   Check: 'Assign Texture' and 'Fill Texture'.

6. 'Export Mesh As...'.
   
   Select 'Collada File Format (*.dae)' and ensure to check 'TexCoord'.

I hope it helps!

[victorreijgwart]

Thanks for answering this question @iker-lluvia!
As there as been no activity since, I assume the issue is resolved. If not, feel free to open a new issue @robot-mh.