Portuguese Ledge world

[chapulina]

Builds on top of

• Use world origin spherical coordinates from SDF if set #177

Closes

• DEM of Portuguese Ledge #146

Requires

• DEM improvements to nodata, buffer and other corner cases gazebosim/gz-common#321
• Flip heightmap's Y position on Ogre 2 and add sanity checks for NaN gazebosim/gz-rendering#585
• Added DEM support gazebosim/gz-sim#1262
• Referring to Fuel assets within a heightmap gazebosim/gz-sim#1419
• 6 ➡️ 7 (main) gazebosim/gz-rendering#603

Model on Fuel:

• https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Portuguese%20Ledge

Preview using Ogre1

Update

Loading 18 tiles (not on Fuel yet) using Ogre 2

Update

Using levels: ign gazebo portuguese_ledge.sdf --levels

TODO

• Verify / fix
  • dimensions
  • lat / lon position
• Break into smaller files
  • Be sure to fill no data values for all files
  • Each file should be a square, to avoid the min-elevation padding cliff
• Use levels
• Support on Ogre 2
• Use Fuel URLs
• Check collision positions
• Use better textures?
• Check seams

Known issues

• It's hard to orbit the camera around the heightmap: Difficult to orbit around heightmaps gazebosim/gz-rendering#598
• And we can't use the transparent plane trick, because it covers the heightmap

[hidmic]

I have to test it next, but it looks good.

[chapulina]

Thanks for the review, @hidmic , I've addressed all your comments in 9a11eee.

[hidmic]

@chapulina when trying to run this locally, I get:

ERROR 1: An error occurred while creating a virtual connection to the DAP server:Error while reading the URL: https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc.ver.
The OPeNDAP server returned the following message:
Bad Request:
[GUI] [Err] [Dem.cc:113] Unable to open DEM file[https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc]. Format not recognized as a supported dataset.
[GUI] [Err] [SceneManager.cc:720] Failed to load heightmap dem data from [https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge/tip/files/meshes/PortugueseLedgeTile15_DecDeg.nc]
[GUI] [Err] [SceneManager.cc:395] Failed to load geometry for visual: visual

Am I missing something? I'm at Ignition's bleeding edge, built Garden from source today.

[chapulina]

Am I missing something? I'm at Ignition's bleeding edge, built Garden from source today.

Ah sorry, I forgot we needed a forward port, this should be it:

• 6 ➡️ 7 (main) (partial) gazebosim/gz-sim#1437

The specific PR we need is:

• Referring to Fuel assets within a heightmap gazebosim/gz-sim#1419