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models

Simulation with TeleWorkBench model and 5 Jai Spark 5000{m/c} cameras.

  • starting:
    • CITrack-World roslaunch models twb.launch
    • Gazebo-Models roslaunch models gazebo_models.launch
    • CITrack-World with Gazebo-Models roslaunch twb_with_gazebo_models twb.launch

gazebo_models

Models for Gazebo. Tested with Gazebo 7.

Most of the original resources are exported from Blender to .obj and .mtl files and then converted to .dae using Meshlab.

To use the models in Gazebo you have to add this folder to your path, e.g. GAZEBO_MODEL_PATH="PATH/TO/gazebo_models:$GAZEBO_MODEL_PATH" gazebo, or copy the models into a folder that's in your GAZEBO_MODEL_PATH.

Some resources are not allowed to be redistributed. Therefore the download-resources.sh scripts downloads them from their respective sources.

Steps to reproduce (for office_desk)

  1. Export model from Blender v2.78c to .obj.
  2. Open in MeshLab v1.3.2
  3. Filters -> Texture -> Parametrization: Trivial Per-Angle (you may need to increase Texture Dimension)
  4. Filters -> Color Creation and Processing -> Transfer Color: Face to Vertex
  5. Filters -> Texture -> Vertex Color to Texture (Check 'Assign texture')
  6. File -> Export Mesh As... : .dae file (You should see the texture in the right list.)
  7. Done

Steps to reproduce (for desk set)

  1. Export model from Blender v2.78c to .obj. Set 'Forward' to 'X Forward' and 'Up' to 'Z Up'. Check 'Selection only', 'Triangulate Faces'.
  2. Open in MeshLab v1.3.2
  3. Filters -> Texture -> Parametrization: Trivial Per-Angle (you may need to increase Texture Dimension)
  4. Filters -> Color Creation and Processing -> Transfer Color: Face to Vertex
  5. Filters -> Texture -> Vertex Color to Texture (Check 'Assign texture')
  6. File -> Export Mesh As... : .dae file (You should see the texture in the right list.)
  7. Done

Original resources

Links