The contents of the page include:
IMPORTANT: ODE version 0.8 or less in incompatible with terrains, due to problems with Ray and Heightmap collision detection. If the highest numbered version of ODE is 0.8, then install from their SVN sources.
The image you wish to use must be place in Gazebo's Media directory. If you installed Gazebo globally, this would be
Below is an example image:
Example Heightmap Image.
<model:physical name="terrain_model"> <body:heightmap name ="terrain_body"> <geom:heightmap name="terrain_geom"> <image>terrain.png</image> <worldTexture>terrain_texture.jpg</worldTexture> <detailTexture>terrain_detail.jpg</detailTexture> <size>1000 1000 10.0</size> </geom:heightmap> </body:heightmap> </model:physical>
- image : The heightmap image
- worldTexture : General texture to apply to the terrain
- detailTexture : Texture applied to the terrain when the camera is close
- size : Size to make the terrain
Currently a terrain cannot be placed at custom coordinates.