The Terrain model creates a triangle mesh surface representing fixed features such as walls, ramps, hills and valleys. The model reads an elevation map produced by the
gzbuilder utility, and is restricted to 2.5D structures (i.e., no tunnels).
- libgazebo interfaces
This model has no libgazebo interface.
- Player drivers
There are no Player drivers.
- Attributes
The following attributes are supported.
- id (string)
- The model ID string (used by libgazebo to identify models).
- Default: (empty)
- xyz (float tuple, meters)
- Model position (x, y, z, in meters).
- Default: 0 0 0
- rpy (float tuple, degrees)
- Model orientation in Euler angles: roll, pitch, yaw.
- Default: 0 0 0
- gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true
- enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true
- terrainFile (string, filename)
- File containing terrain data (required). Use gzbuilder to generate terrain files.
- Default: empty
- color (float tuple)
- RGB color.
- Default: 0.7 0.7 0.7
- surfaceHardness (float tuple)
- Set spring-damper parameters for contact joints.
- Default: dInfinity 0
- surfaceFriction (float tuple)
- Set friction coefficients
- Default: 1 1
- Bodies
The following bodies are created by this model.
- canonical
- The canonical (default) body.
- Example
<model:Terrain>
<terrainFile>terrain1.gzb</terrainFile>
</model:Terrain>
- Authors
Nate Koenig
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Last updated 12 September 2005 21:38:45
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