ROS Index
Repository Summary
| Checkout URI | https://github.com/osrf/uav_testing.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-18 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| baylands | 0.0.1 |
| ksql_airport | 0.0.1 |
| mcmillan_airfield | 0.0.1 |
| sand_island | 0.0.1 |
| yosemite_valley | 0.0.1 |
README
This is a repository with example worlds generated from real world examples.
Here are some notes
Download content
Go to https://earthexplorer.usgs.gov/
Create an account
Find the region of interest. Select a point or set of points.
Select Data Set(s):
- Aerial Imagry -> High Resolution Orthoimagery
- Digital Elevation -> SRTM -> SRTM 1 Arc-Second Global
Go to the Results and download all the tiles. You can download them individually or in a bulk download.
Alternative data sources should be fine as well.
There will be a lot of data. The 9 tiles I used for McMillan were each approximately 400MB And the height map arc tile is ~ 25MB.
Isolate area of interest
Once you have the region of interest use gdalwarp to extract the regions of interest. This is the script I used for mcmillan and yosemite
#!/bin/bash
set -x
# Yosemite
SOUTH=37.6993
NORTH=37.7690
EAST=-119.5285
WEST=-119.5978
NAME=yosemite
RESOLUTION=5000
SOURCE_DIR=/data/temp_gis
PACKAGE_DIR=/tmp/ws/src/uav_testing/yosemite_valley
SOURCE_DEM=n37_w120_1arc_v3.tif
SOURCE_IMAGES='m_3711912_se_11_h_20160701.tif m_3711912_sw_11_h_20160701.tif m_\
3711920_ne_11_h_20160701.tif m_3711920_nw_11_h_20160701.tif'
# mcmillan
SOUTH=35.692125
NORTH=35.755904
EAST=-120.735120
WEST=-120.798966
NAME=mcmillan
RESOLUTION=5000
SOURCE_DIR=/data/temp_gis/mcmillan
PACKAGE_DIR=/tmp/ws/src/uav_testing/mcmillan_airfield
SOURCE_DEM=n35_w121_1arc_v3.tif
SOURCE_IMAGES='5724_2452.tif 5724_2462.tif 5724_2472.tif 5734_2452.tif 5734_246\
2.tif 5734_2472.tif 5744_2452.tif 5744_2462.tif 5744_2472.tif'
OUTPUT_IMAGE=${NAME}_color.tif
OUTPUT_DEM=${PACKAGE_DIR}/media/${NAME}_elevation.tif
OUTPUT_PNG=${PACKAGE_DIR}/media/textures/${NAME}_color.png
cd $SOURCE_DIR
rm -f $OUTPUT_DEM $OUTPUT_IMAGE $OUTPUT_PNG
gdalwarp -te $WEST $SOUTH $EAST $NORTH $SOURCE_DEM $OUTPUT_DEM
gdalwarp -t_srs '+proj=longlat +datum=WGS84 +no_defs ' -ts $RESOLUTION 0 -te $W\
EST $SOUTH $EAST $NORTH $SOURCE_IMAGES $OUTPUT_IMAGE
convert $OUTPUT_IMAGE $OUTPUT_PNG
Save these files into your gazebo resource path that’s exported by the package.
Note that the 5000 is the resolution of the file laterally.
Generate World
Then create a world that references them.
I pushed the pose down such that the airfield is at zero height in gazebo. The size of the texture is the width of the content in meters.
Note that there’s a scaling issue with the textures. I have ticketed it here: https://bitbucket.org/osrf/gazebo/issues/2603/texture-scaling-on-heightmaps-does-not
It looks like a rendering of about 80% width is necessary.
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/osrf/uav_testing.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-18 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| baylands | 0.0.1 |
| ksql_airport | 0.0.1 |
| mcmillan_airfield | 0.0.1 |
| sand_island | 0.0.1 |
| yosemite_valley | 0.0.1 |
README
This is a repository with example worlds generated from real world examples.
Here are some notes
Download content
Go to https://earthexplorer.usgs.gov/
Create an account
Find the region of interest. Select a point or set of points.
Select Data Set(s):
- Aerial Imagry -> High Resolution Orthoimagery
- Digital Elevation -> SRTM -> SRTM 1 Arc-Second Global
Go to the Results and download all the tiles. You can download them individually or in a bulk download.
Alternative data sources should be fine as well.
There will be a lot of data. The 9 tiles I used for McMillan were each approximately 400MB And the height map arc tile is ~ 25MB.
Isolate area of interest
Once you have the region of interest use gdalwarp to extract the regions of interest. This is the script I used for mcmillan and yosemite
#!/bin/bash
set -x
# Yosemite
SOUTH=37.6993
NORTH=37.7690
EAST=-119.5285
WEST=-119.5978
NAME=yosemite
RESOLUTION=5000
SOURCE_DIR=/data/temp_gis
PACKAGE_DIR=/tmp/ws/src/uav_testing/yosemite_valley
SOURCE_DEM=n37_w120_1arc_v3.tif
SOURCE_IMAGES='m_3711912_se_11_h_20160701.tif m_3711912_sw_11_h_20160701.tif m_\
3711920_ne_11_h_20160701.tif m_3711920_nw_11_h_20160701.tif'
# mcmillan
SOUTH=35.692125
NORTH=35.755904
EAST=-120.735120
WEST=-120.798966
NAME=mcmillan
RESOLUTION=5000
SOURCE_DIR=/data/temp_gis/mcmillan
PACKAGE_DIR=/tmp/ws/src/uav_testing/mcmillan_airfield
SOURCE_DEM=n35_w121_1arc_v3.tif
SOURCE_IMAGES='5724_2452.tif 5724_2462.tif 5724_2472.tif 5734_2452.tif 5734_246\
2.tif 5734_2472.tif 5744_2452.tif 5744_2462.tif 5744_2472.tif'
OUTPUT_IMAGE=${NAME}_color.tif
OUTPUT_DEM=${PACKAGE_DIR}/media/${NAME}_elevation.tif
OUTPUT_PNG=${PACKAGE_DIR}/media/textures/${NAME}_color.png
cd $SOURCE_DIR
rm -f $OUTPUT_DEM $OUTPUT_IMAGE $OUTPUT_PNG
gdalwarp -te $WEST $SOUTH $EAST $NORTH $SOURCE_DEM $OUTPUT_DEM
gdalwarp -t_srs '+proj=longlat +datum=WGS84 +no_defs ' -ts $RESOLUTION 0 -te $W\
EST $SOUTH $EAST $NORTH $SOURCE_IMAGES $OUTPUT_IMAGE
convert $OUTPUT_IMAGE $OUTPUT_PNG
Save these files into your gazebo resource path that’s exported by the package.
Note that the 5000 is the resolution of the file laterally.
Generate World
Then create a world that references them.
I pushed the pose down such that the airfield is at zero height in gazebo. The size of the texture is the width of the content in meters.
Note that there’s a scaling issue with the textures. I have ticketed it here: https://bitbucket.org/osrf/gazebo/issues/2603/texture-scaling-on-heightmaps-does-not
It looks like a rendering of about 80% width is necessary.
File truncated at 100 lines see the full file