Gazebo機器人仿真學習探索筆記（五）環境模型
環境模型構建可以通過向其中添加模型實現，待之後補充，比較有趣的是建築物模型，
可以編輯多層樓層和房間，加入樓梯，窗戶和牆壁等，具體可以參考附錄，等有空再補充。
附錄：官方文檔
Buildingaworld
Thistutorialdescribestheprocessofcreatingaworldwithbothstaticanddynamicobjects.
Terminology
World:Thetermusedtodescribeacollectionofrobotsandobjects(suchasbuildings,tables,andlights),andglobalparametersincludingthesky,ambientlight,andphysicsproperties.
Static:Entitiesmarkedasstatic(thosehavingthetrueelementinSDF),areobjectswhichonlyhavecollisiongeometry.Allobjectswhicharenotmeanttomoveshouldbemarkedasstatic,whichisaperformanceenhancement.
Dynamic:Entitiesmarkedasdynamic(eithermissingtheelementorsettingfalseinSDF),areobjectswhichhavebothinertiaandacollisiongeometry.
Setup
MakesureGazeboisinstalled.
Createaworkingdirectoryforthistutorial:
$mkdir~/build_world_tutorial;cd~/build_world_tutorial
Startupgazebo,andyoushouldseeaworldwithjustagroundplane.
$gazebo
AddingObjects
GazeboprovidestwomechanismsforaddingobjectstoGazebo.
Thefirstisasetofsimpleshapes,locatedabovetherenderwindow.
Thesecondisviathemodeldatabase,whichisaccessiblebyselectingtheInserttabintheupperleftcorner.
AddingSimpleShapes
Boxes,spheres,andcylindersmaybeaddedtotheworldbyclickingontheappropriateiconabovetherenderwindow.Eachshapeisofunitsize:
Box:1x1x1meter
Sphere:1meterdiameter
Cylinder:1meterdiameter,1meterlength
Selecttheboxicon,andthenmoveyourmouseontotherenderwindow.Youwillseeaboxthatmoveswithyourmouse.Leftclickwhenyouarehappywiththepositionofthebox.
Repeatthesameprocedureforthesphereandcylinder.Youshouldendwithaworldsimilartothis:
AddingModelfromtheModelDatabase
Gazebo''smodeldatabaseisarepositoryofalltypesofmodelsincludingrobots,tables,andbuilding.
SelecttheInserttabintheupperlefthandcornertoaccessthemodeldatabase.
Thelistofmodelsaredividedintosectionsaccordingtotherecurrentlocation.EachsectionislabeledwithapathorURI.Selectinganobjectlocatedonaremoteserverwillcausethemodeltobedownloadedandstoredin~/.gazebo/models.
Tryaddingvariousmodelstotheworld.Bepatientwhendownloadingmodels,assomemaybelarge.
Youshouldendupwithsomethingsimilartothefollowing,dependingonthemodelsyoudecidedtoadd:
PositionModels
Theposeofeachmodelmaybealteredthroughthetranslateandrotatetools:
Translation
Thetranslatetoolsallowsyoutomovetheobjectalongthex,y,andzaxes.Selectthistoolnowandclickontheobjectyouwanttomove.Athreeaxesvisualmarkerwillappearovertheobject,whichallowsyoutomovetheobjectinx,y,andzdirections.
Youcanalsojustclickontheobjectitselfanddragittomoveonthex-yplane.Youmaycontrolwhichaxistheobjectmovesalongbypressingandholdingthex,y,orzkeywhiledraggingtheobject.
Trymovingtheobjectsaroundnowintoadifferentconfiguration.
Rotation
Therotatetoolallowsyoutoorientamodelaroundthex,y,andzaxes.Selectthistoolnowandclickontheobjectyouwanttomove.Threering-shapedvisualmarkerwillappearovertheobject,whichallowsyoutorotatetheobjectaroundthex,y,andzaxes.
Tryrotatingtheobjectsintoadifferentconfiguration.
Scale
Thescaletoolallowsyoutoresizeamodelinthex,y,andzdirections.Currentlythescaletoolonlyworkswithsimpleshapes,i.e.box,cylinderandsphere.Selectthistoolnowandclickonasimpleshape.Athreeaxesvisualmarkerwillappearovertheobject,whichallowsyoutoscalethex,y,andzdimensionsoftheobject.
Tryscalingthesimpleshapesintodifferentsizes.
DeleteModels
ModelmayalsobedeletedbyselectingthemandthehittingtheDeletekey,orbyright-clickingonamodelandselectingDelete.
Trydeletingafewmodels.
SavingaWorld.
OnceyouarehappywithaworlditcanbesavethroughtheFilemenu.
SelecttheFilemenunow,andchooseSaveAs.
Apop-upwillappearaskingyoutoenteranewfilename.Entermy_world.sdfandclickokay.
LoadingaWorld
Asavedworldmaybeloadedonthecommandline:
gazebomy_world.sdf
Thefilenamemustbeinthecurrentworkingdirectory,oryoumustspecifythecompletepath.
Next
Next:Modifyingaworldtutorial
Modifyingaworld
Thistutorialdescribeshowtomodifyglobalpropertiesincludingsceneandphysicsproperties.
Startgazebo:
$gazebo
SceneProperties
IntheWorldtab,selectthesceneitem.Alistofscenepropertieswillbedisplayedinthelistboxbelow.Clickthetriangletoexpandtheproperties.
Thesepropertiesallowyoutochangetheambientlight.Note:ThebackgroundcolorwillnotchangeiftheSkyisenabled.
PhysicsProperties
IntheWorldtab,selectthephysicsitem.Alistofphysicspropertieswillbedisplayedinthelistboxbelow.
Theenablephysicscheck-boxcanbeusedtodisablephysicswhileallowingpluginsandsensorstocontinuerunning.
TherealtimeupdaterateparameterspecifiesinHzthenumberofphysicsupdatesthatwillbeattemptedpersecond.Ifthisnumberissettozero,itwillrunasfastasitcan.Notethattheproductofrealtimeupdaterateandmaxstepsizerepresentsthetargetrealtimefactor,orratioofsimulationtimetoreal-time.
Themaxstepsizespecifiesthetimedurationinsecondsofeachphysicsupdatestep.
Inthegravityblock:
Thex,yandzparameterssettheglobalgravityvectorcomponentsinm/s^2.
Inthesolverblock:
TheiterationsparameterspecifiesthenumberofiterationstouseforiterativeLCPsolvers(usedbyODEandbullet).
TheSORparameterstandsforsuccessiveover-relaxation,whichcanbeusedtotrytospeedtheconvergenceoftheiterativemethod.
Theconstraintsblockcontainsseveralparametersrelatedtosolvingconstraints:
TheCFMandERPparametersstandsforConstraintForceMixingandErrorReductionParameterandareusedbyODEandbullet.TheCFMandERPparameterscanberelatedtolinearstiffnessanddampingcoefficients.Themaxvelocityandsurfacelayerparametersareusedtoresolvecontactswithasplitimpulsemethod.Anycontactswiththatpenetratedeeperthanadepthspecifiedbysurfacelayerandhaveanormalvelocitylessthanmaxvelocitywillnotbounce.
Seethesdfphysicsdocumentationforadescriptionoftheseparameters.
Next
Next:HowtouseDEMsinGazebo
DigitalElevationModels
Overview
ADigitalElevationModel(DEM)isa3Drepresentationofaterrain''ssurfacethatdoesnotincludeanyobjectslikebuildingsorvegetation.DEMsarefrequentlycreatedbyusingacombinationofsensors,suchasLIDAR,radar,orcameras.Theterrainelevationsforgroundpositionsaresampledatregularly-spacedhorizontalintervals.WikipediaisagoodresourceforgettingmoredetailsaboutDEMs.
ThetermDEMisjustagenericdenomination,notaspecificformat.Infact,theDEMscanberepresentedasagridofelevations(raster)orasavector-basedtriangularirregularnetwork(TIN).Currently,GazeboonlysupportsrasterdatainthesupportedformatsavailableinGDAL.
ThemainmotivationtosupportDEMsinGazeboistobeabletosimulatearealisticterrain.Rescueoragricultureapplicationsmightbeinterestedintestingtheirrobotbehaviorsusingasimulatedterrainthatmatchestherealworld.
BringDEMsupporttoGazebo
InordertoworkwithDEMfilesyoushouldinstallGDALlibraries.
$sudoapt-getinstallgdal-binlibgdal-devlibgdal1hpython-gdal
DEMfileandthedefinitionintoSDFformat
Thereareseveralorganizationsthatprovideelevationdata.Asanexample,let''sdownloadaDEMfileofMountSt.Helensbeforeorafteritseruptionbackinthe''80s.ThesefilesareinpublicdomainandaredistributedbyUSGS.
Unzipthefileandrenameitmtsthelens.demasfollows:
cd~/Downloads
wgethttps://bitbucket.org/osrf/gazebo_tutorials/raw/default/dem/files/mtsthelens_before.zip
unzip~/Downloads/mtsthelens_before.zip-d/tmp
mv/tmp/30.1.1.1282760.dem/tmp/mtsthelens.dem
Usually,DEMfileshavebigresolutionsandGazebocannothandleit,soit''sagoodideatoadjusttheresolutionofyourDEM.Thenextcommandwillscaletheterrainto129x129andwillcopyintotheGazebomedia/dem/directory.
$mkdir-p/tmp/media/dem/
$gdalwarp-ts129129/tmp/mtsthelens.dem/tmp/media/dem/mtsthelens_129.dem
ADEMfileinGazeboisloadedinthesamewaythatyouloadaheightmapimage.GazeboautomaticallydetectsifthefileisaplainimageoraDEMfile.Createthefilevolcano.worldandcopythenextcontent.Savethefileanywhereyouwant,forexample,in/tmp.
model://sun
true
file://media/dem/mtsthelens_129.dem
15015050
000
file://media/materials/textures/dirt_diffusespecular.png
file://media/materials/textures/flat_normal.png
1
file://media/materials/textures/grass_diffusespecular.png
file://media/materials/textures/flat_normal.png
1
file://media/materials/textures/fungus_diffusespecular.png
file://media/materials/textures/flat_normal.png
1
2
5
4
5
file://media/dem/mtsthelens_129.dem
15015050
000
TheelementinthecodeabovetellsGazebowhethertoloadtheDEMwiththeoriginaldimensions(whenisnotpresent)ortoscaleit(whenispresent).IncaseyouprefertoscaletheDEM,theelementtellsGazebothesizeinmetersthattheterrainwillhaveinthesimulation.Ifyouwanttomaintainthecorrectaspectratio,besuretoproperlycalculatethewidth,heightandelevation(whichisthethirdnumberin).Inourexample,theDEMwillbescaledtoasquareof150x150metersandamaxelevationof50meters.
LaunchGazebowiththeworldcontainingyourDEMfileandyoushouldseethevolcano.Inourcase,thefileisinthe/tmpdirectory.
#Besureofsourcinggazebosetup.shinyourowninstallationpath
$source/usr/share/gazebo/setup.sh
$GAZEBO_RESOURCE_PATH="$GAZEBO_RESOURCE_PATH:/tmp"gazebo/tmp/volcano.world
HowdoIgetaDEMfileofmyregionofinterest?
Next,wearegoingtodescribeonemethodforobtainingaDEMfileofaspecificregionofinterest.
GlobalLandCoverFacilitymaintainsahigh-resolutiondigitaltopographicdatabaseofEarth.GotoitsSearchandPreviewtoolandyouwillseesomethingsimilartotheimagebelow.Everyterrainpatchhasauniquepathandrowthatyoushouldknowbeforeusingthetool.We''lluseQGIStodiscoverthepath/rowofourregionofinterest.
QGISisacross-platformopensourcegeographicinformationsystemprogramthatprovidesdataviewing,editing,andanalysiscapabilities.DownloadQGISfollowingtheinstructionsdetailedontheQGISwebsite.
OpenupQGIS,clickontheleftcolumniconlabeledWMS/WMTSlayer,clickonAdddefaultservers,selectLizardtechserver,andthen,presstheconnectbutton.SelecttheMODISvalueandpressAdd.Closethepop-upwindow.Thenextstepistoaddanotherlayerwithallthedifferentpatchesavailable.Downloadthisshapefileanddecompressitinanyfolder.GobacktoQGISandpressAddVectorLayer(leftcolumnicon).PressBrowse,andselectyourpreviouslyuncompressedwrs2descending.shpfile.PressOpeninthewindowthatopens.Now,you''llseebothlayersonthemainwindow.Let''schangethetransparencyofthewrs2descendinglayertobeabletoseebothlayersatthesametime.Doubleclickonwrs2_descendinglayer,andthen,modifyitstransparencyvaluetosomethingaround85%.
Usethescrollandleftbuttontonavigatetoyourregionofinterest.ThenclickontheiconlabeledIdentifyFeaturesonthetopbar.Clickonyourregionofinterestandalltheterrainpatchesaroundtheareawillbehighlighted.Anewpopupwindowwillshowthepath/rowvaluesforeachhighlightedpatch.IntheimagebelowyoucanseethepathandrowoftheDEMpatchcontainingLasPalmas,oneoftheheavenlyplacesoftheCanaryIslands,Spain.
GobacktoyourbrowserwiththeGLCFsearchtoolandwritethepath/rowvaluesinthecolumnslabeledStartPathandStartRow.ThenclickinSubmitQuery;pressPreviewandDownloadtoseeyourresults.ChooseyourterrainfileandpressDownload.Finally,selectyourfilewithextension.gz,anddecompressitinyourfavoritefolder.GlobalLandCoverFacilityfilesareinGeoTiffformat,oneofthemostcommonformatofDEMfilesavailable.
PreparingDEMdataforuseinGazebo
DEMdataisusuallycreatedatveryhighresolution.UsegdalwarptoreducetheresolutionoftheterraintoamoremanageablesizebeforeusingitinGazebo.
$gdalwarp-ts
DEMdataoftencontain"holes"or"void"areas.ThesesectionscorrespondtoareaswheredatacouldnotbecollectedwhiletheDEMwascreated.Inthecaseofadata"hole",theholewillbeassignedtheminimumormaximumvalueofthedatatypethatisusedinthatDEM.
Alwaystrytodownload"finished"versionsofDEMdatasets,wheretheholeshavebeenfilled.IfyourDEMterraincontainsholes(alsoknownasNODATAvalues),trytomanuallyrepairitusinggdaltools,suchasgdal_fillnodata.py.
WorkingwithmultipleDEMsinGazebo
AlthoughGazebodoesnotdirectlysupportmultipleDEMs,GDALhasasetofutilitiesformergingasetofDEMsintoasingleone.ThefirststepistodownloadthesetofDEMsthatyouwanttomerge.Notethatthepatchescanevenoverlapwithoneanother;GDALwillmergethemseamlessly.AssumingthatyourcurrentdirectorycontainsasetofGeotifffilesreadytobemerged,runthenextcommand.
$gdal_merge.py.tif-odem_merged.tif
Now,youcanjustusedem_merged.tifinyourworldfileandGazebowillloadtheterrainwithallthepatchesmerged.InthenextscreenshotyoucanseetheresultofmergingfourterrainpatchessurroundingtheCanaryIslands.
Populationofmodels
Overview
ThistutorialdemonstrateshowyoucancreateapopulationofmodelsbyusingtheSDFtag.Apopulationconsistsofacollectionofidenticalmodels.
Addingapopulationofmodelsisamatterofspecifyingthefollowingparameters:
Model(e.g.:table,coke_can).
Numberofobjectstobepartofthepopulation.
ShapeanddimensionsoftheContainerwithinwhichtheobjectswillbearranged(e.g.:box,cylinder).
Thepositionandorientationofthepopulation''scontainer.
Distributionoftheobjectswithinthecontainer(e.g.:random,grid).
Forreference,checktheSDFspecificationforacompletespecificationofthetaganditsparameters.
Creatinganobjectpopulation
Quickstart
Let''sstartbycreatingadirectoryforthistutorial:
mkdir~/tutorial_model_population
cd~/tutorial_model_population
Downloadthisfile:can_population.worldintothecurrentdirectory.Youcanusethiscommand:
wgethttp://bitbucket.org/osrf/gazebo_tutorials/raw/default/model_population/files/can_population.world
Youshouldgetthisworldfile:
model://sun
model://ground_plane
true
model://coke_can
000000
220.01
10
random
Startgazebo:
gazebocan_population.world
Youshouldseeapopulationofsodacansrandomlylocatedaroundtheworld''sorigin.Thecansarearrangedwithinaboxcontainerofsize2x2x0.01meters.
Theworldexplained
Let''sgofurtherandunderstandthedifferentelementsofthecan_population.world.
true
model://coke_can
Inthissnippetwecanseehowtospecifyapopulationelementbyusingthetag.Everypopulationshouldhaveauniquename,andthisisspecifiedbythenameattribute.Withinthepopulationtag,youcanseehowtoselectamodelbyusingthetag.Eachelementofthepopulationwillbeinsertedintothesimulationwithauniquenamethatwillbecreatedbyappendingtothemodelnamethesuffix_clone_i,whereiistheithelementofthepopulation.YoucanseethelistofmodelsspawnedintheGazeboscenehere:
Themostcommontypeofpopulationconsistsofinanimateobjectssuchastrees,rocks,andbuildings.Werecommendyouusethetagforstaticmodels,andexcludemobileentities,suchasrobots,whichoftenrequiremorepreciseplacementandarefewerinnumber.
000000
220.01
Theaboveblockofcodespecifiestheregioninwhichtheobjectswillbeplaced.Inthiscase,alltheobjectsarespawnedwithina3Dboundingboxwithsides2x2x0.01m,centeredat(0,0,0)withorientation(0,0,0).Asanalternativeto,aregionisalsoallowedbyspecifyingitsradiusandlength.(CheckouttheSDFspecificationforafulldescriptionoftheparameters.)Theelementsetsthereferenceframeofthepopulation''sregion.
10
Aboveyoucanseehowthenumberofmodelsinthepopulationisdetermined.Anypositivenumberisallowed,buttakeintoconsiderationthatthehigherthenumber,themoreimpactedtheperformancemaybe.
random
Theelementsetshowtheobjectsareplacedwithintheregion.
Distributiontypes
random:Modelsplacedatrandom.Notethattheobjectsmightcollidewithoneanother.
uniform:Modelsplacedinapseudo-2Dgridpattern.WeuseK-Meanstoapproximatethesolutionandlocatethenumberofspecifiedobjectsinsidetheregion.
grid:Modelsevenlyplacedina2Dgridpattern.Thisdistributionalsorequiresthatyouspecifythenumberofrows,columns,anddistancebetweeneachelement.Notethattheelementisignoredinthisdistribution.Thenumberofobjectsinsertedintothesimulationwillbeequaltothenumberofrowsmultipliedbythenumberofcolumns.
linear-x:Modelsevenlyplacedinarowalongtheglobalx-axis.
linear-y:Modelsevenlyplacedinarowalongtheglobaly-axis.
linear-z:Modelsevenlyplacedinarowalongtheglobalz-axis.
Foramoreadvancedexampleyoucancheckthepopulation.worldworldfiledeployedwithGazebo.
Andofcourse,youcantestitbytyping:
gazeboworlds/population.world
BuildingEditor
ThistutorialdescribestheprocessofcreatingabuildingusingtheBuildingEditor.
Overview
OpentheBuildingEditor
MakesureGazeboisinstalled.
Startupgazebo.
$gazebo
OntheEditmenu,gotoBuildingEditor,orhitCtrl+Btoopentheeditor.
Graphicaluserinterface
Theeditoriscowww.sm136.commposedofthefollowing3areas:
ThePalette,whereyoucanchoosefeaturesandmaterialsforyourbuilding.
The2DView,whereyoucanimportafloorplantotraceover(optional)andinsertwalls,windows,doorsandstairs.
The3DView,whereyoucanseeapreviewofyourbuilding.Itisalsowhereyoucanassigncolorsandtexturestodifferentpartsofyourbuilding.
Importafloorplan
Youmaycreateascenefromscratch,oruseanexistingimageasatemplatetotraceover.Thisimagecanbe,forexample,a2Dlaserscanofabuilding.
Clickheretogetanexamplefloorplan,thenproceedasfollows:
ClickontheImportbutton.TheImportImagedialogwillcomeup.
Step1:ChoosetheimageyoupreviouslysavedonyourcomputerandclickNext.
Step2:Tomakesurethewallsyoutraceovertheimagecomeupinthecorrectscale,youmustsettheimage''sresolutioninpixelspermeter(px/m).Ifweknewtheresolution,wecoulddirectlytypeitinthedialogandclickOk.Inthisexamplewedon''tknowtheresolution,butweknowthereal-worlddistancebetweentwopointsintheimage(forexample,thetopwallof7.5m),sowecanusethattocalculatetheresolution:
a.Click/releaseononeendofthewall.Asyoumovethemouse,anorangelinewillappearasshownbelow.
b.Click/releaseattheendofthewalltocompletetheline.
c.Nowtypethedistanceinmetersinthedialog(7.5minthiscase).Theresolutionwillbeautomaticallycalculatedforyoubasedonthelineyoudrew.
d.YoucanthenclickOk.
Theimagewillappearonthe2DViewproperlyscaled.
Tip:Onceyou''veaddedmorelevels,youcanimportafloorplanforeachbyrepeatingthesameprocess.
Addfeatures
Addwalls
Traceallwallsonthefloorplanasfollows.Keepinmindthatwewillattachwindowsanddoorstothewallslater,sohereyoucandrawthewallsoverthem.Don''tworrytoomuchifthewallsarenotperfect,wewilleditthemlater.
OnthePawww.shanxiwang.netlette,clickonWall.
Onthe2DView,click/releaseanywheretostartthewall.Asyoumovethemouse,thewall''slengthisdisplayed.
Clickagaintoendthecurrentwallandstartanadjacentwall.
Double-clicktofinishawallwithoutstartinganewone.
Tip:Youcanright-clickorpressEsctocanceldrawingthecurrentwallsegment.
Tip:Bydefault,wallssnapto15°and0.25mincrementsandalsototheendpointsofexistingwalls.Tooverridethis,holdShiftwhiledrawing.
Addwindowsanddoors
Note:Currently,windowsanddoorsaresimpleholesinthewall.
Let''sinsertwindowsanddoorsatthelocationsshownonthefloorplan.
OnthePalette,clickonWindoworDoor.
Asyoumovethemouseinthe2Dview,thefeaturetobeinsertedmoveswithit,asdoesitscounterpartinthe3DView.
Tip:Windowsanddoorsautomaticallysnaptowallsasyouhoveroverthem.Thedistancestotheendsofthewallaredisplayedasyoumove.
Clickonthedesiredpositiontoplacethefeature.
Tip:Itmightbedifficulttoseewherethefeaturesareonyourfloorplanafterthewallshavebeendrawnontopofit.Tomakeiteasier,atthetopofthe2DView,youcanchoosetovieworhidethefloorplanorfeaturesforthecurrentlevel.Youcanalsousehotkeystotogglevisibility,FforfloorplanandGforfeatures.
Addstairs
Therearenostaircasesonthisfloorplan,butwewillinsertoneanyways.
OnthePalette,clickonStairs.
Asyoumovethemouseinthe2Dview,thestaircasetobeinsertedmoveswithit,asdoesitscounterpartinthe3DView.
Chooseapositionforyourstaircaseandclicktoplaceit.
Addlevels
We''reprettymuchdonewithLevel1.Let''saddanotherleveltoourbuildingsoourstaircaseendsupsomewhere.
Atthetopofthe2DView,clickon+toaddalevel.Alternatively,right-clickthe2DViewandchooseAddalevel.
Whenanewlevelisadded,afloorisautomaticallyinserted.Iftherearestairsonthelevelbelow,aholeabovethestairswillbecutoutfromthefloorwhenthebuildingissaved.
Note:Currently,allfloorsarerectangular.
Tip:Beforeaddingalevel,makesureyouhavewallsonthecurrentleveltobuildontopof.
Tip:Currently,allthewallsfromthelevelbelowarecopiedtothenewlevel,withdefaultmaterials.Nootherfeaturesarecopied.Youcanmanuallydeletethewallsyoudon''twant.
Edityourbuilding
Note:Becarefulwheneditingyourbuilding;theeditorcurrentlyhasnooptiontoundoyouractions.
Tip:Allmeasurementsareinmeters.
Changelevels
Sinceweaddedalevel,wewerebroughttothenewlevelinthe2Dview.YoucangobacktoLevel1bychoosingitfromthedrop-downlistatthetopofthe2DView.
Tip:Thelevelcurrentlyselectedinthe2DViewwillappearassemi-transparentinthe3DViewandalllevelsbelowitwillappearopaque.Levelsabovewillbehidden-butkeepinmindtheyarestillpartofyourbuilding!
Wecanalsoeditsomelevelconfigurationsifwewant.
Double-clickthe2DViewtoopenaninspectorwithlevelconfigurationoptions.Alternatively,right-clickandchooseOpenLevelInspector.
Youmayhaveaddedlevelsthatyoudon''twant,orperhapsmadeamessinthecurrentlevelandwouldliketostartitover.
Todeletethecurrentlevel,eitherpressthe-buttonatthetopofthe2DView,orright-clickandchooseDeleteLevel.
Editwalls
Wedrewalotofwallsearlier,butmaybetheydidn''tturnoutexactlythewaywewanted.
Inthe2DView,clickonthewalltobeedited.
a.Translatethewallbydraggingittoanewposition.
b.Resizeorrotatethewallbydraggingoneofitsendpoints.
Tip:Bydefault,wallssnapto15°and0.25mincrements.Tooverridethis,holdShiftwhiledrawing.
Double-clickawallinthe2DViewtoopenaninspectorwithconfigurationoptions.Alternatively,right-clickandchooseOpenWallInspector.EditsomefieldsandpressApplytopreviewthechanges.
Todeleteawall,eitherpresstheDeletekeywhileitisselected,orright-clickthewallinthe2DViewandchooseDelete.
Tip:Editingawalltakesattachedwallsintoaccount.
Tip:Deletingawalldeletesalldoorsandwindowsattachedtoit.
Editwindowsanddoors
Nowlet''splayaroundwithwindowsanddoors.Aswedidforthewalls,wecanmanipulatewindowsanddoorsmorepreciselyinafewdifferentways.
Inthe2DView,clickonthefeaturetobeedited.
a.Translatethefeaturebydraggingittoanewposition.Rememberthatwindowsanddoorsautomaticallysnaptowallsanditdoesn''tmakemuchsensetohavethemdetachedfromanywalls,astheyrepresentholesinawall.
b.Rotatethefeaturebydraggingitsrotationhandle.Currently,aslongastheyareattachedtoawall,theirorientationdoesn''tmakeadifference.
c.Resizethefeature''swidthbydraggingoneoftheendpoints.
Double-clickafeatureinthe2DViewtoopenaninspectorwithconfigurationoptions.Alternatively,right-clickandchooseOpenWindow/DoorInspector.
Todeleteafeature,eitherpresstheDeletekeywhileitisselected,orright-clickitinthe2DViewandchooseDelete.
Editstairs
Finally,let''seditthestaircaseweinsertedearlier.Sinceitisnotonthefloorplan,wecangetcreativeandresizeitaswewant.
Inthe2DView,clickonthestaircasetoselectit.
a.Translatethestaircasebydraggingittoanewposition.
b.Rotatethestaircaseinmultiplesof90°bydraggingitsrotationhandle.
c.Resizethestaircasebydraggingoneoftheendnodes.
Double-clickthestaircaseinthe2DViewtoopenaninspectorwithconfigurationoptions.Alternatively,right-clickandchooseOpenStairsInspector.
Todeletethestaircase,eitherpresstheDeletekeywhileitisselected,orright-clickandchooseDelete.
Tip:Inthe2DView,staircasesarevisibleonboththestartandendlevels.
Addcolorsandtextures
Nowthateverythingisproperlyplacedandsized,youcanassigncolorsandtexturestowalls,floorsandstaircases.Rememberthatwindowsanddoorsareonlyholesonthewallandthereforecannothavematerials.
Tip:Thedefaultcoloriswhiteandthedefaulttextureisnone.
Therearetwowaystoaddcolorsandtexturestoyourbuilding:
FromInspectors
Youcanaddcolorandtexturetowalls,stairsandfloorsfromtheWallInspector,StairsInspectorandLevelInspectorrespectively.Simplyopentheinspector,selectyourmaterialsandpressApply.
FromthePalette
ColorsandtexturescanbechosenfromthePaletteandassignedtoitemsonyourbuildingbyclickingontheminthe3DView.
ClickonacolorortextureinthePalette.
Asyoumoveyourmouseinthe3DView,hoveredfeatureswillbehighlighteddisplayingapreviewoftheselectedmaterial.
Clickingonthehighlightedfeatureassignstheselectedmaterialtoit.Youcanclickonasmanyfeaturesasyou''dlike.
Whenyou''redonewiththeselectedmaterial,eitherright-clickthe3Dview,orclickoutsideanyfeaturestoleavethematerialmode.
NewinGazebo5.1:Tochooseacustomcolor,clickonMoreonthePalette.Adialogopenswhereyoucanspecifycustomcolors.
Tip:Eachfeaturecanhaveonlyonecolorandonetexture.Thesamematerialisassignedtoallfacesofthefeature.
Note:Currently,itisnotpossibletoassigncustomtexturesontheBuildingEditor.
Savingyourbuilding
Savingwillcreateadirectory,SDFandconfigfilesforyourbuilding.
Beforesaving,giveyourbuildinganameonthePalette.
Onthetopmenu,chooseFile,thenSaveAs(orhitCtrl+S).Adialogwillcomeupwhereyoucanchoosethelocationforyourmodel.
Tip:UnderAdvancedOptionsyoucansetsomemeta-dataforyourbuilding.
Exit
Note:OnceyouexittheBuildingEditor,yourbuildingwillnolongerbeeditable.
Whenyou''redonecreatingyourbuildingandyou''vesavedit,gotoFileandthenExitBuildingEditor.
Yourbuildingwillshowupinthemainwindow.Inthefuture,youcanfindthebuildinginyourInserttab.
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