ROSCon 2025 In-advance Lightning Talks: mesh2gazebo: Building a simulator environment using mesh data of 3D Scan Application

ROSCon 2025 In-advance Lightning Talks mesh2gazebo: Building a simulator environment using mesh data of 3D scan application CyberAgent AI Lab Yasuhiro Yoshimura

About me Yasuhiro Yoshimura CyberAgent AI Lab Activity Understanding Team Research Engineer I research robotics and the sensing to understand human activity. And, I published book for developer of OpenCV. 2

Motivation ● Simulator environment is important for developing algorithms for autonomous mobile robots. ● And, robotics engineers hope to build a simulator environment by simply steps. Real world Gazebo World 3

mesh2gazebo mesh2gazebo solves these problems!😆 ● Robotics engineers can build a simulator environment by simply steps. ● The quality of generated world is very good. ● mesh2gazebo supports Gazebo Ignition. Real World 3D Mesh data Gazebo World 4

Pipeline of mesh2gazebo I proposed mesh2gazebo to build a simulator environment using mesh data of 3D scan application. 3D Scan Application mesh2gazebo Mesh data (obj data, texture) Gazebo Gazebo World 5

Pipeline of mesh2gazebo Please see the Appendix for details. mesh2gazebo Conversion (OBJ ⇒ DAE) Mesh data (OBJ, texture) Post processing Making World Gazebo World 6

Real retail store https://www.youtube.com/watch?v=4dIjLJ6BXzM 7

• https://www.youtube.com/watch?v=4dIjLJ6BXzM

Generated world with navigation https://www.youtube.com/watch?v=x92R9y_1isM 8

• https://www.youtube.com/watch?v=x92R9y_1isM

Conclusion mesh2gazebo helps to developing algorithms for autonomous mobile robots.😆 ● Robotics engineers can build a simulator environment by simply steps. ● The quality of generated world is very good. ● mesh2gazebo supports Gazebo Ignition. Real World 3D Mesh data Gazebo World 9

Acknowledgment The in-store image was collected at EZOHUB TOKYO with the cooperation of SATUDORA HOLDINGS CO.,LTD. 10

• https://ezohub.jp/office/tokyo/

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Appendix：Pipeline of mesh2gazebo Please see the Appendix for details. mesh2gazebo Conversion (OBJ ⇒ DAE) Mesh data (OBJ, texture) Post processing Making World Gazebo World 12

Appendix：Technical briefing ● 3D Scanning ○ ○ I used Scaniverse for the 3D Scanning. ■ I scan the floor surface for post processing. ■ I export OBJ format via Scaniverse. I convert from OBJ format to DAE format by MeshLab for Gazebo. Exported mesh data Texture data 13

• https://scaniverse.com/
• https://www.meshlab.net/

Appendix：Technical briefing ● Post Processing(1/2) ○ ○ If there is the difference in the coordinate axes between Gazebo and mesh, I need to rotate. I used MeshLab to rotate mesh data. Y Z X 14

• https://www.meshlab.net/

Appendix：Technical briefing ● Post Processing(2/2) ○ ○ If the floor surface is NOT flat in generated mesh data, it is difficult to run for mobile robot. So, I used MeshLab to make floor surface flat. before after Z Z 15

• https://www.meshlab.net/

Appendix：Technical briefing ● Making of Gazebo World（1/2） ○ I specified the file path of mesh data in <collision> tag in SDF file. <model name="mesh2gazebo"> <static>true</static> <link name="link"> <collision name="collision"> <geometry> <mesh> <scale>1 1 1</scale> <uri>file:///home/jazzy/Scaniverse_2024_11_18_162729.dae</uri> </mesh> </geometry> </collision> Filepath of ... mesh data </link> </model> 16

Appendix：Technical briefing ● Making of Gazebo World（2/2） ○ I specified the file path of mesh data in <visual> tag in SDF file. <model name="mesh2gazebo"> <static>true</static> <link name="link"> ... <visual name="visual"> <geometry> <mesh> <scale>1 1 1</scale> <uri>file:///home/jazzy/Scaniverse_2024_11_18_162729.dae</uri> </mesh> </geometry> Filepath of </visual> mesh data </link> </model> 17

Appendix：generated Gazebo world https://www.youtube.com/watch?v=z63dIfPx9iE 18

• https://www.youtube.com/watch?v=z63dIfPx9iE

Appendix：Visualization of mesh data in RViz2 scan RGB camera Mobile robot costmap I visualized scan, costmap and mesh data. 19

Appendix：Tips for Gazebo ● Decrease of CPU usage ○ ○ I disabled cast shadows to decrease CPU usage. So, I set cast_shadows to 0. <light type="directional" name="sun"> <cast_shadows>0</cast_shadows> <pose>0 0 10 0 0 0</pose> <diffuse>0.8 0.8 0.8 1</diffuse> <specular>0.2 0.2 0.2 1</specular> <attenuation> <range>1000</range> <constant>0.9</constant> <linear>0.01</linear> <quadratic>0.001</quadratic> </attenuation> <direction>-0.5 0.1 -0.9</direction> </light> 20

• http://sdformat.org/spec?ver=1.11&amp;elem=light#light_cast_shadows