gazebo renders the moon - roscon 2020 · 2018-10-12 · gazebo renders the moon ian chen & mark...
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Gazebo renders the moon
Ian Chen & Mark Allan
September 29th, 2018
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RP Driving ConOps Simulator
Resource Prospector
Goal: send a rover to the moon to mine volatiles such as hydrogen, oxygen and water
Simulation
End-to-end lunar rover driving simulation to assist in the development of the RP Driving Concept of Operations
● ROS used to emulate flight software and ground software functionality
● Simulated rover is 4 wheel steer platform scaled to RP rover dimensions with RP chassis and mast
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Visual Simulation
Lunar scene from Gazebo Lunar scene from Apollo 12 mission
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Large Scale, High Fidelity Terrain Simulation
Synthetic Terrain Generation● High resolution (~4cm) to simulate obstacles:
positive (rocks), negative (craters)
Large DEMs rendered too slow in Gazebo● 8K resolution, 213MB● load time ~5min
Improvements● Enabled caching of terrain data● Added Level-Of-Details ● Background tiles - coarse meshes
○ 6 layers
Mesh
Digital Elevation Map(DEM)
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Lunar Appearance
Default shading model - inadequate to model the unique reflective properties of lunar surface
Added support for applying custom shaders to heightmaps
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Terrain Material Shader Components
DEM Normal Map
Pre-Rendered Shadows
DEM Rock Mask
DEM Albedo (diffuse) map
Regolith Detail Normal Rock normal
Real time shadows set up by Gazebo
Hapke Lunar regolith reflectance model
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Shader ParametersWheel Tracks Plugin Camera Exposure
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Lens Flares
Sun is few degrees above horizon at lunar pole
Camera often points at sun or sees long dark shadows
Implementation● Post processing effect● Works with wide angle
cameras● Sparse ray based occlusion
checking
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Real Time Shadows
Problem: Poor quality overallesp. when camera view angle is coincident with light direction
Improvements● Override shadow map
generation step● Increased shadow texture
resolution● Hardware Percentage Closer
Filtering + Poisson disk blur filter● Lowered “built-in ambient” light
Before
After
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WARP
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Team
Open Robotics
Brian GerkeyIan Chen
Steven PetersMorgan Quigley
NASA Ames Intelligent Robotics GroupSGT/KBRwyle
Mark AllanUland WongTerry Welsh
Michael FurlongScott McMichael
Arno Rogg
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Questions?