RoPod/Tutorials/Load heightmap in GAZEBO
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In principle Gazebo can load directly heightmaps specified in a png grayscale file. However, after following some tutorials the script did not succeed in loading a heightmap.
As an alternative, one can convert the heightmap into a 3D mesh file and load it in GAZEBO, which works straightforward. The conversion could be made in a program like blender, however here directions are given using open source software.
The conversion process is divided in several steps: 1. Convert PGM to SVG
2. Convert SVG to openSCAD file
3. Render and create STL file
4. Use mesh in GAZEBO
potrace -s heightmap_solid_sim.pgm -a 0 -r 1.016