Plugins for Gazebo 11 to simulate soft soil interaction with rigidbodies.
Requires GDAL and libInterpolate
Building (-s flag to skip CMake config)
chmod +x build.sh
./build.sh
Load the test world with plugins AFTER building
chmod +x launch.sh
./launch.sh
.so files needed will be in the build folders, see gz_hina/test.world for example on how to use the .so files in your own world
This plugin uses OGRE materials, append to your ~/.bashrc the directory of the Hina/Soil material file, the gz_hina directory is optional as long as it points to a Hina/Soil material
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:PATH/TO/REPO/gz_hina/media/materials:PATH/TO/REPO/gz_hina/media/texture
To use in your Gazebo world after building, it is recommended that you append to your ~/.bashrc
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:PATH/TO/REPO/build/src/hina_ssi_physics:PATH/TO/REPO/build/src/hina_ssi_visual
CubeRover on Lunar Regolith