Ian Chen (Open Robotics), Mark Allan (KBR, Inc.)
Over the past couple of years, Open Robotics collaborated with NASA Ames Intelligent Robotics Group to develop the Resource Prospector lunar driving simulator. In particular, a strong focus was placed on generating high quality visual images from the cameras on the simulated rover. This resulted in in several improvements made to Gazebo, including support of high resolution digital elevation maps, improved shadows, integration of custom material shaders, and a new lens flare plugin. This presentation will show the resulting lunar terrain environment created in Gazebo and discuss some of the challenges in modeling the environment.