fog_params_tutorial

Adjusting Fog Parameters

• Fog can be specified as an element of <scene>. See the sdformat spec for details.

Note: Under Construction!

The steps outlined in this tutorial are not currently producing the expected effect. Thank you for your patience while we troubleshoot this issue.

Steps

Step 1: Modify Parameters

Open vrx/vrx_gz/worlds/sydney_regatta.sdf and add fog to the scene:

    <scene>
      <sky></sky>
      <grid>false</grid>
      <ambient>1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8</background>
      <fog>
        <type>linear</type>
        <color>1 1 1 1</color>
        <start>1</start>
        <end>100</end>
        <density>1</density>
      </fog>

    </scene>

Step 2: Rebuild

Recompile your workspace:

cd <VRX_WS>
colcon build --merge-install

Step 3: Test

Launch the simulation:

ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

The scene should now have fog.

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