fog_params_tutorial

Adjusting Fog Parameters

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

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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