> For the complete documentation index, see [llms.txt](https://campus-rover.gitbook.io/lab-notebook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://campus-rover.gitbook.io/lab-notebook/fiiva/how-to-add-texture-to-sdf.md).

# how-to-add-texture-to-sdf.md

by Tongkai Zhang, <tongkaizhang@brandeis.edu>

This is a quick guide for adding textures(.png) to your model in gazebo.

![image-20210505100010784](/files/-MZuLiV7ScGeRYZ6FsFg)

## Prerequisite

* gazebo
* model in sdf format

## Texture Configuration

After building your own model in the sdf format, you should have a structured model `cargo`directory same as the one below.

![image-20210505100405303](/files/-MZuLiV8FuwYIUfx7Pc0)

It's important that you have the directory exactly the same, since importing the texture into gazebo is based on finding parameters and texture images within that directory.

* scripts: `cargo.material`, formatted file, defining the **name**, visual property for the material.
* textures: the image texture file
* `model.config`: meta data for the model
* ```
  <?xml version="1.0"?>

  <model>
    <name>cargo_with_marker</name>
    <version>1.0</version>
    <sdf version="1.6">model.sdf</sdf>

    <author>
      <name>Tongkai Zhang</name>
    </author>

    <description>export GAZEBO_MODEL_PATH=~/catkin_ws/src/warehouse_worker/model/
      Cargo
    </description>
  </model>
  ```
* `model.sdf`: model itself

**Basic Steps**:

* Get the texture image ready and put them under `/textures`
* Define texture in `cargo.material`, note how texture image is included as well as how the name is set.

  `material Cargo/Diffuse` is the unique name for this material.

  ```
  material Cargo/Diffuse
  {
    receive_shadows off
    technique
    {
      pass
      {
        texture_unit
        {
          texture cargo.jpg
        }
      }
    }
  }

  material Marker/Diffuse
  {
    receive_shadows off
    technique
    {
      pass
      {
        texture_unit
        {
          texture MarkerData_1.png
        }
      }
    }
  }
  ```
* Add this material in your sdf model. It should be enclosed by the `<visual>`tag. Note the `uri` sexport GAZEBO\_MODEL\_PATH=\~/catkin\_ws/src/warehouse\_worker/model/hould be correctly set and the `name` of the material should be identical to the name defined in `cargo.material`

  ```
  <visual>
      <material>
                <script>
                  <uri>model://cargo/materials/scripts</uri>
                  <uri>model://cargo/materials/textures</uri>
                  <name>Marker/Diffuse</name>
                </script>
      </material>
  </visual>
  ```
* Adding model to your world

  ```
    <model name='cargo_with_marker'>
          <pose>2.5 0 0.15 0 0 -1.57</pose>
          <include>
              <uri>model://cargo</uri>
          </include>
      </model>
  ```
* Set the `model`environment variable in terminal. When gazebo launches the world, it will search the model `cargo` under its default `model` directory. If you want to include your models in your project folder, you should set the `GAZEBO_MODEL_PATH` variable in your terminal.

  `export GAZEBO_MODEL_PATH=~/catkin_ws/src/warehouse_worker/model/`

  Now gazebo also searches model under `/warehouse_worker/model/`


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://campus-rover.gitbook.io/lab-notebook/fiiva/how-to-add-texture-to-sdf.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.