How to build a world from ply + bag + xyz files

Dear Sir,

I am new to Gazebo , I’d like to build my own world which is scanned by my 3D lidar.
I find ways to convert ply file into stl format. However, I cannot map the original color/image of my scanned result onto it.

Am I running in a wrong way ? Any suggestions ?

Not a sir here, but try COLLADA (.dae), which is the recommended 3D model format. STL doesn’t get its colors preserved in Gazebo.


Like in Rviz, Gazebo can use both STL and Collada files. It is generally recommended you use Collada (.dae) files because they support colors and textures, whereas with STL files you can only have a solidly colored link.