Add alternative terrain data that is not in terrain_models

[Ryanf55]

In terrain_planner_benchmark, there is a reliance on the terrain_models package.

terrain-navigation/terrain_planner_benchmark/launch/test_ompl_rrt_circle.launch

Line 10 in df9497b

<param name="map_path" value="$(find terrain_models)/models/$(arg location).tif"/>

From what I remember, these can't be released open source due to licensing.

Can we find open source terrain data that is of sufficient quality to be used as default for the benchmarks?

Assumed requirements:

• Higher resolution than SRTM
• Contains color data
• Similar resolution and size to the current examples used for benchmark
• Contains similar variance in terrain

Options:

• PX4/PX4-Autopilot@e8daca0#diff-b016c5d38bc1cd5f3a88bb0ff97e4a657cd46fa3aff66b6d4948e95c5bcc0590
  • This file has no geotransform available, it would be best using one that has a cartesian transform
• Others?

[Ryanf55]

I found some on https://www.swisstopo.admin.ch/en/height-model-swissalti3d. We can use the data, just need to include their license information on the dataset. It doesn't have color, that's ok.

I downloaded some for the sargans region.

ch.swisstopo.swissalti3d-bPa9tc46.csv

Here's how I downloaded all the files from their CSV export:
cat ~/Downloads/ch.swisstopo.swissalti3d-bPa9tc46.csv | xargs wget

I'll give these a whirl in grid_map_geo to see if they are useful.
In QGIS, you can open all of them:

I created a virtual layer (Raster -> Misc -> Build raster layer) then opened the virtual layer in the 3D panel per this tutorial.