Reference

Background the profile’s rules rest on, and the material a reader needs to argue with them.

• Glossary — the vocabulary of the whole project, in one place.

• Coordinate systems — what ISO 9787, the ROS REPs and glTF each say about frames, where they disagree, and which one a delivered model is expressed in. Claims are marked firm, practice, open or corrected.

• Gazebo and RViz loader behavior — what Gazebo and RViz build from a .glb, read out of the gz-common and rviz_rendering sources. A snapshot from 2026-09-04, not re-verified since.

• PBR and glTF — the metallic-roughness material model, and the difference between a property and a channel.

• glTF background notes — reading notes and a reference collection, including the measured case for PNG over JPEG in the linear texture slots.

• Glossary
  • Terms
• Coordinate Systems: glTF, Gazebo and ROS
  • Objective
  • How claims in this document are marked
  • Coordinate Conventions and Typical Practices
  • Vocabulary / Nomenclature / Glossary
  • Reconciling the standards
  • One body, one mesh: who rotates what
  • Next increment
  • References
• Gazebo and RViz loader behavior
  • The consumers
  • The Gazebo path, step by step
  • What the loader reads from a glTF material
  • The RViz path
• PBR, and why glTF is inseparable from it
  • The shift in one sentence
  • What we had before: Collada plus an image
  • What PBR replaces it with
  • The differences that actually bite
  • Why glTF and PBR cannot be separated
  • Where to go next
• glTF Background
  • References
  • Closely Related Work and Examples