gazebo_world

Design of a Gazebo World environment with multiple models and features.

Single floor wall structure incorporating multiple features, colours, and textures. Multiple instances of two different robot models, "robot" and "tank". Includes different models from the Gazebo online library. Welcome message is displayed upon launch of the Gazebo world file.

Project Folder

• model folder:
  • "robot" robot designed in the Model Editor tool of Gazebo
  • "tank" robot designed in the Model Editor tool of Gazebo
  • A single floor structure designed in the Building Editor tool of Gazebo
• world folder:
  • Gazebo world file that includes the models
• script folder:
  • Gazebo world plugin C++ script
• CMakeLists.txt file to link the C++ code to libraries

Building

Prerequisites/Dependencies: Gazebo and ROS.

With the prerequisites met, source global ros:

$ source /opt/ros/<your_ros_version>/setup.bash

Create a catkin workspace:

$ mkdir -p catkin_ws/src && cd catkin_ws

Clone the driver:

$ git clone https://github.com/barrymulvey/gazebo_world.git src/gazebo_world

Install dependencies:

$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y

Build the workspace:

$ catkin_make

Activate the workspace:

$ source devel/setup.bash

Launch the world file in Gazebo:

$ cd /build_world/world/
$ gazebo myworld