# WORLDS -- a collection of Gazebo World Files

```{toctree}
./worlds-user-manual.md
```

note that:

- the grid represents squares 1m by 1m
- **red** : x, **green** : y, **blue** : z

## HOW TO install the package

nothing more to do: just pyut the package in your workspace.

*for running the world 'assignment3.world'* you need also to copy the content of the folder "model" inside /root/.gazebo/models .

## file *square_room.world*

```bash
roslaunch robocluedo_robot_hunter gazebo.launch world_name:=square_room.world
```

a 6x6 square room. the center of the room is the origin of the world frame. 

![square_room_world](square_room.png)

the environment is quite simple: just one root. the robot is spawned in the origin of the world frame. 

## file *indoor.world*

```bash
roslaunch robocluedo_robot_hunter gazebo.launch world_name:=indoor.world
```

an empty indoor environment. here's how it appears:

![indoor_world](indoor_world_1.png)

here's the environment seen from the above:

![indoor_world_up](indoor_world_2.png)

## file *assignment3.world*

```{note}
For running this world frame, you have to copy the content of the folder *models* inside the package into the path `/root/.gazebo/models`.
```

```bash
roslaunch robocluedo_robot_hunter gazebo.launch world_name:=assignment3.world
```

This world has the same structure of *indoor.world* but including the ArUco markers. 

![assignment3](assignment3.png)