WORLDS – a collection of Gazebo World Files

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

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

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

file indoor.world

roslaunch robocluedo_robot_hunter gazebo.launch world_name:=indoor.world

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

indoor_world

here’s the environment seen from the above:

indoor_world_up

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.

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