Basic Gazebo World between empty and AWS house? about create3_sim HOT 3 CLOSED

There are some example worlds that come with gazebo by default in /usr/share/gazebo-11/worlds/, you can check them out by doing, for example:

gazebo /usr/share/gazebo-11/worlds/cafe.world

If an existing world works well for you, you can copy the launch script in
create3_sim/irobot_create_gazebo/launch/aws_small.launch.py
and replace the world_path with the new one. You will additionally want to change the pose arguments at the top of the file:
for pose_element, default_value in zip(['x', 'y', 'yaw'], ['9.0', '0.0', '0.0'])
to set a starting pose that makes sense for that environment.

If you don't find an existing world in that directory or online that fits your needs for something simple, another option is to start gazebo with an empty world and drop shapes in to make your own simple world, then you can save that and load it in the launch file as described above. It will start with an empty world if you just launch gazebo from the command line.

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Thanks. I tried creating a "sandbox" by resizing, cloning, and rotating the box, but couldn't save for some reason. I was told Gazebo has issues running in systems with external graphics processors, and I'm making it even more of a challenge by running it in an Ubuntu VM over Mac OS X.

I'll take a look at the gazebo-11/worlds. Thanks for the tip on how to use them.

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Making some progress - I discovered a work-around for the Gazebo 11 'save world as' dialog box not displaying:

• Press cntl-alt(option)-dn_arrow, cntl-alt(option)-up_arrow
  to display the dialog box, and to redisplay the dialog box after clicking folders/buttons, or after typing chars.

Now I have to figure out the launch file to include my 'playground.wld.sdf' - the AWS launch seems to be loading a whole world directory.

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