dataset-of-gazebo-worlds-models-and-maps's Introduction

Dataset-of-Gazebo-Worlds-Models-and-Maps

A set of Gazebo worlds models and maps that I use for testing Navigation2
These models are tested using Gazebo 9 and Gazebo 11.

How to use the models

1- Copy the model you want to use in .gazebo/models directory.

Set Gazebo model path for the worlds with models directory

2- Gazebo -> Insert -> <World_Model_Name>

go to gazebo word directory and type gazebo example.world

Most models come with maps.

AWS Small House

export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/small_house/models/
gazebo small_house.world

AWS Office

export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/office/models/
gazebo office.world

AWS Bookstore

export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/bookstore/models/
gazebo bookstore.world

AWS Hospital

unzip the models_part# into a dicrectory called models
export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/hospital/models/
gazebo hospital.world
gazebo hospital_two_floors.world

Hospital with Two Floors

Custom Factory

export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/factory/models/
gazebo factory.model

Dynamic World

A world with 9 dynamic obstacles that randomly move around.

Random World

A test model generated by using my random map generation tool.

Robotis Turtlebot 3 World

Experiment Rooms

export GAZEBO_MODEL_PATH=/home/<user_name>/experiment_rooms/models/
cd experiment_rooms/worlds/room1
gazebo world_dynamic.model

10x10 Rooms with Walls

Empty room models with different shapes

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dataset-of-gazebo-worlds-models-and-maps's Issues

Missing model files

Hi,
I think in office world, there are some missing models: coffee_maker; dishwasher; conference_table_large; desk_chair; conference_table_small; computer and desk.
Thank you!

Missing .world file

Hi,
I'm new to ROS and I don't see any .world file for factory world which I can import to my orb-slam3 package. How do I do that?

Some files are missing and the hospital scene can't be opened

some files are missing such as office.world.
the hospital scene can't be opened and the error terminate called after throwing an instance of 'std::bad_alloc' will appera when i start up the scene.

How to add robots into the world?

Hi, I want to ask how to add a robot into the world and if I want to test ORB-SLAM3 using this world, should I calibrate camera internal reference by myself?

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