Husarion Gazebo Worlds

A repository containing sample worlds to run in the gazebo simulation.

Available worlds:

• empty_with_plugins.sdf - Empty world with attached plugins necessary for the proper operation of our robots,
• husarion_office.sdf - World resembling the office we work in,
• husarion_world.sdf - World representing our logo.

Quick start

Create workspace

mkdir -p ~/ros2_ws
cd ~/ros2_ws
git clone https://github.com/husarion/husarion_gz_worlds.git src/husarion_gz_worlds

Build

colcon build

Running

source install/setup.bash
ros2 launch husarion_gz_worlds gz_sim.launch.py

Launch arguments:

ARGUMENTS		DEFAULT VALUE
gz_gui	Run simulation with specific GUI layout	husarion_gz_worlds/ config/teleop.config
gz_headless_mode	Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the amount of calculations	False
gz_log_level	Adjust the level of console output	1
gz_world	Absolute path to SDF world file	husarion_gz_worlds/ worlds/husarion_world.sdf

Results

husarion_office.sdf

husarion_world.sdf