ROS Gazebo Worlds Collection

Collection of Gazebo ROS Simulation environments from various sources and prepared for testing with different ROS packages.

setup / usage

docker based workflow setup (recommended)

build the docker images (base ros2 > development overlay)

# move to workspace directory
cd ws_robot_worlds

./src/robot_worlds/docker/build_docker.sh 

If the build is successful, run the docker container with the development workspace. The local folders are mounted to the docker workspace when running. this allows you to edit/view your code directly on your filesystem, which runs in the docker container.

run:

./src/robot_worlds/docker/run_docker.sh 

This opens up a bash terminal in a new preconfigured and sourced ROS2 workspace.

Proceed to build and source your workspace

colcon build --symlink-install && source install/setup.bash

manual local setup (linux)

mkdir -p robot_worlds_ws/src
cd robot_worlds_ws

git clone https://github.com/yojuna/robot-worlds

colcon build --symlink-install
source install/setup.bash

handle missing dependencies

rosdep install --from-paths src -y --ignore-src

or install manually if somethings gets missed.

• index for different launch files to be included eventually.

Le Robots

Turtlebot3 with Open Manipulator X

run,

ros2 launch robot_worlds tb3_om_gz_moveit.launch.py

Turtlebot3 [Waffle, Waffle Pi, Burger]

tb3 simulation setup guide: https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/

cd  src
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ../
colcon build --symlink-install && source install/setup.bash

Run the tb3 world simulation

ros2 launch robot_worlds tb3_world.launch

note:

if gazebo throws errors when using with docker: run:

. /usr/share/gazebo/setup.sh

this sets up necessary gazebo environment variables and other things. ref: https://answers.ros.org/question/358847/cannot-launch-gzclient-on-a-launch-file-results-in-shared_ptr-assertion-error/

Worlds

Turtlebot3 Simulations

Turtlebot3 simulation worlds

reference: robotis turtlebot3 E manual

Gazebo House World

after building, run,

export TURTLEBOT3_MODEL=waffle 
ros2 launch robot_worlds tb3_house.launch.py

This starts gazebo with preconfigured rviz (camera, odom, laserscan in the /odom global frame) and a teleop node to move the turtlebot around.

Gazebo World

run,

export TURTLEBOT3_MODEL=waffle 
ros2 launch robot_worlds tb3_world.launch.py

---

credits / sources

This repository would not have been possible without the painstaking work of these references:

• Turtlebot3 Simulations

• Gazebo models and worlds collection

  • referred sources:
    • 3DGEMS
    • RotorS
    • TU Delft
    • ARTI-Robots
    • Clearpath Robotics
    • Fetch Robotics

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

• PX4 Gazebo worlds

• Gazebo Small Warehouse, Bookstore and Small House worlds available for simulation | ROS Discourse

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.

Usage

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

or

• Set Gazebo model path for the worlds with models directory

2- Gazebo -> Insert -> <World_Model_Name>

or

• go to gazebo word directory and type gazebo example.world

Most models come with maps.

Models:

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