Description

This package contains simulation worlds and meshes for the Gazebo simulator

Dependencies

This node has the following dependencies:

• gazebo_ros

Install

This package, as well as all IRI dependencies, can be installed by cloning the repository inside the active workspace:

roscd
cd ../src
git clone https://gitlab.iri.upc.edu/labrobotica/ros/navigation/iri_gazebo_worlds

However, this package is normally used as part of a wider installation (i.e. a robot, an experiment or a demosntration) which will normally include a complete rosinstall file to be used with the wstool tool.

How to use it

When launching gazebo_ros, pass as world the path to a world located in the world directory of this repository.

For example:

roslaunch gazebo_ros empty_world.launch world_name:=`rospack find iri_gazebo_worlds`/worlds/willow.world

Or you can use the provided test.launch example:

roslaunch iri_gazebo_worlds test.launch world_name:=brl rviz:=true