README.md

cpr_obstacle_gazebo

Indoor simulation environment for Gazebo featuring holes in the floor, narrow doorways, and walls.

Supported Platforms

Jackal

Husky

Dingo

Boxer

Warthog

Obstacle World Launching

roslaunch cpr_obstacle_gazebo obstacle_world.launch

Optionally, you can specify a platform using the platform variable:

roslaunch cpr_obstacle_gazebo obstacle_world.launch platform:=jackal

Supported values for the platform variable are:

• jackal (default)
• husky
• dingo
• warthog (requires world_scale to be increased; see below)

The spawn location for the robot can be specified by setting the x, y, z, and yaw variables. The Z value should be set to be above ground-level; otherwise the robot may fall through the ground plane as the environment renders.

The X/Y scale can be set with the world_scale argument. The default value is 1.0, but can be increased or decreased to change the size of the ground-plane. When using large platforms, like Warthog, we recommend increasing the world_scale to at least 2.0.

The walls can be toggled on or off by setting the walls argument. The default value is true. The ground geometry remains identical, whether walls are enabled or not.

Features of the obstacle world

Large rooms with narrow doorways between them

Holes that may trap smaller robots if they drive into them

Toggleable walls and adjustable scale