Gazebo worlds used in the papers:
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments (IROS 2019) (pdf, video)
@inproceedings{tordesillas2019faster,
title={{FASTER}: Fast and Safe Trajectory Planner for Flights in Unknown Environments},
author={Tordesillas, Jesus and Lopez, Brett T and How, Jonathan P},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2019},
organization={IEEE}
}
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments (ICRA 2019) (pdf, video)
@inproceedings{tordesillas2019real,
title={Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments},
author={Tordesillas, Jesus and Lopez, Brett T and Carter, John and Ware, John and How, Jonathan P},
booktitle={2019 IEEE International Conference on Robotics and Automation (ICRA)},
year={2019},
organization={IEEE}
}
The three worlds available in this repo are these ones:
Office (.world + .bag) | Bugtrap (.world + .bag) | Forest (x10) (.world + .cpp) |
---|---|---|
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Create a workspace (if you do not have one yet), clone this repository and compile it:
mkdir ws && cd ws && mkdir src && cd src
git clone https://github.com/jtorde/planning_worlds_gazebo.git
cd ..
catkin build
source devel/setup.bash
roslaunch planning_worlds_gazebo start_world.launch
(the world name is specified can be modified in the launch file or in the command line)
In one terminal:
roslaunch gazebo_ros empty_world.launch
And in other one:
rosrun planning_worlds_gazebo create_random_forest
The cylinders will start to polulate the world with the density specified in create_random_forest.cpp
.
BSD 3-Clause, see License file attached
Some parts of the code of create_random_forest.cpp
has been take from here.
The file gazebo_cube_spawner.h
is from here
The office world is the willow_garage.world
provided by Gazebo