This is a project I made for my Robotics Software Engineer Nanodegree from Udacity. It involves creating and visualizing a gazebo world with a personalized message displayed on the terminal. Gazebo is a simulator tool widely used in the robotics community.
Please install ROS Kinetic (choose your platform. I have used Ubuntu which is ROS supported)
Clone the project using git clone https://github.com/sarkrishnan/gazebo_world.git
command
Navigate into the project folder cd gazebo_world
Create a build directory mkdir build
and navigate into it cd build
Use command cmake ../
and then make
to create the welcome_message gazebo plugin
Use command export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:{path to the build folder}
to make the welcome_message gazebo plugin we created in the previous step visible to gazebo. Example code: export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/workspace/myrobot/build
Navigate into the world folder cd ../world
(Here I have assumed that we are still in the build folder)
Run the command gazebo Project1_world
. It should open up the gazebo world and also display 'Welcome to Aravinda's world' in the terminal. The gazebo world will have couple of collapsed humanoid robots and a building structure with some tables.
You have viewed the created Gazebo world successfully!
If you would like to change the welcome message, please navigate into script folder and make changes in the welcome_message.cpp
You can also create your own building and robot models and save them in the appropriate folder within model folder and also save the world from gazebo