sarkrishnan / gazebo_world

gazebo_world

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.

Quickstart

Requirement

Please install ROS Kinetic (choose your platform. I have used Ubuntu which is ROS supported)

Building the project

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

Viewing the created Gazebo world

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!

Suggestions

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