WorldGeneration

Deprecated Gazebo9 generator

Note: You will need the gazebo9 branch of this repository which is now deprecated.

This tutorial will walk you through the steps to create worlds to be used for practice/evaluation of robot teams for SubT.

1. Install Ruby:

    sudo apt-get install ruby2.5 ruby2.5-dev
   

2. Go to the worlds directory

    cd  subt_gazebo/worlds
   

3. Run erb to generate a random world with default parameters

    erb tile.world.erb > cave.world
   

4. Try different options, such as n_x=3 n_y=3 to generate a 3x3 world:

    erb n_x=3 n_y=3 tile.world.erb > cave_3x3.world
   

5. ... or s=100 to set the random seed

    erb s=100 tile.world.erb > cave_s100.world
   

Deprecated Python generator

Note: You will need the gazebo9 branch of this repository which is now deprecated.

• Change your current directory to the SubT workspace and activate it

    cd ~/subt_ws
    source install/setup.bash
  

• Generate a world using the script

    rosrun subt_gazebo world_generator -o /tmp/subt generated_world 
  

• World customization can be handled through command line arguments to the script. To see the available arguments, use the --help flag:

    usage: world_generator [-h] [--grid-size GRID_SIZE] [--origin-x ORIGIN_X]
                           [--origin-y ORIGIN_Y]
                           [--target-length TARGET_LENGTH] [--seed SEED] [-n]
                           [-o OUTPUT_DIR]
                           output_name
  
    positional arguments:
      output_name
  
    optional arguments:
      -h, --help            show this help message and exit
      --grid-size GRID_SIZE
                            Length and width of the grid that will be populated
      --origin-x ORIGIN_X   X origin in the grid that will be populated.
      --origin-y ORIGIN_Y   Y origin in the grid that will be populated.
      --target-length TARGET_LENGTH
                            Target total length of the cave system to be generated
      --seed SEED           Random number generator seed
      -n, --dry-run         print generated files to stdout, but do not write them
                            to disk
      -o OUTPUT_DIR, --output-dir OUTPUT_DIR
                            directory in which to output the generated files
  

• Test your generated work in the simulation:

    roslaunch /tmp/subt/generated_world.launch