ltu-rai / gazebo_cave_world

Cave world

Cave world

Description

Cave environment is made by using both DARPA provided tiles [1,2] and custom made 3D models with the following features:

• Large void areas
• Vertical shafts
• Gate with apriltags
• Foldable drone evaluation area
• Areas with stalactites and stalagmites
• Artifacts (backpack, extinguisher and survivor). Ten artifacts of each type are randomly placed in the world. Use existing ones or your own.
• Specification document with artifacts and their positions (artifacts_positions.md)
• External dimensions (height x width x length): 33 x 102 x 150 [meters]

Preview

Installation

Clone the package into your catkin workspace:

git clone https://github.com/LTU-CEG/gazebo_cave_world.git

Use catkin_make on your workspace to compile, or catkin build if you are using catkin_tools.

Usage

To load cave world use:

roslaunch gazebo_cave_world cave_world.launch

To add models copy them to ~/worlds/models folder inside the package.

Licence

MIT License

Citing

@misc{akoval2020,
 author = {Anton Koval and Christoforos Kanellakis and Emil Vidmark and
 Jakub Haluska and George Nikolakopoulos},
 title = {A Subterranean Virtual Cave World for Gazebobased on the DARPA SubT Challenge},
 year = {2020},
 publisher = {arXiv},
 howpublished = {\url{http://arxiv.org/abs/2004.08452}}
}

References

[1] https://subtchallenge.world/openrobotics

[2] https://bitbucket.org/osrf/subt/wiki/Home

gazebo_cave_world's Issues

Problem while trying to spawn a Turtlebot3

Hello everyone!

I was trying to spawn a Turtlebot3 in the Cave world in Gazebo. For this I added the cave_world.world in the worlds folder of my turtlebot3 and the models in the models folder. I created the corresponding launch file too. But wile spawning an error is thrown as shown below :

Could anyone help me with this.

I did search the internet for the error "Spawn Service failed. Exiting" and found this:
Spawn Service Failed. Exiting - Solution.

But the given files show a fix for c++ and not for the files which are installed using sudo apt-get install.