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Generating Mazes

The gzmaze repo provides an easy way to generate a Gazebo maze that is compatible with the TurtleBot3 model.

Setup

$ cd ~/catkin_ws/src
$ git clone https://github.com/athenian-robotics/gzmaze.git
$ cd gzmaze
$ mkdir build
$ cd build
$ cmake ..
$ make

Add the following to .gazebo/gui.ini:

[overlay_plugins]
filenames=libregenerate_widget.so

Running Gazebo to Generate a Model

$ cd ~/catkin_ws/src/gzmaze/
$ ./setup.sh

Once Gazebo starts up, click Browse For Maze File to choose your maze definition and then click Generate Model to generate the maze model.

To save a maze as a model, right click on the maze and select Edit model. Warning: the Gazebo process will be unresponsive for a couple minutes until it enters the Model Editor.

Once you enter the Model Editor, save the model by clicking on the menu item File->Save As.

Exit the Model Editor by clicking on File->Exit Model Editor.