gazebo_home_sim

This repo contains a simulation environment of a basic for of a home with a 4-wheeled mobile robot.

Directory Structure

    .home_sim                          # Home simulation main folder 
    ├── images                         # Code output image 
    │   ├── output.png
    ├── model                          # Custom models
    │   ├── MobileRobot                # Model files of the 4-wheeled robot
    │   │   ├── model.config
    │   │   ├── model.sdf
    │   ├── Building                   # Building model
    │   │   ├── model.config
    │   │   ├── model.sdf
    ├── script                         # Gazebo World plugin C++ script
    │   ├── welcome.cpp
    ├── world
    │   ├── myworld
    ├── CMakeLists.txt                 # Link libraries 
    ├── launch_home.sh                 # Auto launch gazebo with environments
    └── 

Steps to launch the simulation

Step 1 Update and upgrade the Workspace image

$ sudo apt-get update
$ sudo apt-get upgrade -y

Step 2 Clone the lab folder in /home/workspace/

$ cd /home/workspace/
$ git clone https://github.com/canersu/gazebo_home_sim.git

Step 3 Compile the code

$ cd /home/workspace/gazebo_home_sim/
$ mkdir build
$ cd build/
$ cmake ../
$ make

Step 4 Run launch file

$ ./launch_home.sh

Output

The welcome message and the 4-wheeled robot inside a Gazebo World should both launch as follow: