PAL Gazebo worlds

This package contains customized world and models that were used for demonstration and events

Worlds and models are using the sdf format; for further information please refer to this website: http://sdformat.org/spec

Warning

All the worlds are not meant to work perfectly

They can be used for all the robots but it can happen that the robot spawn inside the wall in some configuration

To prevent this from happening you can use the gzpose argument of the robot_gazebo.launch file, for example in the pal_kitchen world with TIAGo:

roslaunch tiago_gazebo tiago_gazebo.launch world:=pal_kitchen gzpose:="-x -1.0 -y 3.0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0"

World and models

The main folders are the models and the worlds folders:

• The model folder contains all the models folder with inside at least the model.config and the

• The worlds folder contains all the .world files

You would find an example of a world and a model under models/custom_object and worlds/custom_world.worlds in order to understand better how to create your own world from what is available and also import new models

Changelog for package pal_gazebo_worlds

2.0.45 (2023-06-19)

• Merge branch \'icra_demo\' into \'erbium-devel\' Add world with stairs and stepping stones for FSP ICRA demo See merge request common/pal_gazebo_worlds!59
• Rename stepping_stones world to include the number of steps
• Rename 3_stairs to specificy the dimension in the filename
• Move the new environments in order to have the robot start at (0;0)
• Add world with stairs and stepping stones for FSP ICRA demo
• Contributors: Jordan Palacios, Pierre Fernbach

2.0.44 (2023-04-04)

• Merge branch \'fix_world\' into \'erbium-devel\' Fix world See merge request common/pal_gazebo_worlds!56
• Add sdf version to avoid warning + fixing aruco_board and poster
• Fix pal_kitchen and cabinet_grasping worlds + Adding Documentation in ReadMe
• Add models from pmb2_gazebo package
• Add world from pmb2
• Import model fix from tiago gazebo package
• Import fix from the tiago gazebo package
• Merge branch \'fix/sliding\' into \'erbium-devel\' fix robot sliding on world See merge request common/pal_gazebo_worlds!49
• fix robot sliding on world
• Merge branch \'stairs_up\' into \'erbium-devel\' Stairs up See merge request common/pal_gazebo_worlds!47
• Modify bauzil stairs model to be loaded in PAL Physics Simulator
• Add bauzil stairs model. Modify world
• Contributors: Adria Roig, Jordan Palacios, antoniobrandi, thomaspeyrucain

2.0.43 (2021-12-03)

• Merge branch \'navigation_dynamic_obstacles_test\' into \'erbium-devel\' Navigation dynamic obstacles test See merge request common/pal_gazebo_worlds!40
• Merge branch \'scafo_demo_world\' into \'erbium-devel\' Add scafo world See merge request common/pal_gazebo_worlds!46
• Add scafo world
• add collisions plugin
• rm unnecesary files
• corridor_85cm world
• move corridor worlds to origin
• small cylinder model
• empty room world
• Contributors: Noel Jimenez Garcia, cescfolch, victor

2.0.42 (2021-08-26)

• Merge branch \'kangaroo_wbc\' into \'erbium-devel\' Add high resolution world See merge request common/pal_gazebo_worlds!42
• Add high resolution world
• Contributors: Adria Roig, victor

2.0.41 (2021-06-03)

• Wait for time before initialization
• Merge branch \'memmo_worlds\' into \'erbium-devel\' Add worlds used in Memmo demos See merge request common/pal_gazebo_worlds!39
• remove \"camera\" model from the new worlds
• Add world slalom_debris
• Add world bauzil_stairs
• Add aruco_marker_12cm_150
• Contributors: Jordan Palacios, Pierre Fernbach, Victor Lopez

2.0.40 (2020-05-26)

• Merge branch \'add-small-office-inventory\' into \'erbium-devel\' added small office inventory (clone of small office) See merge request common/pal_gazebo_worlds!38
• added small office inventory (clone of small office)
• Merge branch \'featured-world\' into \'erbium-devel\' added featured world for ari navigation simulation See merge request common/pal_gazebo_worlds!37
• added featured world for ari navigation simulation
• Contributors: Federico Nardi, Proc