Clearpath Additional Simulation Worlds

This repository contains additional indoor and outdoor simulation environments for use with Clearpath's robot platforms.

Launch Parameters

Each world has a launch file which will start the simulation environment with the appropriate robot. These launch files accept the following arguments:

Robot model:

• platform The platform argument defaults to the CPR_GAZEBO_PLATFORM environment variable if it exists, otherwise a size-appropriate robot is chosen as the default. Each world supports different robots. For example Dingo and Ridgeback are not available on outdoor worlds. Please refer to the specific world for supported robots. Available robots for any given world will be a subset of:
• husky (the most common default)
• jackal
• warthog
• dingo
• ridgeback
• boxer

Robot spawn position:

• robot_x
• robot_y
• robot_z
• robot_yaw Most worlds default to (0, 0, 0.2, 0) as the initial (x, y, z, yaw) position, though some worlds may feature terrain or other obstacles that necessitate a different default. Please refer to the appropriate launch file for the default spawn location for that world.

World spawn position:

• world_x
• world_y
• world_z
• world_yaw All worlds default to (0, 0, 0, 0) as their spawn location. If changing the world location, it may be necessary to change the robot's spawn location as well, to prevent the robot from spawning in a location not above the ground plane.

Agriculture World

This is a flat, outdoor world with a barn, fences, and a medium-sized solar farm.

See Agriculture World

Inspection World

This is a hilly, outdoor world featuring a bridge, cave/mine, water, small solar farm, and water pipes.

See Inspection World

Obstacle World

This world features an indoor, enclosed world with non-planar ground geometry:

See Obstacle World

Office World

This world features two maps with the same general floorplan:

A small office featuring hallways, meeting rooms, and furniture.

The same office, but undergoing construction. Construction materials are piled on the floor, and several walls are only studs.

See Office World

Orchard World

This is a flat, outdoor world with several rows of small trees separated by dirt paths

Orchard World

Race Modules

This is not an actual environment, but rather a collection of concrete and dirt road segments that can be used to build race tracks.

See Race Modules