RoboND_P1_Build-My-World

The RoboND_P1_Build-My-World lab part of RoboND Gazebo Basics lesson. The purpose of this lab is to learn how to build a robot model with the Model Editor tool in Gazebo. Include this model in an empty Gazebo World. And, finally write a plugin to interact with this world.

Directory Structure

    .RoboND_P1_Build-My-World.git      # repository main folder 
    ├── images                         # Code output image                   
    │   ├── output.png
    │   ├── layout.png
    ├── model                          # Model files of the robot and the flat
    │   ├── Simple_Flat
    │   │   ├── model.config
    │   │   ├── model.sdf
    │   ├── Robot
    │   │   ├── Robot
    │   │       ├── model.config
    │   │       ├── model.sdf
    ├── script                         # Gazebo World plugin C++ script      
    │   ├── hello.cpp
    ├── world                          # Gazebo main World empty scene
    │   ├── Flat
    ├── CMakeLists.txt                 # Link libraries 
    └──                              

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/tobiassteidle/RoboND_P1_Build-My-World.git

Step 3 Compile the code

$ cd /home/workspace/RoboND_P1_Build-My-World/
$ mkdir build
$ cd build/
$ cmake ../
$ make

Step 4 Add the library path to the Gazebo plugin path

$ export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/workspace/RoboND_P1_Build-My-World/build

Step 5 Run the Gazebo World file

$ cd /home/workspace/RoboND_P1_Build-My-World/world/
$ gazebo Flat

Output

The hello world message and two of my four-wheeled robots inside a Gazebo World should both launch as follow: