alandszhang/dynamic_logistics_warehouse

Gazebo simulation of dynamics environment in warehouses.

Dynamic_logistics_Warehouse

Gazebo simulation of dynamics environment in warehouses. An extensive model of AWS-robomaker-small-warehouse.

Specifications:

• 9 Actors following different waypoints to perform trajectory path.
• 5 Light sources
• Shelves
• PalletJack
• Desks
• Trashcan
• Cluttering

Building and Launching the Gazebo World with your ROS Applications

• Create or update a .rosinstall file in the root directory of your ROS workspace. Add the following line to .rosintall:

• Change the directory to your ROS workspace and run rosws update

• Add the following include to the ROS launch file you are using:

  <!-- Launch World -->
  <include file="$(find dynamic_logistics_warehouse)/launch/logistics_warehouse.launch"/>
  ...
  </launch>

• Build your application using colcon

  rosws update
  rosdep install --from-paths . --ignore-src -r -y
  colcon build

Example: Running this world directly in Gazebo without a ROS application

To open this world in Gazebo, change the directory to your ROS workspace root folder and run:

cd dynamic-logistics-warehouse
export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/warehouse.world

Example: Running this world directly using ROS without a simulated robot

To launch this base Gazebo world without a robot, clone this repository and run the following commands. Note: ROS and gazebo must already be installed on the host.

# build for ROS
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
roslaunch dynamic_logistics_warehouse logistics_warehouse.launch

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