clearpathrobotics/cpr_gazebo

Additional indoor and outdoor simulation environments for Clearpath robots.

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

cpr_gazebo's Issues

@iamshyamganatra - AWS/CPR Blog

Hello @iamshyamganatra,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

@tomlogan501 - AWS/CPR Blog

Hello @tomlogan501,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

@kulbir-ahluwalia - AWS/CPR Blog

Hello @kulbir-ahluwalia,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

Ask some questions about the world env mesh file

I run the code it works very well.
I want to ask you some questions about how to build the sim world.
Such as the office world ,it was just a .dae file.
Which software you use to create so amazing models.

@Jaeyoung-Lim - AWS/CPR Blog

Hello @Jaeyoung-Lim,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

@Ruthrash - AWS/CPR Blog

Hello @Ruthrash,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

@snrdevs - AWS/CPR Blog

Hello @snrdevs,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

ridgeback_gazebo integration to RoboMaker is not working

I used the 1-click launch for the Ridgeback and I get this error:

[Errno 2] No such file or directory: u'/home/robomaker/workspace/applications/simulation-application/dependencies/opt/ros/kinetic/share/ridgeback_gazebo/launch/spawn_ridgeback.launch'

I can run the Husky 1-click simulation fine. I ran that one and checked to see if the above file existed via the Terminal tool and I don't see it:

robomaker@6ace7ad502af:~$ ls -l /home/robomaker/workspace/applications/simulation-application/dependencies/opt/ros/kinetic/share/ridgeback_gazebo/launch
total 4
-rw-r--r--+ 1 1000 custaccess 1877 Apr  1 19:15 ridgeback_world.launch
robomaker@6ace7ad502af:~$ 

I do see it in the repo here: https://github.com/ridgeback/ridgeback_simulator/tree/kinetic-devel/ridgeback_gazebo/launch

So, I suspect it's not being bundled for some reason.
@konduri for visibility

@weihuaiwu - AWS/CPR Blog

Hello @weihuaiwu,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

@inkyusa - AWS/CPR Blog

Hello @inkyusa,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave

License files

Hi,

Thank you for the amazing worlds! This repository looks quite useful for testing robotic applications

However, I see no license attached to the repo
Would it be possible to clarify what license the package is distributed with?

Thank you in advance

@cbuscaron - AWS/CPR Blog

Hello @cbuscaron,

Clearpath and Amazon are working on developing a blog article about the recently launched AWS Robomaker Simulations. We are hoping to highlight a few users from the community and their experiences using the simulations so far. I noticed that you have forked the git repo and were wondering if you've had some time to explore or make use of the simulations. If so and you're interested in being featured on our blog, let me know and I can send over a short list of questions.

Thanks,

Dave