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.