File size: 1,165 Bytes
2d6bfa0 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 |
.. _mir_world_generation:
World Generation
================
Procedurally generates at work arena for gazebo simulation.
Generates
- ``.xacro`` file containing world model for gazebo simulator
- ``map.pgm`` and ``map.yaml`` files for occupancy grid for ros navigation
- ``navigation_goals.yaml`` file for industrial robotics :ref:`mir_move_base_safe` action
Change the parameters for generation in ``common/config/config.yaml`` file. (see :ref:`world_generation_config`)
Usage
-----
Generate all necessary files using ``grid_based_generator.py``
.. code-block:: bash
roscd mir_world_generation/common/mir_world_generation
python grid_based_generator.py
Visualise all the generated files using example ``.launch`` file
.. code-block:: bash
roslaunch mir_world_generation sim.launch
.. _world_generation_config:
Configuration
-------------
.. literalinclude:: ../../../mir_simulation/mir_world_generation/common/config/config.yaml
:language: yaml
Examples
--------
.. image:: ../../../mir_simulation/mir_world_generation/docs/map_plus_gazebo_3x4.png
.. image:: ../../../mir_simulation/mir_world_generation/docs/map_plus_gazebo_4x4.png
|