| .. _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 | |