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
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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>
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Build your application using
colconrosws 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.worldExample: 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