2sbsbsb / RoboND-BuildMyWorld

RoboND-BuildMyWorld

The "Build My Robot project" is the first project that comes in Gazebo World lesson in Robotics Software Engineer Nanodegree Program. The purpose is to learn how to build a world with custom designed models and pre installed models in Gazebo. This project also has a plugin that welcomes at the begining of the simulation execution.

Directory Structure

    .RoboND-BuildMyWorld               # Project root folder
    ├── images                         # Code output image                   
    │   ├── result.png
    ├── model                          # Model files of the two-wheeled robot
    │   ├── Building
    │   │   ├── model.config
    │   │   ├── model.sdf
    │   ├── robot
    │   │   ├── model.config
    │   │   ├── model.sdf
    ├── script                         # Gazebo World plugin C++ script      
    │   ├── hello.cpp
    ├── world                          # Gazebo main World empty scene
    │   ├── office.world
    ├── CMakeLists.txt                 # Link libraries 
    └──README.md                             

Steps to launch the simulation

Step 1 Update and upgrade the Workspace image

$ sudo apt-get update
$ sudo apt-get upgrade -y

Step 2 Clone the lab folder in /home/workspace/

$ mkdir -p /home/gazebo_ws/
$ cd /home/gazebo_ws/
$ git clone https://github.com/2sbsbsb/RoboND-BuildMyWorld

Step 3 Compile the code

$ cd /home/gazebo_ws/RoboND-BuildMyWorld/
$ mkdir build
$ cd build/
$ cmake ../ && make

Step 4 Add the library path to the Gazebo plugin path

$ export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/gazebo_ws/RoboND-BuildMyWorld/build

Step 5 Run the Gazebo World file

$ cd /home/gazebo_ws/RoboND-BuildMyWorld
$ gazebo world/office.world

Output

The hello world message and the two-wheeled robot inside a Gazebo World should both launch as follow:

Gazebo UI Screenshot

Console Screenshot