Cave environment is made by using both DARPA provided tiles [1,2] and custom made 3D models with the following features:
- Large void areas
- Vertical shafts
- Gate with apriltags
- Foldable drone evaluation area
- Areas with stalactites and stalagmites
- Artifacts (backpack, extinguisher and survivor). Ten artifacts of each type are randomly placed in the world. Use existing ones or your own.
- Specification document with artifacts and their positions (artifacts_positions.md)
- External dimensions (height x width x length): 33 x 102 x 150 [meters]
Clone the package into your catkin workspace:
git clone https://github.com/LTU-CEG/gazebo_cave_world.git
Use catkin_make on your workspace to compile, or catkin build if you are using catkin_tools.
To load cave world use:
roslaunch gazebo_cave_world cave_world.launch
To add models copy them to ~/worlds/models folder inside the package.
MIT License
@misc{akoval2020,
author = {Anton Koval and Christoforos Kanellakis and Emil Vidmark and
Jakub Haluska and George Nikolakopoulos},
title = {A Subterranean Virtual Cave World for Gazebobased on the DARPA SubT Challenge},
year = {2020},
publisher = {arXiv},
howpublished = {\url{http://arxiv.org/abs/2004.08452}}
}