gazebo_cave_world

KO | EN

gitlite — search

#react #ai #typescript #go #deep-learning #macos #windows #awesome #kubernetes #vue #awesome-list #security #pytorch #ios

gazebo_cave_world

(★ 77)

Cave world

File Explorer

Download Latest Version (.zip)

- cave_world.launch
- cave_world.world
artifacts_positions.md
CMakeLists.txt
LICENSE
package.xml
README.md

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

Cave world
=============

## Description

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]

## Preview
![example](https://i.imgur.com/abEjFWr.png)

## Installation

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.

## Usage

To load cave world use:
```
roslaunch gazebo_cave_world cave_world.launch
```

To add models copy them to ~/worlds/models folder inside the package.

## Licence

MIT License

## Citing

```
@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}}
}
```

## References

[1] https://subtchallenge.world/openrobotics

[2] https://bitbucket.org/osrf/subt/wiki/Home

gazebo_cave_world

File Explorer

Today's picks

Was this content helpful?

Recent Feedback

gazebo_cave_world

File Explorer

Today's picks

Was this content helpful?

Recent Feedback

Download README