Build My World

This Gazebo project contains a simulated world to be used in next projects of the Udacity's Robotics Software Engineer Nanodegree Program.

It contains:

• A replica of my house created with the Building Editor tool in Gazebo using the following floor plan.

• A two wheel robot model and a four wheel robot model, both with connected joints, created with the Model Editor tool in Gazebo.

• A world with two instances of the robot, my home model, some models from imported from the Gazebo online library, and a C++ World Plugin that display "Welcome to Vin's World!" message as soon as you launch the Gazebo world file.

Prerequisites

• Install the appropriate CMake for your platform. CMake is a cross-platform open-source software for build automation, testing and packaging using a compiler-independent method.

• Download and install Gazebo, an open-source 3D robotics simulator.

How to run

1. Clone this repository

   $ git clone https://github.com/computationalcore/build-my-world

2. Enter in the project folder

   $ cd build-my-world

3. Create the build directory and compile the Welcome World plugin.

   $ mkdir build
   $ cd build/
   $ cmake ../
   $ make # You might get errors if your system is not up to date!   
   $ export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:${PWD}
   $ cd ../

4. Launch the world file in Gazebo to load both the world and the plugin

   $ gazebo world/VinHome.world

5. Visualize the output

   • A "Welcome to Vin's World!" message is printed in the terminal. This message interacts with the Gazebo World that includes the two-wheeled robot.

   • The world visualized should be similar to the second screenshot of this README.

Authors

Vin Busquet

• https://github.com/computationalcore

License

This project is licensed under the MIT License - see the LICENSE file for details

Acknowledgments

• Robotics Software Engineer
• Udacity
• Sebastian Thrun
• Karim Chamaa