Dataset-of-Gazebo-Worlds-Models-and-Maps

Forked and heavily modified to use the worlds with ROS for SLAM simulations. Initially the paths contained in the files were strange and hardcoded in a way that only allowed an execution using gazebo from the original folder. In order to untie the files the following operations have been performed:

1. first all the models folders have been gathered in a single one. The original ones are in the zip containing the world file too. For example, for small_house.world the files are in Dataset-of-Gazebo-Worlds-Models-and-Maps/worlds/small_house/small_house.zip. Many of the worlds share the same models.

2. the keyword file:// has been modified when the pattern file://model/ was found, in order to avoid stange tricks with the path. Basically without modifying it the files expect the meshes to be in GAZEBO_MODEL_PATH/models but since GAZEBO_MODEL_PATH is already (normally, without touching anything) ~/.gazebo/models/ then another nested models folder would be needed, and exporting folders causes troubles. Adjusting the folder structure to avoid touching paths has worked so far, with the inverse strategy being a total failure for every attempt. Again, I want to sleep at night, let's finish the project.

3. all the instances of the keyword "file", that is used to source a file, have been replaced by "model", since the first one creates problems that have not been resolved yet. the urgencies of actually concluding the project deprived me of any will to investigate further, therefore just know that it works now, but changing anything would probably break it, for unknown reasons. The commands used are find . -type f -name "*.config" -print0 | xargs -0 sed -i 's!file://models/!file://!g' and find . -type f -name "*.sdf" -print0 | xargs -0 sed -i 's!file://models/!file://!g' executed in the models fodler, once they have been gathered.

4. once the file paths are set, the other preoccupation is changing the path to the photos contained in the DAE files. assuming models and photos are on the same folder level, the path is changed by using find . -type f -name "*.DAE" -print0 | xargs -0 sed -i 's!../../../../photos!../../../photos!g'

To use the worlds copy the folders models and photos into ~/.gazebo, and the worlds into $(find px4_tests)/worlds so that they are usable though the launch files provided in the ros package.

AWS Small House

• export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/small_house/models/
• gazebo small_house.world

AWS Office

• export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/office/models/
• gazebo office.world

AWS Bookstore

• export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/bookstore/models/
• gazebo bookstore.world

AWS Hospital

• unzip the models_part# into a dicrectory called models
• export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/hospital/models/
• gazebo hospital.world
• gazebo hospital_two_floors.world

Hospital with Two Floors

Custom Factory

• export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/factory/models/
• gazebo factory.model