URJC excavation World ROS package

The simulation enviroment is based on URJC Fuenlabrada Campus, where it is located this ground. This world could be used to create new algorithms in localization or navigation.

Include the world from another package

• Add the following to your launch file:

    urjc_excavation = launch.actions.IncludeLaunchDescription(
        launch.launch_description_sources.PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory('urjc_excavation_world'),
                'launch',
                'urjc_excavation.launch.py')))

Load directly into Gazebo (without ROS)

export GAZEBO_MODEL_PATH=`pwd`/models
gz sim worlds/urjc_excavation.world

ROS Launch with Gazebo viewer (without a robot)

# build for ROS
source /opt/ros/jazzy/setup.bash
source /usr/share/gazebo/setup.sh
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
ros2 launch urjc_excavation_world urjc_excavation.launch.py

There is another world with a few models to interact with. You can load it with the following command:

ros2 launch urjc_excavation_world urjc_excavation_msr.launch.py

Lights and Shadows configuration

For to obtain a better performance the shadows were disabled. If you want to enable them, you can do it in the file urjc_excavation.world or in urjc_excavation_msr.world , modifying the line:

<cast_shadows>0</cast_shadows>

to

<cast_shadows>1</cast_shadows>