URJC trains World ROS package

The simulation enviroment is based on URJC Fuenlabrada Campus, where it is located this set of trains. 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_trains_world'),
                'launch',
                'urjc_trains.launch.py')))

Load directly into Gazebo (without ROS)

export GAZEBO_MODEL_PATH=`pwd`/models
gz sim worlds/urjc_trains.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_trains_world urjc_trains.launch.py

There is another world with trees, with this kind of mesh is more complex to compute iterations for the physical engine. You can load it with the following command:

ros2 launch urjc_trains_world urjc_trains_tree.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_trains.world or in urjc_trains_tree.world, modifying the line:

<cast_shadows>0</cast_shadows>

to

<cast_shadows>1</cast_shadows>