├── CMakeLists.txt ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── docs ├── .DS_Store └── images │ ├── .DS_Store │ ├── gzweb_aws_warehouse.png │ ├── models_boxes.png │ ├── models_buckets.png │ ├── models_ceiling_lamp.png │ ├── models_desk.png │ ├── models_lift.png │ ├── models_shelves.png │ ├── models_trashcan.png │ ├── models_warehouse_ground_paint.png │ └── small_warehouse_gazebo.png ├── launch ├── no_roof_small_warehouse.launch ├── small_warehouse.launch └── view_small_warehouse.launch ├── maps ├── .DS_Store ├── 002 │ ├── map.pgm │ └── map.yaml └── 005 │ ├── map.pgm │ ├── map.yaml │ ├── map_rotated.pgm │ └── map_rotated.png ├── models ├── .DS_Store ├── aws_robomaker_warehouse_Bucket_01 │ ├── .DS_Store │ ├── materials │ │ ├── .DS_Store │ │ └── textures │ │ │ └── aws_robomaker_warehouse_Bucket_01.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_Bucket_01_collision.DAE │ │ └── aws_robomaker_warehouse_Bucket_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_ClutteringA_01 │ ├── .DS_Store │ ├── materials │ │ ├── .DS_Store │ │ └── textures │ │ │ ├── .DS_Store │ │ │ ├── aws_robomaker_warehouse_ClutteringA_01.png │ │ │ ├── aws_robomaker_warehouse_ClutteringA_02.png │ │ │ └── aws_robomaker_warehouse_ClutteringA_03.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_ClutteringA_01_collision.DAE │ │ └── aws_robomaker_warehouse_ClutteringA_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_ClutteringC_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_ClutteringC_01.png │ │ │ └── aws_robomaker_warehouse_ClutteringC_02.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_ClutteringC_01_collision.DAE │ │ └── aws_robomaker_warehouse_ClutteringC_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_ClutteringD_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_ClutteringD_01.png │ │ │ └── aws_robomaker_warehouse_ClutteringD_02.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_ClutteringD_01_collision.DAE │ │ └── aws_robomaker_warehouse_ClutteringD_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_DeskC_01 │ ├── materials │ │ ├── .DS_Store │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_DeskC_01.png │ │ │ ├── aws_robomaker_warehouse_DeskC_02.png │ │ │ ├── aws_robomaker_warehouse_DeskC_03.png │ │ │ ├── aws_robomaker_warehouse_DeskC_03.psd │ │ │ └── aws_robomaker_warehouse_DeskC_04.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_DeskC_01_collision.DAE │ │ └── aws_robomaker_warehouse_DeskC_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_GroundB_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_GroundB_01.png │ │ │ └── aws_robomaker_warehouse_GroundB_02.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_GroundB_01_collision.DAE │ │ └── aws_robomaker_warehouse_GroundB_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_Lamp_01 │ ├── materials │ │ └── textures │ │ │ └── aws_robomaker_warehouse_Lamp_01.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_Lamp_01_collision.DAE │ │ └── aws_robomaker_warehouse_Lamp_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_PalletJackB_01 │ ├── .DS_Store │ ├── materials │ │ ├── .DS_Store │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_PalletJackB_01.png │ │ │ └── aws_robomaker_warehouse_PalletJackB_02.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_PalletJackB_01_collision.DAE │ │ └── aws_robomaker_warehouse_PalletJackB_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_RoofB_01 │ ├── materials │ │ └── textures │ │ │ └── aws_robomaker_warehouse_RoofB_01.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_RoofB_01_collision.DAE │ │ └── aws_robomaker_warehouse_RoofB_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_ShelfD_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_ShelfD_01.png │ │ │ ├── aws_robomaker_warehouse_ShelfD_02.png │ │ │ ├── aws_robomaker_warehouse_ShelfD_03.png │ │ │ └── aws_robomaker_warehouse_ShelfD_04.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_ShelfD_01_collision.DAE │ │ └── aws_robomaker_warehouse_ShelfD_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_ShelfE_01 │ ├── .DS_Store │ ├── materials │ │ ├── .DS_Store │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_ShelfE_01.png │ │ │ ├── aws_robomaker_warehouse_ShelfE_02.png │ │ │ ├── aws_robomaker_warehouse_ShelfE_03.png │ │ │ └── aws_robomaker_warehouse_ShelfE_04.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_ShelfE_01_collision.DAE │ │ └── aws_robomaker_warehouse_ShelfE_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_ShelfF_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_robomaker_warehouse_ShelfF_01.png │ │ │ ├── aws_robomaker_warehouse_ShelfF_02.png │ │ │ └── aws_robomaker_warehouse_ShelfF_03.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_ShelfF_01_collision.DAE │ │ └── aws_robomaker_warehouse_ShelfF_01_visual.DAE │ ├── model.config │ └── model.sdf ├── aws_robomaker_warehouse_TrashCanC_01 │ ├── materials │ │ └── textures │ │ │ └── aws_robomaker_warehouse_TrashCanC_01.png │ ├── meshes │ │ ├── aws_robomaker_warehouse_TrashCanC_01_collision.DAE │ │ └── aws_robomaker_warehouse_TrashCanC_01_visual.DAE │ ├── model.config │ └── model.sdf └── aws_robomaker_warehouse_WallB_01 │ ├── materials │ └── textures │ │ └── aws_robomaker_warehouse_WallB_01.png │ ├── meshes │ ├── aws_robomaker_warehouse_WallB_01_collision.DAE │ └── aws_robomaker_warehouse_WallB_01_visual.DAE │ ├── model.config │ └── model.sdf ├── package.xml ├── rviz └── basic_data.rviz └── worlds ├── no_roof_small_warehouse.world └── small_warehouse.world /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(aws_robomaker_small_warehouse_world) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | gazebo_ros 6 | ) 7 | 8 | catkin_package() 9 | 10 | install(DIRECTORY launch models worlds maps rviz 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) 13 | 14 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | ## Code of Conduct 2 | This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). 3 | For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact 4 | opensource-codeofconduct@amazon.com with any additional questions or comments. 5 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contributing Guidelines 2 | 3 | Thank you for your interest in contributing to our project. Whether it's a bug report, new feature, correction, or additional 4 | documentation, we greatly value feedback and contributions from our community. 5 | 6 | Please read through this document before submitting any issues or pull requests to ensure we have all the necessary 7 | information to effectively respond to your bug report or contribution. 8 | 9 | 10 | ## Reporting Bugs/Feature Requests 11 | 12 | We welcome you to use the GitHub issue tracker to report bugs or suggest features. 13 | 14 | When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn't already 15 | reported the issue. Please try to include as much information as you can. Details like these are incredibly useful: 16 | 17 | * A reproducible test case or series of steps 18 | * The version of our code being used 19 | * Any modifications you've made relevant to the bug 20 | * Anything unusual about your environment or deployment 21 | 22 | 23 | ## Contributing via Pull Requests 24 | Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that: 25 | 26 | 1. You are working against the latest source on the *master* branch. 27 | 2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already. 28 | 3. You open an issue to discuss any significant work - we would hate for your time to be wasted. 29 | 30 | To send us a pull request, please: 31 | 32 | 1. Fork the repository. 33 | 2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change. 34 | 3. Ensure local tests pass. 35 | 4. Commit to your fork using clear commit messages. 36 | 5. Send us a pull request, answering any default questions in the pull request interface. 37 | 6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation. 38 | 39 | GitHub provides additional document on [forking a repository](https://help.github.com/articles/fork-a-repo/) and 40 | [creating a pull request](https://help.github.com/articles/creating-a-pull-request/). 41 | 42 | 43 | ## Finding contributions to work on 44 | Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any 'help wanted' issues is a great place to start. 45 | 46 | 47 | ## Code of Conduct 48 | This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). 49 | For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact 50 | opensource-codeofconduct@amazon.com with any additional questions or comments. 51 | 52 | 53 | ## Security issue notifications 54 | If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our [vulnerability reporting page](http://aws.amazon.com/security/vulnerability-reporting/). Please do **not** create a public github issue. 55 | 56 | 57 | ## Licensing 58 | 59 | See the [LICENSE](LICENSE) file for our project's licensing. We will ask you to confirm the licensing of your contribution. 60 | 61 | We may ask you to sign a [Contributor License Agreement (CLA)](http://en.wikipedia.org/wiki/Contributor_License_Agreement) for larger changes. 62 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved. 2 | 3 | Permission is hereby granted, free of charge, to any person obtaining a copy of 4 | this software and associated documentation files (the "Software"), to deal in 5 | the Software without restriction, including without limitation the rights to 6 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 7 | the Software, and to permit persons to whom the Software is furnished to do so. 8 | 9 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 10 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 11 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 12 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 13 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 14 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 15 | 16 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # AWS RoboMaker Small Warehouse World 2 | 3 | ![Gazebo01](docs/images/small_warehouse_gazebo.png) 4 | 5 | ## AWS Robomaker Small Warehouse World on Gzweb 6 | 7 | ![Gzweb01](docs/images/gzweb_aws_warehouse.png) 8 | 9 | This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases. 10 | 11 | ## 3D Models included in this Gazebo World 12 | 13 | | Model (/models) | Picture | 14 | | :------------- |:-------------:| 15 | | **aws_robomaker_warehouse_Bucket_01** | ![Model: Buckets](docs/images/models_buckets.png) 16 | | **aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01** | ![Model: Box Clusters](docs/images/models_boxes.png) | 17 | | **aws_robomaker_warehouse_DeskC_01** | ![Model: Desk](docs/images/models_desk.png) 18 | | **aws_robomaker_warehouse_GroundB_01** | ![Model: Ground Paint](docs/images/models_warehouse_ground_paint.png) 19 | | **aws_robomaker_warehouse_TrashCanC_01** | ![Model: Humans](docs/images/models_trashcan.png) 20 | | **aws_robomaker_warehouse_Lamp_01** | ![Model: Ceiling Lamp](docs/images/models_ceiling_lamp.png) 21 | | **aws_robomaker_warehouse_PalletJackB_01** | ![Model: Pallet Jack](docs/images/models_lift.png) 22 | | **aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01** | ![Model: Pallet Jack](docs/images/models_shelves.png) 23 | 24 | ## Building and Launching the Gazebo World with your ROS Applications 25 | 26 | * Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**: 27 | ``` 28 | - git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: master} 29 | ``` 30 | * Change the directory to your ROS workspace and run `rosws update` 31 | 32 | * Add the following include to the ROS launch file you are using: 33 | ```xml 34 | 35 | 36 | 37 | ... 38 | 39 | ``` 40 | 41 | * Build your application using `colcon` 42 | ```bash 43 | rosws update 44 | rosdep install --from-paths . --ignore-src -r -y 45 | colcon build 46 | ``` 47 | 48 | ## Example: Running this world directly in Gazebo without a ROS application 49 | 50 | To open this world in Gazebo, change the directory to your ROS workspace root folder and run: 51 | 52 | ```bash 53 | cd aws-robomaker-small-warehouse-world 54 | export GAZEBO_MODEL_PATH=`pwd`/models 55 | gazebo worlds/small_warehouse.world 56 | ``` 57 | 58 | ## Example: Running this world on Gazebo headless and running the UI on Gzweb 59 | *Tested in ROS Kinetic/Melodic, Gazebo 7/9 with node version 8.11.3/10.22.1* 60 | 61 | To open this world in Gzweb, There are two steps, 62 | 63 | 1) In a terminal, change to your ROS workspace root folder and run gzserver with the small warehouse world: 64 | 65 | ```bash 66 | cd aws-robomaker-small-warehouse-world 67 | export GAZEBO_MODEL_PATH=`pwd`/models 68 | gzserver worlds/small_warehouse.world 69 | ``` 70 | 71 | 2) In another terminal, setup and run GzWeb 72 | - Install GzWeb by following the [official documentation](http://gazebosim.org/gzweb#install-collapse-1): 73 | 74 | **Important**: 75 | * The recommended NodeJS versions are 4 up to version 8. 76 | * Watch out for [conflicting installations of Node/NodeJS](https://askubuntu.com/questions/695155/node-nodejs-have-different-version) 77 | * See [Troubleshooting section](http://gazebosim.org/gzweb#install-collapse-3) for other issues 78 | 79 | - Deploy GzWeb 80 | - Approach 1: Copy all the Gazebo models from small-warehouse world to gzweb/http/client/assets/, and run the deploy script 81 | 82 | ```bash 83 | cp -r ~/aws-robomaker-small-warehouse-world/models/. ~/gzweb/http/client/assets 84 | cd ~/gzweb 85 | export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine 86 | npm run deploy 87 | npm start 88 | ``` 89 | 90 | - Approach 2: without copying the Gazebo models, export Gazebo model path and run the deploy script with `-m local` 91 | 92 | ```bash 93 | cd aws-robomaker-small-warehouse-world 94 | export GAZEBO_MODEL_PATH=`pwd`/models 95 | cd ~/gzweb 96 | export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine 97 | npm run deploy --- -m local 98 | npm start 99 | ``` 100 | 101 | ## Example: Running this world directly using ROS without a simulated robot 102 | 103 | To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.** 104 | 105 | ```bash 106 | # build for ROS 107 | rosdep install --from-paths . --ignore-src -r -y 108 | colcon build 109 | 110 | # run in ROS 111 | source install/setup.sh 112 | roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch 113 | ``` 114 | **Visit the [AWS RoboMaker website](https://aws.amazon.com/robomaker/) to learn more about building intelligent robotic applications with Amazon Web Services.** 115 | 116 | ## Notes 117 | - Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU) 118 | - Adjust lighting parameters in .world file as you need 119 | -------------------------------------------------------------------------------- /docs/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aws-robotics/aws-robomaker-small-warehouse-world/3c23a698bf0b4e366ddf8b084af507c519bd3483/docs/.DS_Store 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6 0 3 2 1 1 5 2 2 5 3 2 17 4 20 6 5 3 2 6 1 6 7 3 10 8 25 10 9 22 0 10 5 2 11 6 7 12 31 10 13 22 8 14 29 10 15 22 7 16 31 0 17 5 13 18 36 3 19 15 1 20 12 13 21 36 1 22 12 12 23 55 17 24 20 5 25 2 3 26 42 10 27 25 9 28 24 8 29 30 10 30 25 6 31 3 9 32 24 9 33 32 6 34 16 4 35 21 9 36 32 4 37 21 11 38 28 15 39 49 7 40 26 8 41 34 12 42 52 15 43 49 13 44 51 15 45 49 12 46 52 7 47 26 9 48 24 14 49 33 15 50 35 15 51 35 14 52 33 13 53 39 14 54 59 9 55 56 11 56 57 14 57 59 11 58 57 16 59 58 17 60 63 4 61 61 6 62 62 4 63 61 17 64 63 18 65 60 5 66 10 1 67 45 3 68 46 0 69 8 5 70 10 2 71 11 5 72 10 0 73 8 1 74 45 14 75 43 18 76 38 17 77 41 18 78 38 14 79 43 16 80 47 9 81 24 15 82 35 8 83 30 3 84 42 13 85 39 17 86 20 17 87 20 13 88 39 14 89 33

 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.0000001.000000 283 | 30.0000000.0000003.333333 284 | 285 | 286 | 287 | 288 | 289 | 290 | -------------------------------------------------------------------------------- /models/aws_robomaker_warehouse_WallB_01/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | aws_robomaker_warehouse_WallB_01 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /models/aws_robomaker_warehouse_WallB_01/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 1000 7 | 8 | 840083.33 9 | 0 10 | 0 11 | 475500.0 12 | 0 13 | 1302083.33 14 | 15 | 16 | 17 | 18 | 19 | model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE 20 | 1 1 1 21 | 22 | 23 | 24 | 25 | 26 | 0.5 27 | 0.5 28 | 0 0 0 29 | 0 30 | 0 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE 39 | 40 | 41 | 2 42 | 43 | 44 | 1 45 | 46 | 47 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | aws_robomaker_small_warehouse_world 4 | 1.0.0 5 | 6 | AWS RoboMaker package for a warehouse world to use in manufacturing and logistics robot applications. 7 | 8 | Apache 2.0 9 | AWS RoboMaker 10 | AWS RoboMaker 11 | catkin 12 | gazebo_ros 13 | gazebo 14 | gazebo_plugins 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /rviz/basic_data.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Odometry1/Shape1 9 | Splitter Ratio: 0.5 10 | Tree Height: 747 11 | - Class: rviz/Selection 12 | Name: Selection 13 | - Class: rviz/Tool Properties 14 | Expanded: 15 | - /2D Pose Estimate1 16 | - /2D Nav Goal1 17 | - /Publish Point1 18 | Name: Tool Properties 19 | Splitter Ratio: 0.588679016 20 | - Class: rviz/Views 21 | Expanded: 22 | - /Current View1 23 | Name: Views 24 | Splitter Ratio: 0.5 25 | - Class: rviz/Time 26 | Experimental: false 27 | Name: Time 28 | SyncMode: 0 29 | SyncSource: LaserScan 30 | - Class: rviz/Tool Properties 31 | Expanded: 32 | - /Publish Point1 33 | Name: Tool Properties 34 | Splitter Ratio: 0.5 35 | - Class: rviz/Tool Properties 36 | Expanded: ~ 37 | Name: Tool Properties 38 | Splitter Ratio: 0.5 39 | Visualization Manager: 40 | Class: "" 41 | Displays: 42 | - Alpha: 0.5 43 | Cell Size: 1 44 | Class: rviz/Grid 45 | Color: 160; 160; 164 46 | Enabled: true 47 | Line Style: 48 | Line Width: 0.0299999993 49 | Value: Lines 50 | Name: Grid 51 | Normal Cell Count: 0 52 | Offset: 53 | X: 0 54 | Y: 0 55 | Z: 0 56 | Plane: XY 57 | Plane Cell Count: 10 58 | Reference Frame: 59 | Value: true 60 | - Alpha: 0.699999988 61 | Class: rviz/Map 62 | Color Scheme: map 63 | Draw Behind: false 64 | Enabled: true 65 | Name: Map 66 | Topic: /map 67 | Unreliable: false 68 | Use Timestamp: false 69 | Value: true 70 | - Angle Tolerance: 0.100000001 71 | Class: rviz/Odometry 72 | Covariance: 73 | Orientation: 74 | Alpha: 0.5 75 | Color: 255; 255; 127 76 | Color Style: Unique 77 | Frame: Local 78 | Offset: 1 79 | Scale: 1 80 | Value: true 81 | Position: 82 | Alpha: 0.300000012 83 | Color: 204; 51; 204 84 | Scale: 1 85 | Value: true 86 | Value: true 87 | Enabled: false 88 | Keep: 3 89 | Name: Odometry 90 | Position Tolerance: 0.100000001 91 | Shape: 92 | Alpha: 1 93 | Axes Length: 1 94 | Axes Radius: 0.100000001 95 | Color: 85; 0; 255 96 | Head Length: 0.300000012 97 | Head Radius: 0.100000001 98 | Shaft Length: 1 99 | Shaft Radius: 0.100000001 100 | Value: Arrow 101 | Topic: /boxer_velocity_controller/odom 102 | Unreliable: false 103 | Value: false 104 | - Alpha: 1 105 | Autocompute Intensity Bounds: true 106 | Autocompute Value Bounds: 107 | Max Value: 10 108 | Min Value: -10 109 | Value: true 110 | Axis: Z 111 | Channel Name: intensity 112 | Class: rviz/LaserScan 113 | Color: 255; 0; 0 114 | Color Transformer: FlatColor 115 | Decay Time: 0 116 | Enabled: true 117 | Invert Rainbow: false 118 | Max Color: 255; 255; 255 119 | Max Intensity: 6640 120 | Min Color: 0; 0; 0 121 | Min Intensity: 104 122 | Name: LaserScan 123 | Position Transformer: XYZ 124 | Queue Size: 10 125 | Selectable: true 126 | Size (Pixels): 3 127 | Size (m): 0.100000001 128 | Style: Flat Squares 129 | Topic: /front/scan 130 | Unreliable: false 131 | Use Fixed Frame: true 132 | Use rainbow: true 133 | Value: true 134 | - Alpha: 1 135 | Axes Length: 1 136 | Axes Radius: 0.100000001 137 | Class: rviz/PoseWithCovariance 138 | Color: 255; 25; 0 139 | Covariance: 140 | Orientation: 141 | Alpha: 0.5 142 | Color: 255; 255; 127 143 | Color Style: Unique 144 | Frame: Local 145 | Offset: 1 146 | Scale: 1 147 | Value: true 148 | Position: 149 | Alpha: 0.300000012 150 | Color: 204; 51; 204 151 | Scale: 1 152 | Value: true 153 | Value: true 154 | Enabled: true 155 | Head Length: 0.100000001 156 | Head Radius: 0.0500000007 157 | Name: PoseWithCovariance 158 | Shaft Length: 0.5 159 | Shaft Radius: 0.0500000007 160 | Shape: Arrow 161 | Topic: /amcl_pose 162 | Unreliable: false 163 | Value: true 164 | - Alpha: 1 165 | Buffer Length: 1 166 | Class: rviz/Path 167 | Color: 25; 255; 0 168 | Enabled: true 169 | Head Diameter: 0.300000012 170 | Head Length: 0.200000003 171 | Length: 0.300000012 172 | Line Style: Lines 173 | Line Width: 0.0299999993 174 | Name: Path 175 | Offset: 176 | X: 0 177 | Y: 0 178 | Z: 0 179 | Pose Color: 255; 85; 255 180 | Pose Style: None 181 | Radius: 0.0299999993 182 | Shaft Diameter: 0.100000001 183 | Shaft Length: 0.100000001 184 | Topic: /move_base/TrajectoryPlannerROS/global_plan 185 | Unreliable: false 186 | Value: true 187 | - Alpha: 0.699999988 188 | Class: rviz/Map 189 | Color Scheme: costmap 190 | Draw Behind: false 191 | Enabled: true 192 | Name: Map 193 | Topic: /move_base/local_costmap/costmap 194 | Unreliable: false 195 | Use Timestamp: false 196 | Value: true 197 | - Alpha: 1 198 | Autocompute Intensity Bounds: true 199 | Autocompute Value Bounds: 200 | Max Value: 10 201 | Min Value: -10 202 | Value: true 203 | Axis: Z 204 | Channel Name: intensity 205 | Class: rviz/PointCloud 206 | Color: 255; 255; 255 207 | Color Transformer: Intensity 208 | Decay Time: 0 209 | Enabled: true 210 | Invert Rainbow: false 211 | Max Color: 255; 255; 255 212 | Max Intensity: 4096 213 | Min Color: 0; 0; 0 214 | Min Intensity: 0 215 | Name: PointCloud 216 | Position Transformer: XYZ 217 | Queue Size: 10 218 | Selectable: true 219 | Size (Pixels): 3 220 | Size (m): 0.100000001 221 | Style: Flat Squares 222 | Topic: /obstacle_pc 223 | Unreliable: false 224 | Use Fixed Frame: true 225 | Use rainbow: true 226 | Value: true 227 | - Alpha: 1 228 | Autocompute Intensity Bounds: true 229 | Autocompute Value Bounds: 230 | Max Value: 10 231 | Min Value: -10 232 | Value: true 233 | Axis: Z 234 | Channel Name: intensity 235 | Class: rviz/LaserScan 236 | Color: 85; 0; 255 237 | Color Transformer: FlatColor 238 | Decay Time: 0 239 | Enabled: true 240 | Invert Rainbow: false 241 | Max Color: 255; 255; 255 242 | Max Intensity: 999999 243 | Min Color: 0; 0; 0 244 | Min Intensity: 0 245 | Name: LaserScan 246 | Position Transformer: XYZ 247 | Queue Size: 10 248 | Selectable: true 249 | Size (Pixels): 3 250 | Size (m): 0.100000001 251 | Style: Flat Squares 252 | Topic: /scan 253 | Unreliable: false 254 | Use Fixed Frame: true 255 | Use rainbow: true 256 | Value: true 257 | Enabled: true 258 | Global Options: 259 | Background Color: 48; 48; 48 260 | Default Light: true 261 | Fixed Frame: map 262 | Frame Rate: 30 263 | Name: root 264 | Tools: 265 | - Class: rviz/Interact 266 | Hide Inactive Objects: true 267 | - Class: rviz/MoveCamera 268 | - Class: rviz/Select 269 | - Class: rviz/FocusCamera 270 | - Class: rviz/Measure 271 | - Class: rviz/SetInitialPose 272 | Topic: /initialpose 273 | - Class: rviz/SetGoal 274 | Topic: /move_base_simple/goal 275 | - Class: rviz/PublishPoint 276 | Single click: true 277 | Topic: /clicked_point 278 | Value: true 279 | Views: 280 | Current: 281 | Angle: 0 282 | Class: rviz/TopDownOrtho 283 | Enable Stereo Rendering: 284 | Stereo Eye Separation: 0.0599999987 285 | Stereo Focal Distance: 1 286 | Swap Stereo Eyes: false 287 | Value: false 288 | Invert Z Axis: false 289 | Name: Current View 290 | Near Clip Distance: 0.00999999978 291 | Scale: 19.5390034 292 | Target Frame: 293 | Value: TopDownOrtho (rviz) 294 | X: 0 295 | Y: 0 296 | Saved: ~ 297 | Window Geometry: 298 | Displays: 299 | collapsed: false 300 | Height: 1028 301 | Hide Left Dock: false 302 | Hide Right Dock: false 303 | QMainWindow State: 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304 | Selection: 305 | collapsed: false 306 | Time: 307 | collapsed: false 308 | Tool Properties: 309 | collapsed: false 310 | Views: 311 | collapsed: false 312 | Width: 928 313 | X: 992 314 | Y: 24 315 | -------------------------------------------------------------------------------- /worlds/no_roof_small_warehouse.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 0 -9.8 6 | 7 | 0.001 8 | 1 9 | 1000 10 | 11 | 12 | 13 | 19 | 20 | 21 | 22 | model://aws_robomaker_warehouse_ShelfF_01 23 | 24 | -5.795143 -0.956635 0 0 0 0 25 | 26 | 27 | 28 | 29 | model://aws_robomaker_warehouse_WallB_01 30 | 31 | 0.0 0.0 0 0 0 0 32 | 33 | 34 | 35 | 36 | model://aws_robomaker_warehouse_ShelfE_01 37 | 38 | 4.73156 0.57943 0 0 0 0 39 | 40 | 41 | 42 | 43 | model://aws_robomaker_warehouse_ShelfE_01 44 | 45 | 4.73156 -4.827049 0 0 0 0 46 | 47 | 48 | 49 | 50 | model://aws_robomaker_warehouse_ShelfE_01 51 | 52 | 4.73156 -8.6651 0 0 0 0 53 | 54 | 55 | 56 | 57 | model://aws_robomaker_warehouse_ShelfD_01 58 | 59 | 4.73156 -1.242668 0 0 0 0 60 | 61 | 62 | 63 | 64 | model://aws_robomaker_warehouse_ShelfD_01 65 | 66 | 4.73156 -3.038551 0 0 0 0 67 | 68 | 69 | 70 | 71 | model://aws_robomaker_warehouse_ShelfD_01 72 | 73 | 4.73156 -6.750542 0 0 0 0 74 | 75 | 76 | 96 | 97 | 98 | 99 | model://aws_robomaker_warehouse_GroundB_01 100 | 101 | 0.0 0.0 -0.090092 0 0 0 102 | 103 | 104 | 105 | 106 | model://aws_robomaker_warehouse_Lamp_01 107 | 108 | 0 0 -4 0 0 0 109 | 110 | 111 | 112 | 113 | 114 | 115 | model://aws_robomaker_warehouse_Bucket_01 116 | 117 | 0.433449 9.631706 0 0 0 -1.563161 118 | 119 | 120 | 121 | 122 | model://aws_robomaker_warehouse_Bucket_01 123 | 124 | -1.8321 -6.3752 0 0 0 -1.563161 125 | 126 | 127 | 128 | 129 | model://aws_robomaker_warehouse_Bucket_01 130 | 131 | 0.433449 8.59 0 0 0 -1.563161 132 | 133 | 134 | 135 | 136 | model://aws_robomaker_warehouse_ClutteringA_01 137 | 138 | 5.708138 8.616844 -0.017477 0 0 0 139 | 140 | 141 | 142 | 143 | model://aws_robomaker_warehouse_ClutteringA_01 144 | 145 | 3.408638 8.616844 -0.017477 0 0 0 146 | 147 | 148 | 149 | 150 | model://aws_robomaker_warehouse_ClutteringA_01 151 | 152 | -1.491287 5.222435 -0.017477 0 0 -1.583185 153 | 154 | 155 | 156 | 157 | 158 | model://aws_robomaker_warehouse_ClutteringC_01 159 | 160 | 3.324959 3.822449 -0.012064 0 0 1.563871 161 | 162 | 163 | 164 | 165 | model://aws_robomaker_warehouse_ClutteringC_01 166 | 167 | 5.54171 3.816475 -0.015663 0 0 -1.583191 168 | 169 | 170 | 171 | 172 | model://aws_robomaker_warehouse_ClutteringC_01 173 | 174 | 5.384239 6.137154 0 0 0 3.150000 175 | 176 | 177 | 178 | 179 | model://aws_robomaker_warehouse_ClutteringC_01 180 | 181 | 3.236 6.137154 0 0 0 3.150000 182 | 183 | 184 | 185 | 186 | model://aws_robomaker_warehouse_ClutteringC_01 187 | 188 | -1.573677 2.301994 -0.015663 0 0 -3.133191 189 | 190 | 191 | 192 | 193 | model://aws_robomaker_warehouse_ClutteringC_01 194 | 195 | -1.2196 9.407 -0.015663 0 0 1.563871 196 | 197 | 198 | 199 | 200 | model://aws_robomaker_warehouse_ClutteringD_01 201 | 202 | -1.634682 -7.811813 -0.319559 0 0 0 203 | 204 | 205 | 206 | 207 | model://aws_robomaker_warehouse_TrashCanC_01 208 | 209 | -1.592441 7.715420 0 0 0 0 210 | 211 | 212 | 213 | 214 | 215 | model://aws_robomaker_warehouse_PalletJackB_01 216 | 217 | -0.276098 -9.481944 0.023266 0 0 0 218 | 219 | 220 | 221 | 222 | 0 0 9 0 0 0 223 | 0.5 0.5 0.5 1 224 | 0.2 0.2 0.2 1 225 | 226 | 80 227 | 0.3 228 | 0.01 229 | 0.001 230 | 231 | 1 232 | 0.1 0.1 -1 233 | 234 | 235 | 236 | 237 | -4.70385 10.895 16.2659 -0 0.921795 -1.12701 238 | orbit 239 | perspective 240 | 241 | 242 | 243 | 244 | 245 | -------------------------------------------------------------------------------- /worlds/small_warehouse.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 0 -9.8 6 | 7 | 0.001 8 | 1 9 | 1000 10 | 11 | 12 | 13 | 14 | 15 | model://aws_robomaker_warehouse_RoofB_01 16 | 17 | 0.0 0.0 0 0 0 0 18 | 19 | 20 | 21 | 22 | model://aws_robomaker_warehouse_ShelfF_01 23 | 24 | -5.795143 -0.956635 0 0 0 0 25 | 26 | 27 | 28 | 29 | model://aws_robomaker_warehouse_WallB_01 30 | 31 | 0.0 0.0 0 0 0 0 32 | 33 | 34 | 35 | 36 | model://aws_robomaker_warehouse_ShelfE_01 37 | 38 | 4.73156 0.57943 0 0 0 0 39 | 40 | 41 | 42 | 43 | model://aws_robomaker_warehouse_ShelfE_01 44 | 45 | 4.73156 -4.827049 0 0 0 0 46 | 47 | 48 | 49 | 50 | model://aws_robomaker_warehouse_ShelfE_01 51 | 52 | 4.73156 -8.6651 0 0 0 0 53 | 54 | 55 | 56 | 57 | model://aws_robomaker_warehouse_ShelfD_01 58 | 59 | 4.73156 -1.242668 0 0 0 0 60 | 61 | 62 | 63 | 64 | model://aws_robomaker_warehouse_ShelfD_01 65 | 66 | 4.73156 -3.038551 0 0 0 0 67 | 68 | 69 | 70 | 71 | model://aws_robomaker_warehouse_ShelfD_01 72 | 73 | 4.73156 -6.750542 0 0 0 0 74 | 75 | 76 | 96 | 97 | 98 | 99 | model://aws_robomaker_warehouse_GroundB_01 100 | 101 | 0.0 0.0 -0.090092 0 0 0 102 | 103 | 104 | 105 | 106 | model://aws_robomaker_warehouse_Lamp_01 107 | 108 | 0 0 -4 0 0 0 109 | 110 | 111 | 112 | 113 | 114 | 115 | model://aws_robomaker_warehouse_Bucket_01 116 | 117 | 0.433449 9.631706 0 0 0 -1.563161 118 | 119 | 120 | 121 | 122 | model://aws_robomaker_warehouse_Bucket_01 123 | 124 | -1.8321 -6.3752 0 0 0 -1.563161 125 | 126 | 127 | 128 | 129 | model://aws_robomaker_warehouse_Bucket_01 130 | 131 | 0.433449 8.59 0 0 0 -1.563161 132 | 133 | 134 | 135 | 136 | model://aws_robomaker_warehouse_ClutteringA_01 137 | 138 | 5.708138 8.616844 -0.017477 0 0 0 139 | 140 | 141 | 142 | 143 | model://aws_robomaker_warehouse_ClutteringA_01 144 | 145 | 3.408638 8.616844 -0.017477 0 0 0 146 | 147 | 148 | 149 | 150 | model://aws_robomaker_warehouse_ClutteringA_01 151 | 152 | -1.491287 5.222435 -0.017477 0 0 -1.583185 153 | 154 | 155 | 156 | 157 | 158 | model://aws_robomaker_warehouse_ClutteringC_01 159 | 160 | 3.324959 3.822449 -0.012064 0 0 1.563871 161 | 162 | 163 | 164 | 165 | model://aws_robomaker_warehouse_ClutteringC_01 166 | 167 | 5.54171 3.816475 -0.015663 0 0 -1.583191 168 | 169 | 170 | 171 | 172 | model://aws_robomaker_warehouse_ClutteringC_01 173 | 174 | 5.384239 6.137154 0 0 0 3.150000 175 | 176 | 177 | 178 | 179 | model://aws_robomaker_warehouse_ClutteringC_01 180 | 181 | 3.236 6.137154 0 0 0 3.150000 182 | 183 | 184 | 185 | 186 | model://aws_robomaker_warehouse_ClutteringC_01 187 | 188 | -1.573677 2.301994 -0.015663 0 0 -3.133191 189 | 190 | 191 | 192 | 193 | model://aws_robomaker_warehouse_ClutteringC_01 194 | 195 | -1.2196 9.407 -0.015663 0 0 1.563871 196 | 197 | 198 | 199 | 200 | model://aws_robomaker_warehouse_ClutteringD_01 201 | 202 | -1.634682 -7.811813 -0.319559 0 0 0 203 | 204 | 205 | 206 | 207 | model://aws_robomaker_warehouse_TrashCanC_01 208 | 209 | -1.592441 7.715420 0 0 0 0 210 | 211 | 212 | 213 | 214 | 215 | model://aws_robomaker_warehouse_PalletJackB_01 216 | 217 | -0.276098 -9.481944 0.023266 0 0 0 218 | 219 | 220 | 221 | 222 | 0 0 9 0 0 0 223 | 0.5 0.5 0.5 1 224 | 0.2 0.2 0.2 1 225 | 226 | 80 227 | 0.3 228 | 0.01 229 | 0.001 230 | 231 | 1 232 | 0.1 0.1 -1 233 | 234 | 235 | 236 | 237 | 238 | --------------------------------------------------------------------------------