README.md

cpr_office_gazebo

Indoor office simulation world for Gazebo including both completed and under-construction versions

Supported Platforms

Jackal

Office	Office Construction

Husky

Office	Office Construction

Ridgeback

Office	Office Construction

Dingo

Office	Office Construction

Boxer

Complete Launching

roslaunch cpr_office_gazebo office_world.launch

Optionally, you can specify a platform using the platform variable:

roslaunch cpr_office_gazebo office_world.launch platform:=jackal

Supported values for the platform variable are:

• husky (default)
• jackal
• ridgeback
• dingo

The spawn location for the robot can be specified by setting the x, y, z, and yaw variables. The Z value should be set to be above ground-level; otherwise the robot may fall through the ground plane as the environment renders.

Features of the complete office world

Large, open areas

Narrow hallways

Meeting rooms & offices

Construction Launching

roslaunch cpr_office_gazebo office_construction_world.launch

Optionally, you can specify a platform using the platform variable:

roslaunch cpr_office_gazebo office_construction_world.launch platform:=jackal

Supported values for the platform variable are:

• husky (default)
• jackal
• ridgeback
• dingo
• boxer

The spawn location for the robot can be specified by setting the x, y, z, and yaw variables. The Z value should be set to be above ground-level; otherwise the robot may fall through the ground plane as the environment renders.

Features of the construction world

Incomplete walls

Different ground textures

Construction-oriented debris & obstacles