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

**Repository Path**: TOUtheeng/Dataset-of-Gazebo-Worlds-Models-and-Maps

## Basic Information

- **Project Name**: Dataset-of-Gazebo-Worlds-Models-and-Maps
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-19
- **Last Updated**: 2022-01-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Dataset-of-Gazebo-Worlds-Models-and-Maps
- A set of Gazebo worlds models and maps that I use for testing Navigation2
- These models are tested using Gazebo 9 and Gazebo 11.

## How to use the models
1- Copy the model you want to use in .gazebo/models directory.

or

- Set Gazebo model path for the worlds with models directory

2- Gazebo -> Insert -> <World_Model_Name>

or

- go to gazebo word directory and type `gazebo example.world`

Most models come with maps.

### AWS Small House
 - `export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/small_house/models/`
 - `gazebo small_house.world`
 ![Small_House](https://github.com/mlherd/gazebo_worlds_models_for_testing_navigation/blob/master/worlds/small_house/small_house.jpg?raw=true)

### AWS Office
 - `export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/office/models/`
 - `gazebo office.world`
 ![Office](https://github.com/mlherd/gazebo_worlds_models_for_testing_navigation/blob/master/worlds/office/office.jpg?raw=true)
 
### AWS Bookstore
 - `export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/bookstore/models/`
 - `gazebo bookstore.world`
 ![Bookstore](https://github.com/mlherd/gazebo_worlds_models_for_testing_navigation/blob/master/worlds/bookstore/bookstore.jpg?raw=true)

### 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](https://github.com/mlherd/gazebo_worlds_models_maps_for_testing_navigation/blob/master/worlds/hospital/hospital.png?raw=true)
 
 #### Hospital with Two Floors
 
 ![Hospital_Two_Floors](https://github.com/mlherd/gazebo_worlds_models_maps_for_testing_navigation/blob/master/worlds/hospital/two_floor.png?raw=true)

### Custom Factory
 - `export GAZEBO_MODEL_PATH=/home/<user_name>/.gazebo/models/factory/models/`
 - `gazebo factory.model`
 ![Factory](https://github.com/mlherd/gazebo_worlds_models_maps_for_testing_navigation/blob/master/worlds/factory/factory.jpg?raw=true)

### Dynamic World
 - A world with 9 dynamic obstacles that randomly move around.
 ![Dynamic_World](https://github.com/mlherd/gazebo_worlds_models_for_testing_navigation/blob/master/worlds/dynamic_world/dynamic_room.jpg?raw=true)
 
### Random World
  - A test model generated by using my random map generation tool.
![Random World](https://github.com/mlherd/gazebo_worlds_models_for_testing_navigation/blob/master/worlds/random_world/random_world.jpg?raw=true)
 
### Robotis Turtlebot 3 World
![Turtlebot 3 World](https://github.com/mlherd/gazebo_worlds_models_for_testing_navigation/blob/master/worlds/turtlebot3_world/tb_world.jpg?raw=true)

### Experiment Rooms
  - `export GAZEBO_MODEL_PATH=/home/<user_name>/experiment_rooms/models/`
  - `cd experiment_rooms/worlds/room1`
  - `gazebo world_dynamic.model`
![10x10 rooms](https://github.com/mlherd/gazebo_worlds_models_maps_for_testing_navigation/blob/master/worlds/experiment_rooms/experiment_rooms.png?raw=true)

### 10x10 Rooms with Walls
  - Empty room models with different shapes
![10x10 rooms](https://raw.githubusercontent.com/mlherd/gazebo_worlds_models_maps_for_testing_navigation/master/worlds/room_with_walls_1/simple_rooms.png)