3. Gazebo World Workspace

This repository contains several Gazebo worlds, which are valuable for testing robots or agents in both indoor and outdoor environments.

3.1. Target worlds

1. aws_hospital

aws_hospital world

2. aws_small_house

aws_small_house world

3. citysim

citysim world

Note

For more target worlds, please refer to the README.md file in the repository.

3.2. Building docker image

1. Clone the repository:

   git clone https://github.com/YuZhong-Chen/LLM-Navigation.git
   

2. Build the docker image:

   cd LLM-Navigation/gazebo_world_ws/docker
   docker compose pull
   docker compose up -d --build
   

3.3. Building the workspace

1. Attach to the container:

   docker attach ros2-gazebo-world-ws
   

2. Compile the workspace:

   colcon build --symlink-install
   source /home/ros2-essentials/gazebo_world_ws/install/setup.bash
   

3.4. Run the gazebo worlds

1. Launch the world:

   # Replace <target world> with the name of the world you wish to launch.
   ros2 launch gazebo_launch <target world>.launch.py
   

3.5. Run the gazebo worlds with turtlebot3

1. Launch the world with turtlebot3:

   # Replace <target world> with the name of the world you wish to launch.
   ros2 launch gazebo_launch turtlebot3.launch.py gazebo_world:=<target world>.world
   

Note

For more details, please refer to the README.md file in the repository.