Worlds for Gazebo

The three worlds available in this repo are these ones:

Office (.world + .bag)	Bugtrap (.world + .bag)	Forest (x10) (.world + .cpp)

Citation

When using this code, please cite these papers:

FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments (IROS 2019) (pdf, video)

@inproceedings{tordesillas2019faster,
  title={{FASTER}: Fast and Safe Trajectory Planner for Flights in Unknown Environments},
  author={Tordesillas, Jesus and Lopez, Brett T and How, Jonathan P},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2019},
  organization={IEEE}
}

Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments (ICRA 2019) (pdf, video)

@inproceedings{tordesillas2019real,
  title={Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments},
  author={Tordesillas, Jesus and Lopez, Brett T and Carter, John and Ware, John and How, Jonathan P},
  booktitle={2019 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2019},
  organization={IEEE}
}

Instructions:

Create a workspace (if you do not have one yet), clone this repository and compile it:

mkdir ws && cd ws && mkdir src && cd src
git clone https://github.com/jtorde/planning_worlds_gazebo.git
#cd planning_worlds_gazebo && git checkout -b feature/melodic origin/feature/melodic && cd .. #run this ONLY if you are using ROS Melodic or ROS Noetic
cd ..
catkin build
source devel/setup.bash 

To launch a world in Gazebo:

roslaunch planning_worlds_gazebo start_world.launch

(the world name is specified can be modified in the launch file or in the command line)

To generate your own random forest:

In one terminal:

roslaunch gazebo_ros empty_world.launch

And in other one:

rosrun planning_worlds_gazebo create_random_forest

The cylinders will start to populate the world with the density specified in create_random_forest.cpp.

License and Credits

BSD 3-Clause, see License file attached

Some parts of the code of create_random_forest.cpp have been take from here.

The file gazebo_cube_spawner.h is from here

The office world is the willow_garage.world provided by Gazebo