World Generation

Procedurally generates at work arena for gazebo simulation.

Generates

• .xacro file containing world model for gazebo simulator

• map.pgm and map.yaml files for occupancy grid for ros navigation

• navigation_goals.yaml file for industrial robotics Move base safe action

Change the parameters for generation in common/config/config.yaml file. (see Configuration)

Usage

Generate all necessary files using grid_based_generator.py

roscd mir_world_generation/common/mir_world_generation
python grid_based_generator.py

Visualise all the generated files using example .launch file

roslaunch mir_world_generation sim.launch

Configuration

# how many workstation of each type is required
ws_type_to_num:
    ws: 8
    sh: 2
    pp: 1

# Path where all the generated files should be stored
generation_dir: '/tmp'

# number of row and columns of cells in grid
num_of_rows: 3
num_of_cols: 4

# threshold for generating a wall between 2 cell [0.0 - 1.0]
# Increase this value to generate more complex environment (more walls and/or more ws)
wall_generation_threshold: 0.3

# threshold for generating noise in occupancy grid [0.0 - 1.0]
noise_threshold: 0.15

# number of retries before giving up
max_retries_allowed: 5

# distance from base link of robot to center of workstation (used for nav goal)
base_link_to_ws_center: 0.65

Examples