Gazebo maps

Self-made Gazebo maps and models for public

If you use this repo for your paper, please cite the corresponding papers in the list below

Map list

• Exploration map used in the paper:
  • REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs, 2021 IROS
  • Small-scale maze environment
  • Large-scale mine environment - edited from MBPlanner
    • Video
  • QR-SCAN: Traversable Region Scan for Quadruped Robot Exploration using Lightweight Precomputed Trajectory, 2021 ICCAS
  • Maze with height map (hills and cliff) environment
  • Maze with hole-ground
    • Video
  • Peacock exploration: a lightweight exploration for UAV using control-efficient trajectory, 2020 RiTA
  • Maze with 3D obstacles
    • Video
  • (Pending) LiDAR-camera Exploration and Inspection Path Planning, 2023 RA-L
  • Vertical tunnel
    • Video, Video2
  • Large-scale and complex environment
• Map used in the paper:
  • ROLAND: Robust Landing of UAV on Moving Platform using Object Detection and UWB based Extended Kalman Filter, 2021 ICCAS
  • Wall bounded world (with obstacles)
    • Video
• Textureless and featureless map for visual-inertial odometry used in the paper:
  • STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor, 2022 IEEE RA-L
  • Iced outdoor mountain
    • Video
• War site scenario map used in the paper:
  • Development of a 3D Mapping System including Object Position for UAV with a RGB-D camerain an Unknown and GNSS-denied Environment, 2020 IEMEK
  • Military fortress (with soldiers, tanks, jets, and etc)
    • Video1 and Video2
• Quadruped robot competition map
  • video, competition github
• Drone competition map
  • ADD2021 K-DARPA
  • KVRC2022 - map, video, competition github

Map pictures

Model list (in reconstruction folder)

• Reconstruction models used in the paper:

  • CEO-MLCPP: Control-Efficient and Obstacle-aware Multi-Layer Coverage Path Planner for 3D reconstruction with UAVs, 2022 RiTA
  • Big-Ben, Eiffel Tower, Japanese temple
  • Two-Stage Optimization-Based Energy-Efficient Coverage Path Planner for 3D reconstruction, 2023 KRoC
  • Japanese temple2
  • THE-Planner: Topological and Hierarchical Exploration Path Planner for Fast and Coarse 3D Mapping of Outdoor Structures with UAVs, 2023 UR
  • San Adrian thermal powerplant, Orthodox church
  • EQA-CPP: Energy and Quality-Aware Coverage Path Planner for 3D reconstruction with UAVs, 2023 RA-L (pending)
  • Alexander Nevsky Cathedral, At Tin Mosque
  • Louisiana State House, Khram Pokrova
  • Tomb of Tu Duc, Stone church
  • Mexico City Cathedral

• Models not used in any paper:

  • Louisiana State House, Bridge

Model Pictures

How to use

unzip the compressed files

$ tar -xf <NAME>.tar.xz

• Clone the git, add the folder in GAZEBO_MODEL_PATH

• (Necessary) Add common models to environment first

  $ git clone https://github.com/engcang/gazebo_maps
  $ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/common_models" >> ~/.bashrc

• (Optional) add the wanted world to environment

  
  $ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/height_maze" >> ~/.bashrc

$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/3d_maze" >> ~/.bashrc

$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/large_mine_abandoned" >> ~/.bashrc

...

Add the world/model path you want!!

$ source ~/.bashrc

+ launch the `world`
~~~shell
$ roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/gazebo_maps/small_maze/smaze2d.world

or

$ roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/gazebo_maps/3d_maze/eazy_maze.world

or

...

Launch the world/model you want!