uw_gazebo

Contains a fork of aws_robomaker_small_house_world, with the ground plane swapped for something with friction parameters compatible with Fetch, and with some textures swapped out.

Installation

In order to simulate the external head camera, you'll need to clone PAL Robotics' Gazebo plugin into the workspace. To make sure you have the dependencies

wstool init <path_to_workspace> <path_to_uw_gazebo>/.rosinstall

If you've already run wstool in your workspace, merge the new dependencies with

wstool merge -t <path_to_workspace>/src <path_to_uw_gazebo>/.rosinstall
cd src
wstool update

Usage

Launch one of the simulations with

roslaunch uw_gazebo [house_simulation| playground_simulation].launch

then launch whatever task specific nodes you need separately. Avoid having robot code depend on this package; there are a lot of large binary files in here, and we don't want to have to clone those to the robot (where we'll certainly never use them).

Spawning Objects

The example script shows how to add an object to Gazebo through the ROS interface.

rosrun uw_gazebo house_add_table_objects

House: How to Replace Photos in Picture Frames

Picture frames use two textures for the model:

• aws_portraitA_01.png - Frame texture
• aws_portraitA_02.png - Picture texture

To change a picture, one has to replace the aws_portraitA_02.png file. The new image will look best with same aspect ratio as the replaced image.

Below is a table showing portrait type to picture resolution data and custom images from photos/.