zinger_ignition

This repository contains a number of Gazebo world definitions that can be used for testing the Zinger in a virtual world. It is assumed that you have at least the following ROS packages:

• zinger_description - Contains the geometric description of the Zinger robot for ROS to work with.
• zinger_viz - Contains the launch file to start rviz with the Zinger robot model.

Worlds

The following world files are available in order of complexity.

Empty World

An empty world with no obstacles. Zinger will be placed at the origin. Started by giving the following command:

ros2 launch zinger_ignition ignition.launch.py rviz:=true world:=empty_world

Room with walls

A set of rooms with separating walls. Zinger will be placed in the center of the largest room.

Started by giving the following command:

ros2 launch zinger_ignition ignition.launch.py rviz:=true world:=room_with_walls