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:
The following world files are available in order of complexity.
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
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