This a repository containing different Gazebo models (under the SDF format) to enable simulation of robots in an indoor context (european appartment).
This model set has been tested with Gazebo 9. Download or clone this repo in a location of your choice and then add this folder as a Gazebo model database path.
To do so, type the following command in the terminal before launching gazebo (or add this line to your ~/.bashrc).
export GAZEBO_MODEL_PATH=[...yourpath...]/oxio_gazebo_database:$GAZEBO_MODEL_PATH
This database contains : - small_appartment : a model of a typical small european 2 rooms apparment (inspired from mine :P ) - couch : a couch in the middle of the living room that you can remove or not, depending if your robot has enough room to move - movee : a model for the movee robot
To test, it, launch the file "ex_appart.world" from the repository:
gazebo ex_appart.world
I created this datase using blender, following those tutorial :
- Import meshes - How to import meshes on the sdf format
- Make a model - How to create a model
- Archimesh - Archimesh tutorial on blender
- Meshlab - For collada file optimzization