Dynamic Gazebo Models

Gazebo models for simulating doors/elevators. Currently available models: flip-open doors, slide-open doors, elevators with automatic slide-open doors (more coming soon). Plus, the bundle also comes with a generic dynamics-manager to control model groups via ROS service-calls or keyboard-op.

Dependencies & Prerequisites

ROS Hydro, Gazebo 3.0+, Catkin: see package.xml

Installation

Clone Repo:

$ cd <catkin_ws>/src
$ git clone https://github.com/MohitShridhar/dynamic_gazebo_models.git

Resolve dependencies (in Ubuntu) & Compile:

$ cd <catkin_ws>
$ rosdep install --from-paths src --ignore-src --rosdistro hydro -y
$ catkin_make --pkg dynamic_gazebo_models

Launch sample:

$ roslaunch dynamic_gazebo_models dynamic_models_test.launch

There are a lot of models to spawn, so be patient. You should see a bunch of doors and elevators:

Control

Manual

$ rosrun dynamic_gazebo_models keyboard_op 

Follow the instructions to control a group of doors | elevators.

Guide

See the wiki for more details.

More Examples

multi_map_navigation, oculus_gazebo_navigator