Udacity Nanodegree Project 1: Build my world

Objective

To simulate a world in Gazebo.

Topics covered in this Project

1. Gazebo GUI, model editor, building editor
2. Gazebo Plugins
3. Basics of Kinematics and C++

Directory Structure

   .First-Project                      # Build My World Project 
    ├── model                          # Model files 
    │   ├── DemoOffice
    │   │   ├── model.config
    │   │   ├── model.sdf
    │   ├── Robot1
    │   │   ├── model.config
    │   │   ├── model.sdf
    ├── script                         # Gazebo World plugin C++ script      
    │   ├── welcome_message.cpp
    ├── world                          # Gazebo main World containing models 
    │   ├── DemoOffice.world
    ├── CMakeLists.txt                 # Link libraries 
    └

System Requirements

You need to have Gazebo installed on your Linux system Click here to download and follow the instructions

Implementation

First build the plugin and update it. Write the below commands on Terminal.

$ cd /home/robond/Desktop/First-Project
$ cd build/
$ cmake ../
$ make # You might get errors if your system is not up to date!
$ export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/robond/Desktop/First-Project/build

Now, navigate to the world directory and run the following commands.

$ cd /home/robond/Desktop/First-Project/world/
$ gazebo DemoOffice

On the Terminal you should see the following command

Welcome to Sahil's world!

Reference for further Development

• https://programmer.ink/think/build-your-own-environment-with-gazebo-simulator-of-ros.html
• http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/tutorial_model.html