mining_arena_gazebo

Gazebo world environments for the NASA competition

What's in here?

Lunabotics 2023-2024 competition arena assets and world files

Models

• Apriltag assets
• arena assets with correct dimensions

Worlds

• arena_nasa.world: Kennedy space center Arena (2024 competition)
• arena_ucf.world: UCF Arena (2024 competition)

Running sim:

1. Launch sim:

roslaunch lunabot_bringup sim.launch verbose:=true

NOTE: if you get an error associated with a missing lib with the name skid_steer in it, uncomment the env export in gazebo.launch

Options:

• KSC_arena:=<true/false>: Use KSC or UCF arena
• verbose:=<true/false>: Runs with gazebo verbose
• debug:=<true/false>: Runs with gdb

Remove repeated warnings: append 2> >(grep -Ev "TF_REPEATED_DATA|buffer_core|at line|^$") to the end of the command.

(This won't print any lines with the words TF_REPEATED_DATA or buffer_core)

Credits

Apriltag assets from https://github.com/koide3/gazebo_apriltag