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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)

sim_nav_gazebo

Credits

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