Mastering ROS for Robotics Programming - Second Edition

Building a room in Gazebo

We will start building the room in Gazebo, save into Semantic Description Format (SDF), and insert in the Gazebo environment.

Launch Gazebo with the Chefbot robot in an empty world:

$ roslaunch chefbot_gazebo chefbot_empty_world.launch  

It will open the Chefbot model in an empty world on Gazebo. We can build the room using walls, windows, doors, and stairs.

There is a Building Editor in Gazebo. We can take this editor from the menu Edit | Building Editor. We will get an editor in the Gazebo viewport:

Figure 21: Building walls in Gazebo

We can add walls by clicking the Add Wall option on the left-side pane of Gazebo. ...