README.md

IGVC Basic Course Gazebo Simulation

Steps to configure

1. Install the models into the gazebo models folder.

• cd ~/caffeine-ws/src/Caffeine/worlds/models
• ./install_models.sh

2. Build src

• cd ~/caffeine-ws
• catkin_make

Possible Actions

1. Launch only the world in gazebo

• gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_plain.world
• gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_ramp.world
• gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_walls.world
• gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_full.world

2. Launch the world and caffeine

• ex. roslaunch description caffeine_gazebo.launch world:="full"
• world can take on values "plain" (default), "ramp", "walls", "full"
• plain has neither walls nor ramps
• ramp has only ramps
• walls has only walls
• full has both walls and ramps