Gazebo SDF World Creator

This is a ROS package that allows quick and easy creation of Gazebo worlds using a GUI.

Preparation

You must have Gazebo installed.

You should then install the required packages:

./install.sh

Usage

Getting help

./start_creator.sh --help

Creation of a new world

./start_creator.sh --cell 0.5x0.5 --size 30x30 --name worlds/example

--name specifies the prefix of the output files. The generated button will always generate 2 files: example.json and example.world

Loading of creating world

./start_creator.sh --load worlds/example.json --name worlds/example

--load specifies the input json file --name specifies the output prefix of generated files

Running created gazebo world

./start_gz.sh worlds/example.world

If you want to run a world in your application, don't forget to set up GAZEBO_MODEL_PATH.

For developer:

world_creator.py is the main script. It runs GUI and parses arguments.

gui.py is the frontend of this program. It creates main window, labels, buttons, sets callbacks and allow to create json and world files.

converter.py allows to convert frontend data to json format, load json data to frontend and to backend.

gazebo_sdf.py is the backend of this program. It allows to create .world file from json file.

data_structures.py contains the basic type like Size2D and Point2D.

objects.py contains objects like Wall, Box, Sign, Traffic light.

gazebo_objects.py contains improved objects from objects.py which is using in gazebo_sdf.py.