rover_gazebo

rover_gazebo is the package that contains all of the gazebo stuff, like worlds and gazebo-specific textures/models. It has a few folders, organizing the above gazebo-relating things.

There is no code in the rover_gazebo package at this time, although should we need gazebo plugins they will be placed in another package, probably called rover_gazebo_plugins

world

The world folder contains all of the gazebo worlds, in .world format. The current worlds are:

Filename	Content/function
outdoor_world.gazebo	An outdoor world with a heightmap. Good for large-scale testing where a natural-ish landscape is important

Each world should have a launch file associated with it, which should spawn the rover with the same parameters as the (upcoming) master launch file. An easy way to create this is to use the empty_world.launch file, which allows for customizing the world location.

media

The media folder is where all of the gazebo “media” is: textures, models, heightmaps, etc. Any objects should be in their own folder, for example the “height” object (which is the heightmap used in the outdoor world) is in the folder media/height. Textures should be in a folder named media/<object name>/textures. Models should be in a folder named media/<object name>/models. Any other files the object needs, including its .sdf file, should be located in the root folder for that object.

Here is a table summarizing this info:

Folder location	Files located there
media/<obj name>	Files for the object named obj_name.
media/<obj name>/textures	Textures for the object named obj_name.
media/<obj name>/models	Models for the object named obj_name.