Outdoor orchard simulation world for Gazebo
roslaunch cpr_orchard_gazebo orchard_world.launch
Optionally, you can specify a platform using the platform variable:
roslaunch cpr_orchard_gazebo orchard_world.launch platform:=jackal
Supported values for the platform variable are:
- husky (default)
- jackal
- warthog
The spawn location for the robot can be specified by setting the x, y, z, and yaw variables. The Z value should be set
to be above ground-level; otherwise the robot may fall through the ground plane as the environment renders.
This is a large, open, outdoor world for Gazebo that has:
Many rows of trees separated by dirt paths
There are a few wider, flat areas at each end of the orchard. The terrain has small bumps, but overall is very flat.