Gazebo maps

Self-made Gazebo maps and models for public

If you use this repo for your paper, please cite the corresponding papers in the list below

Map list

• Exploration map used in the paper:
  • REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs, 2021 IROS
    • Small-scale maze environment
    • Large-scale mine environment - edited from MBPlanner
      • Video
  • QR-SCAN: Traversable Region Scan for Quadruped Robot Exploration using Lightweight Precomputed Trajectory, 2021 ICCAS
    • Maze with height map (hills and cliff) environment
    • Maze with hole-ground
      • Video
  • Peacock exploration: a lightweight exploration for UAV using control-efficient trajectory, 2020 RiTA
    • Maze with 3D obstacles
      • Video
  • (Pending) LiDAR-camera Exploration and Inspection Path Planning, 2023 RA-L
    • Vertical tunnel
      • Video, Video2
    • Large-scale and complex environment
• Map used in the paper:
  • ROLAND: Robust Landing of UAV on Moving Platform using Object Detection and UWB based Extended Kalman Filter, 2021 ICCAS
    • Wall bounded world (with obstacles)
      • Video
• Textureless and featureless map for visual-inertial odometry used in the paper:
  • STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor, 2022 IEEE RA-L
    • Iced outdoor mountain
      • Video
• War site scenario map used in the paper:
  • Development of a 3D Mapping System including Object Position for UAV with a RGB-D camerain an Unknown and GNSS-denied Environment, 2020 IEMEK
    • Military fortress (with soldiers, tanks, jets, and etc)
      • Video1 and Video2
• Quadruped robot competition map
  • video, competition github
• Drone competition map
  • ADD2021 K-DARPA
  • KVRC2022 - map, video, competition github

Map pictures

[Click to fold/unfold pictures]

• Quadruped robot competition map

  

• Drone competition map - ADD2021 K-DARPA

  

• Drone competition map - KVRC2022

  

• Small-scale maze

  

• Large-scale mine

  

• Maze with height maps

  

• Maze with hole-ground

  

• Maze with 3D obstacles

  

• Vertical tunnel

  

• Large-scale and complex environment

  

• Tall wall-bounded world

  

• Iced outdoor mountain

  

• Military fortress

  

Model list (in reconstruction folder)

• Reconstruction models used in the paper:

  • CEO-MLCPP: Control-Efficient and Obstacle-aware Multi-Layer Coverage Path Planner for 3D reconstruction with UAVs, 2022 RiTA
    • Big-Ben, Eiffel Tower, Japanese temple
  • Two-Stage Optimization-Based Energy-Efficient Coverage Path Planner for 3D reconstruction, 2023 KRoC
    • Japanese temple2
  • THE-Planner: Topological and Hierarchical Exploration Path Planner for Fast and Coarse 3D Mapping of Outdoor Structures with UAVs, 2023 UR
    • San Adrian thermal powerplant, Orthodox church
  • EQA-CPP: Energy and Quality-Aware Coverage Path Planner for 3D reconstruction with UAVs, 2023 RA-L (pending)
    • Alexander Nevsky Cathedral, At Tin Mosque
    • Louisiana State House, Khram Pokrova
    • Tomb of Tu Duc, Stone church
    • Mexico City Cathedral

• Models not used in any paper:

  • Louisiana State House, Bridge

Model Pictures

[Click to fold/unfold pictures]

• Models in recon1.tar.xz file (Big-Ben, Louisiana State House, Eiffel Tower, Japanese temple, Bridge)

  

• Models in recon2.tar.xz file (Alexander Nevsky Cathedral, At Tin Mosque, Japanese temple2)

  

• Models in recon3.tar.xz file (San Adrian thermal powerplant, Khram Pokrova, Orthodox church)

  

• Models in recon4.tar.xz file (Tomb of Tu Duc, Stone church)

  

• Models in recon5.tar.xz file (Mexico City Cathedral)

  

How to use

unzip the compressed files

$ tar -xf <NAME>.tar.xz

• Clone the git, add the folder in GAZEBO_MODEL_PATH
• (Necessary) Add common models to environment first

$ git clone https://github.com/engcang/gazebo_maps
$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/common_models" >> ~/.bashrc

• (Optional) add the wanted world to environment

$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/height_maze" >> ~/.bashrc

$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/3d_maze" >> ~/.bashrc

$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/large_mine_abandoned" >> ~/.bashrc

...

Add the world/model path you want!!

$ source ~/.bashrc

• launch the world

$ roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/gazebo_maps/small_maze/smaze2d.world

or

$ roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/gazebo_maps/3d_maze/eazy_maze.world

or

...

Launch the world/model you want!