Dream Worlds Overview

Run the desired simulated world in gazebo harmonic by appending world:=<desired-world-name> to the simulation launch script.

Depot World

To use depot world append world:=depot to the simulation launch script.

Depot world is a highly graphics intensive world that simulates a small warehouse.

Basic Map World

To use basic map world append world:=basic_map to the simulation launch script.

Basic map world is very minimalistic to help users on less capable machines.

How do I add a different world?

• It is very easy to add other worlds to dream for use in simulation, there are only a few things to keep in mind:
  1. Make sure the desired model assets work correctly in Gazebo Harmonic (this includes checking the SDF version)
  2. Add the worlds model assets to dream_world/models/<model name>
  3. Create a unique named world sdf file in dream_world/worlds/
  4. Make sure the world name stays as default so the sensors can be properly mapped through the ros_gz bridge.
  5. Add all the sensor plugins and required world defaults.
  6. Include the desired model.
  7. Append the worlds unique file name (without .sdf) to the simulation launch script.