robotnik_gazebo_worlds

Description: This repository contains different Gazebo worlds packaged for ROS 2 (Jazzy recommended) and Gazebo Harmonic.
Each world is distributed as a standalone ROS 2 package, so you do not need to manually set GZ_SIM_RESOURCE_PATH or other environment variables—models are auto-discovered via env hooks.

Dependencies

• Gazebo Harmonic (Ignition Gazebo)
• ROS 2 Jazzy (recommended)
• This repository is intended to be used with robotnik_simulation.

General Installation

Clone the repository into your ROS 2 workspace:

git clone https://github.com/RobotnikAutomation/robotnik_gazebo_worlds.git

Build and source your workspace:

colcon build
source install/setup.bash

Launch a World

For example, to launch the electrical substation world:

ros2 launch electrical_substation_world electrical_substation_world.launch.py

Use These Worlds With Your Robot

Clone this repository into your robot's workspace, build, and source as above.

To launch your robot in a specific world, pass the world file as a parameter (example for ROS 2):

ros2 launch robotnik_gazebo_ignition spawn_world.launch.py world_path:=PATH_TO_FILE/robotnik_gazebo_worlds/electrical_substation_world/worlds/electrical_substation.world

Create a New Gazebo World ROS 2 Package

Note: not yet been migrated to ROS 2 Jazzy and Gazebo Harmonic.

From the root of this repository, run the package creation script:

./create_world_pkg.sh demo_factory User [email protected]

If you omit arguments, defaults will be used.

A new ROS 2 package with a basic world will be created:

├── demo_factory_world
│   ├── CMakeLists.txt
│   ├── launch
│   │   └── demo_factory_world.launch.py
│   ├── models
│   ├── package.xml
│   └── worlds
│       └── demo_factory.world

Add your models to the models folder.
Open the world in Gazebo Harmonic using:

ros2 launch demo_factory_world demo_factory_world.launch.py

When Gazebo is ready, add your models and save the world inside the worlds folder.

List of Worlds

Electrical Substation

ros2 launch electrical_substation_world electrical_substation_world.launch.py

OPIL Factory

Note: not yet been migrated to ROS 2 Jazzy and Gazebo Harmonic.

Note: There is a wall at the origin. Spawn your robot at x=4 y=4 z=0 to avoid collision.

ros2 launch opil_factory_world opil_factory_world.launch.py

Rubber Factory

Note: not yet been migrated to ROS 2 Jazzy and Gazebo Harmonic.

ros2 launch rubber_factory_world rubber_factory_world.launch.py

Warehouse

Note: not yet been migrated to ROS 2 Jazzy and Gazebo Harmonic.

Based on warehouse_simulation_toolkit:

ros2 launch warehouse_world warehouse_world.launch.py

Robotnik Lab

Note: not yet been migrated to ROS 2 Jazzy and Gazebo Harmonic.

ros2 launch robotnik_lab_world robotnik_lab_world.launch.py

Photovoltaic Station

Note: not yet been migrated to ROS 2 Jazzy and Gazebo Harmonic.

ros2 launch photovoltaic_station_world photovoltaic_station_world.launch.py

Compatibility

• ROS 2 Jazzy (recommended)
• Gazebo Harmonic (Ignition Gazebo)
• SDF 1.7 worlds and models
• Models auto-discovered via env hook (no manual path export needed)

Troubleshooting

• Missing mesh/model: Check your install path under install/<world_pkg>/share/<world_pkg>/models/...
• Warnings about frame="": Remove frame="" attributes from <pose> tags in SDF files.
• Black textures: Use power-of-two PNG images and prefer PBR <metal> workflow or classic OGRE script.
• World not found: Ensure you source install/setup.bash before launching.

License

See LICENSE file in each package.

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