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Only released in EOL distros:  

rail_gazebo: rail_models | rail_worlds

Package Summary

Gazebo simulation files developed by the RAIL group at WPI that contain models which can be used in simulated robotic environments.

About

The rail_models package contains a set of furniture and objects developed by the RAIL lab at WPI for gazebo. The objects were developed with the Kuka youBot and PR2 robots in mind, but can be used with other types of robots as well.

Models

The rail_models package contains several models of furniture and items that can be used to build virtual remote environments for use in gazebo. Each 3D model is built in Trimble SketchUp and comes with the original *.skp file, a textured *.dae Collada file, a simplified *.stl collision model, and scaled *.sdf Gazebo model file. A list of the available models is given below.

IKEA Bathroom Stool

The IKEA Bathroom Stool is a model of the IKEA MOLGER Step Stool. The Gazebo model is contained inside of the file models/ikea_stool.model. The 3D model that is rendered comes from the file Media/models/ikea_stool/ikea_stool.dae and its collision model comes from the file Media/models/ikea_stool/ikea_stool.stl. The original SketchUp file used to build the model can be found at Media/models/ikea_stool/ikea_stool.skp.

stool.png

IKEA Children's Cups

The IKEA Children's Cups are models of the IKEA KALAS Tumblers. The Gazebo models are contained inside of the files models/ikea_childrens_cup_*.model where * is one of the following colors: drk_blue, green, lt_blue, orange, pink, and yellow. The 3D models that are rendered come from the files Media/models/ikea_childrens_cups/*.dae (again where * is one of the previously listed colors). All models use the same collision file found at Media/models/ikea_childrens_cups/ikea_childrens_cup.stl. The original SketchUp files used to build the models can be found at Media/models/ikea_childrens_cups/*.skp.

cups.png

IKEA Children's Table

The IKEA Children's Table is a model of the IKEA L√ĄTT Children's Table and 2 Chairs. The Gazebo model for the table itself is contained inside of the file models/ikea_childrens_table.model and the chair is contained inside of the file models/ikea_childrens_chair.model. The 3D models that are rendered come from the files Media/models/ikea_childrens_table/table.dae and Media/models/ikea_childrens_table/chair.dae. Their collision models come from the files Media/models/ikea_childrens_table/table.stl and Media/models/ikea_childrens_table/chair.stl. The original SketchUp files used to build the models can be found at Media/models/ikea_childrens_table/table.skp and Media/models/ikea_childrens_table/chair.skp.

childrens_table_chair.png

IKEA Cookware

The IKEA Cookware set contains models from the IKEA DUKTIG Cookware Set. The Gazebo models are contained inside of the files models/ikea_cookware_pot.model and models/ikea_cookware_pot_top.model. The 3D models that are rendered come from the files Media/models/ikea_cookware/pot.dae and Media/models/ikea_cookware/pot_top.dae. Their collision models come from the files Media/models/ikea_cookware/pot.stl and Media/models/ikea_cookware/pot_top.stl. The original SketchUp files used to build the models can be found at Media/models/ikea_cookware/pot.skp and Media/models/ikea_cookware/pot_top.skp.

pot.png

IKEA Play Kitchen

The IKEA Play Kitchen is a model of the IKEA DUKTIG Mini-Kitchen. The Gazebo model is contained inside of the file models/ikea_kitchen.model. The 3D model that is rendered comes from the file Media/models/ikea_stool/ikea_kitchen_body.dae and its collision model comes from the file Media/models/ikea_stool/ikea_kitchen_body.stl. The original SketchUp file used to build the model can be found at Media/models/ikea_stool/ikea_kitchen_body.skp.

kitchen.png

IKEA Toy Chest

The IKEA Toy Chest is a model of the IKEA APA Storage Box. The Gazebo model is contained inside of the file models/ikea_toy_chest.model. The 3D model that is rendered comes from the file Media/models/ikea_toy_chest/ikea_toy_chest.dae and its collision model comes from the file Media/models/ikea_toy_chest/ikea_toy_chest.stl. The original SketchUp file used to build the model can be found at Media/models/ikea_toy_chest/ikea_toy_chest.skp.

chest.png

Lab Table

The Lab Table is a model of a typical office table found around our lab. The Gazebo model is contained inside of the file models/lab_table.model. The 3D model that is rendered comes from the file Media/models/lab_table/lab_table.dae and its collision model comes from the file Media/models/lab_table/lab_table.stl. The original SketchUp file used to build the model can be found at Media/models/lab_table/lab_table.skp.

table.png

RAIL Banner

The RAIL Banner is a model of a canvas banner found around our lab. The Gazebo model is contained inside of the file models/banner.model. The 3D model that is rendered comes from the file Media/models/banner/banner.dae. There is no collision model for this object. The original SketchUp file used to build the model can be found at Media/models/banner/banner.skp.

banner.png

RobotsFor.Me Lab

The RobotsFor.Me Lab is a model of our remote lab room. This room contains two sections: one for our youBot lab, and one for the PR2 lab. The Gazebo model is contained inside of the file models/lab.model. The 3D model that is rendered comes from the file Media/models/lab/lab.dae and its collision model comes from the file Media/models/lab/lab.stl. The original SketchUp file used to build the model can be found at Media/models/lab/lab.skp.

lab.png

RobotsFor.Me Lab Full

TheRobotsFor.Me Lab Full is a model of our remote lab room. This model is the full room without the divider wall. The Gazebo model is contained inside of the file models/lab_full.model. The 3D model that is rendered comes from the file Media/models/lab/lab_full.dae and its collision model comes from the file Media/models/lab/lab_full.stl. The original SketchUp file used to build the model can be found at Media/models/lab/lab_full.skp. Furthermore, a map from the rail_maps stack can be used with this model.

lab_full.png

Doll Furniture

The Doll Furniture set contains models of a doll table and chair set. The Gazebo model for the table itself is contained inside of the file models/doll_table.model and the chair is contained inside of the file models/doll_chair.model. The 3D models that are rendered come from the files Media/models/doll_furniture/doll_table.dae and Media/models/doll_furniture/doll_chair.dae. Their collision models come from the files Media/models/doll_furniture/doll_table.stl and Media/models/doll_furniture/doll_chair.stl. The original SketchUp files used to build the models can be found at Media/models/doll_furniture/doll_table.skp and Media/models/doll_furniture/doll_chair.skp.

doll_furniture.png

Logitech Pro 9000 Cameras

The package contains two separate Gazebo cameras that can be placed throughout your simulated world to stream images from Gazebo to a ROS topic. These cameras are configured to roughly match the field of view of the Logitech Pro 9000 Webcam. Two versions are provided: logitech_9000_camera1.model streams images to the topic logitech_9000_camera1/image_raw and models/logitech_9000_camera2.model streams images to the topic logitech_9000_camera2/image_raw. The pre-defined worlds described in the rail_worlds package make use of these cameras.

cameras.png

Installation

To install the rail_gazebo stack, you can choose to either install from source, or from the Ubuntu package:

Source

To install from source, execute the following:

Ubuntu Package

To install the Ubuntu package, execute the following:

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.


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2019-11-30 13:07