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Package to simplify world creation for heron_simulator

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Heron Worlds

The heron_worlds package was created to simplify world creation for the Heron simulator. All that is required is a world name and a 3D file of the world's seabed, islands, coast, etc.

When making the 3D file, ensure that the sealevel is at Z = 0. Anything below this point is considered underwater, anything above this point is out of the water, etc.

To create a world

With [WORLD_NAME] as your world's name and [WORLD_FILE] as the file path to your 3D file (an absolute file path), run the following command to create the world files:
rosrun heron_worlds make_world -n [WORLD_NAME] -m [WORLD_FILE]

This will create the necessary files in the heron_worlds package to simulate your world! The command has a few options other than "n" and "m" but only those two are required.

Other options
  • -a or --author: Author name
  • -e or --author_email: Author email
  • -d or --desc: World description
  • -s or --world_size: World Size (m)

To launch the world

With [WORLD_NAME] as your world's name, run one of the following commands to simulate your world:
Without a Heron: roslaunch heron_worlds [WORLD_NAME].launch
With a Heron: roslaunch heron_gazebo heron_world.launch world_pkg:=heron_worlds world_pkg_file:=[WORLD_NAME].launch

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