Reason for fork

The original gzmaze repo was designed to work with a mouse model that is smaller than the TurtleBot3 model. This fork gets rid of the mouse and allows for wider paths.

Original README.md

What is gzmaze?

gzmaze is an attempt at flexing the power of Gazebo The main goal here is to generate a maze in gazebo from a text file.

How it works

There are two components, a GUI overlay plugin and a world plugin.

GUI overlay

Gazebo has a tutorial on simple GUI overlays. I followed that tutorial, and extended it slightly. There are two buttons and a textedit. When the buttons are clicked, a message is published to the topic ~/maze/regenerate

World plugin

This is where the meat of the code is. We subscribe to ~/maze/regenerate and build mazes using gazebo messages. This plugin took example from the gazebo Model editor. Essentially, it uses gazebo messages to construct Collision and Links. There links are then converted to and sdf::ElementPtr via the convenient funtions VisualToSDF and CollisionToSDF.

Requirements

cmake 2.8 Gazebo 6+ (currently using 8)

Building

$ mkdir build
$ cd build
$ cmake .. 
$ make

Running

Add the following to your ~/.gazebo/gui.ini file:

[overlay_plugins]
filenames=libregenerate_widget.so

Run Gazebo with:

$ #this will setup the environment variables you need and run gazebo
$ cd ~/catkin_ws/src/gzmaze
$ ./setup.sh 

The input files

Look at sample_maze.mz for an example.