<> <> == About == The `rail_models` package contains a set of furniture and objects developed by the [[http://web.cs.wpi.edu/~rail/|RAIL lab]] at [[http://www.wpi.edu/|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 [[http://www.sketchup.com/intl/en/index.html|Trimble SketchUp]] and comes with the original `*.skp` file, a textured `*.dae` [[https://collada.org|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 [[http://www.ikea.com/us/en/catalog/products/90149191/|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`. || {{attachment:stool.png}} || === IKEA Children's Cups === ||The IKEA Children's Cups are models of the [[http://www.ikea.com/us/en/catalog/products/10192956/|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`. || {{attachment:cups.png}} || === IKEA Children's Table === ||The IKEA Children's Table is a model of the [[http://www.ikea.com/us/en/catalog/products/50178411/|IKEA LÄTT 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`. || {{attachment:childrens_table_chair.png}} || === IKEA Cookware === ||The IKEA Cookware set contains models from the [[http://www.ikea.com/us/en/catalog/products/00130167/|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`. || {{attachment:pot.png}} || === IKEA Play Kitchen === ||The IKEA Play Kitchen is a model of the [[http://www.ikea.com/us/en/catalog/products/70129801/|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`. || {{attachment:kitchen.png}} || === IKEA Toy Chest === ||The IKEA Toy Chest is a model of the [[http://www.ikea.com/us/en/catalog/products/20078031/|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`. || {{attachment: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`. || {{attachment: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`. || {{attachment:banner.png}} || === RobotsFor.Me Lab === ||The [[http://RobotsFor.Me/|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`. || {{attachment:lab.png}} || === RobotsFor.Me Lab Full === ||The[[http://RobotsFor.Me/|RobotsFor.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. || {{attachment: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`. || {{attachment: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 [[http://www.amazon.com/Logitech-Internet-Camera-8-0-Megapixel-Resolution/dp/B000RZQZM0|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. || {{attachment: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: {{{#!shell cd /path/to/your/ros/stacks git clone https://github.com/WPI-RAIL/rail_gazebo.git roscd rail_gazebo rosdep install rail_gazebo rosmake rail_gazebo }}} === Ubuntu Package === To install the Ubuntu package, execute the following: {{{ sudo apt-get install ros-fuerte-rail-gazebo }}} == Support == Please send bug reports to the [[https://github.com/WPI-RAIL/rail_gazebo/issues|GitHub Issue Tracker]]. Feel free to contact me at any point with questions and comments. * [[Russell Toris|Russell Toris]] * [[mailto:rctoris@wpi.edu|rctoris@wpi.edu]] * [[http://users.wpi.edu/~rctoris/|Academic Website]] ---- || {{attachment:wpi.png}} ||<:99%> || {{attachment:rail.png}} || ## AUTOGENERATED DON'T DELETE ## CategoryPackage