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Add launch instructions, screenshots for new worlds (#59)
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* Add screenshots for each of the worlds, add a table with the available worlds

* Move the screenshots into separate files to improve loading speed. Add links to the new files in the table
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civerachb-cpr authored Nov 25, 2024
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33 changes: 26 additions & 7 deletions README.md
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## Setup

Prerequisites:
- Install [ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
- Install [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html)

### Ignition Fortress
### Gazebo Harmonic

See [Gazebo Installation](https://gazebosim.org/docs/latest/ros_installation/) for more information
on installing Gazebo.

```
sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-fortress
sudo apt-get install ros-${ROS_DISTRO}-ros-gz
```

### Workspace
Expand All @@ -37,4 +37,23 @@ Copy your `robot.yaml` into `~/clearpath`

```
ros2 launch clearpath_gz simulation.launch.py
```
```

## Worlds

The `clearpath_gz` package includes several simulation worlds. To select a specific world, use the
`world` launch parameter, e.g.
```
ros2 launch clearpath_gz simulation.launch.py world:=pipeline
```

Available worlds are:

| World | Description | Screenshots
|-----------------------|------------------------------------------------------------------------------------------------------------------------|------------------------------|
| `construction` | The same floorplan as the `office` world, but under construction. Features non-solid walls and debris piles. | [link](docs/construction.md) |
| `office` | The same floorplan as the `construction` world. Features narrow hallways, doorways, meeting rooms, and loading docks. | [link](docs/office.md) |
| `orchard` | An outdoor, agricultural environment featuring rows of trees. The terrain has small slopes, but is mostly flat. | [link](docs/orchard.md) |
| `pipeline` | A rugged, outdoor environment featuring steeper hills, a river and bridge, a small cave, solar panels, and a pipeline. | [link](docs/pipeline.md) |
| `solar_farm` | An outdoor, agricultural environmentf featuring gentle hills, a barn, rows of solar panels, and fences. | [link](docs/solar_farm.md) |
| `warehouse` (default) | A flat, indoor warehouse environment. Features shelves and people. | [link](docs/warehouse.md) |
7 changes: 7 additions & 0 deletions docs/construction.md
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## Consruction World

<img src="construction/construction_world.png">

<img src="construction/worksite.png">

<img src="construction/walls.png">
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9 changes: 9 additions & 0 deletions docs/office.md
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## Office World

<img src="office/office_world.png">

<img src="office/common_area.png">

<img src="office/meeting_room.png">

<img src="office/hallway.png">
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## Orchard World

<img src="orchard/orchard_world.png">

<img src="orchard/eye_level.png">
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## Pipeline World

<img src="pipeline/pipeline_world.png">

<img src="pipeline/bridge.png">

<img src="pipeline/cave.png">

<img src="pipeline/pipeline.png">

<img src="pipeline/solar_panels.png">
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## Solar Farm World

<img src="solar_farm/agriculture_world.png">

<img src="solar_farm/barn.png">

<img src="solar_farm/solar_panels.png">
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## Warehouse World

<img src="warehouse/warehouse_world.png">

<img src="warehouse/worker.png">

<img src="warehouse/shelves.png">
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