README

Gazebo package

Run (example)

Launch the Gazebo world and LabClean integration stack:

ros2 launch mirte_lc_gazebo gazebo_mirte_lc.launch.py

Launch Files

The launch file starts:

Gazebo simulation with one of the worlds in the ./worlds folder
labclean_tree from mirte_lc_labclean
the LabClean bringup stack via mirte_lc_labclean

Worlds

The package contains a world folder with three testing worlds for lab cleanup

floor, an empty lab cleanup floor.
floor_with_cubes, a lab with green cubes as portable objects.
floor_with_cubes_2, a larger lab with pink cubes and more obstacles.
floor_with_electronics, a lab with electronics as portable objects.