Tunnel environments can be constructed from a set of tiles. Each tile represents a small portion of tunnel. The following show each of the tunnel tile options, and more will be added over time.
Two complete tunnel environments are provided named
tunnel_practice_2. These environments can be run from the command line using the
scenario roslaunch parameter. For example, the following will launch the
roslaunch subt_gazebo competition.launch scenario:=tunnel_practice_1
Approximate length of 940m.
Approximate length of 2740m.
Create your own
You can create your own environment by stitching together tunnel tile segments in a new
world file. We recommend building off of a working example. Try copying the tunnel_practice_1.world file, and modify the
tunnel_tile_X includes within.