boxer_simulation

This repository contains the Gazebo simulation packages for Boxer 2.4.

Usage

The default world is fairly open with large hexagonal chambers

roslaunch boxer_gazebo boxer_world.launch

A secondary racetrack world is also available, featuring more narrow corridors and a few open areas.

roslaunch boxer_gazebo boxer_race.launch

Sensor Simulations

The Gazebo properties of boxer_description enable the 4 standard sensors on the Otto 100 to be used inside Gazebo. This includes a front RealSense D435, front & rear lidars, and an IMU.

Note that we use the Kinect gazebo plugin to simulate the RealSense, which publishes pointcloud and RGB data, in addition to the depth image. On the real Boxer only the depth image is made available from the base-platform.