Defining the Robot’s Environment Scene (World)

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Gazebo Fortress

These pages show how to design a simulation using Gazebo Fortress software. You can most likely use a variety of other simulator tools with MOV.AI Flow by adding the correct configurations and ROS bridges

Simulation requires rich and complex environments in which models exist and with which they interact. SDF provides the means to define a wide variety of environments, as well as environmental features, such as objects, obstacles, terrain and so on.

You can use either of two methods to define/create a robot’s work environment scene (world) –

• SDF – Use a text editor to create/modify an SDF file, as described in Creating an SDF File.
• User Interface – Use the much quicker/simpler graphic method of defining the work environment scene in Gazebo Fortress’s drag-and-drop visual interface and then export it as an SDF file, as described in Defining a Robot’s World.

The my_world_scene.sdf file describes the world scene to be simulated, meaning the working environment in which the robot will operate.

You can create the world (environment) yourself in the SDF file using a standard text editor. For more information, refer to –

• http://sdformat.org/spec?ver=1.7&elem=world
• http://sdformat.org/spec?ver=1.7&elem=scene

But there’s a much easier way, which we highly recommend!

Build the world (scene) in Gazebo Fortress by dragging and dropping models into your world, as described in Defining a Robot’s World. This process creates an SDF file that you can rename to my_world_scene.sdf and place in this folder.