This is the first project for the Udacity Robotics Software Engineer Nanodegree. With Gazebo simulator, a world has been designed including online models, a self designed simple robot model and an appartment like model as surrounding environment:

As a bonus, a very simple plugin has been implemented that loads when Gazebo is opening the world:

You can find the Project Rubric here here if you are enrolled in the program.

If you clone the repository and build the plugin with CMake, you can reproduce and test the implementation.

A simple appartment model has been created and inserted into the world.

The project includes a simple four wheel robot created with the Model Builder. It consists of a base plate and four wheels with joints to the plate.

The Gazebo world is located in the project an contains the appartment, two instances of the four wheel robot and additional models from the Gazebo online model library.

The world links to a welcome_message plugin that can be compiled using CMake. After adding the location of libwelcomemessage.so to the GAZEBO_PLUGIN_PATH environment variable, a welcome message is shown upon world loading with Gazebo.