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+# Dynamic_logistics_Warehouse
+
+Gazebo simulation of dynamics environment in warehouses. An extensive model of AWS-robomaker-small-warehouse.
+
+### Specifications:
+* 9 Actors following different waypoints to perform trajectory path.
+* 5 Light sources 
+* Shelves
+* PalletJack
+* Desks
+* Trashcan
+* Cluttering
+
+
+  
+
+
+![test](https://user-images.githubusercontent.com/27731036/125352251-98e87180-e393-11eb-8feb-56853ab26f72.gif)
+  <launch>
+
+
+
+
+
+
+
+
+## Building and Launching the Gazebo World with your ROS Applications
+
+* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**:
+
+ 
+
+* Change the directory to your ROS workspace and run `rosws update`
+
+* Add the following include to the ROS launch file you are using:
+
+  ```xml
+
+  <!-- Launch World -->
+  <include file="$(find dynamic_logistics_warehouse)/launch/logistics_warehouse.launch"/>
+  ...
+  </launch>
+  ```
+
+* Build your application using `colcon`
+
+  ```bash
+  rosws update
+  rosdep install --from-paths . --ignore-src -r -y
+  colcon build
+  ```
+
+## Example: Running this world directly in Gazebo without a ROS application
+
+To open this world in Gazebo, change the directory to your ROS workspace root folder and run:
+
+```bash
+cd dynamic-logistics-warehouse
+export GAZEBO_MODEL_PATH=`pwd`/models
+gazebo worlds/warehouse.world
+```
+
+
+
+
+  
+
+## Example: Running this world directly using ROS without a simulated robot
+
+To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.** 
+
+```bash
+# build for ROS
+rosdep install --from-paths . --ignore-src -r -y
+colcon build
+
+# run in ROS
+source install/setup.sh
+roslaunch dynamic_logistics_warehouse logistics_warehouse.launch
+```
+### You can buy me a coffee via:
+<a href="https://www.buymeacoffee.com/beraru" target="_blank"><img src="https://cdn.buymeacoffee.com/buttons/v2/default-blue.png" alt="Buy Me A Coffee" style="height: 60px !important;width: 217px !important;" ></a>