# 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
## 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
...
```
* 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
```
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