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bb_worlds

Role: Gazebo world definitions (SDF) and launch wrappers for competition scenarios.

Worlds shipped

  • RoboSub 2023 and 2025 pools
  • SAUVC 2024
  • dave_ocean_waves (open-water with waves)
  • robotx_2026_sg_river

Key files

File Purpose
worlds/*.sdf Gazebo world files. Each declares spherical_coordinates which bluerov_sim.launch.py parses to set ArduSub home lat/lon.
launch/*.launch.py Per-world launchers (wrap ros_gz_bridge for topic bridging).

The package installs hooks that set GZ_SIM_RESOURCE_PATH so worlds and models resolve correctly.

ROS interfaces

None directly. This package only provides SDF + launch glue.

Gotchas

  • World SDFs reference models from dave and others. If a model fails to load, check GZ_SIM_RESOURCE_PATH.
  • The RobotX worlds reference ArUco markers and course gates; their positions live inside the SDF.
  • World names must match GZ_SIM_RESOURCE_PATH lookup, or bluerov_sim.launch.py falls back to default home coordinates.

See also