We are going to start working on creation of our void, as we have discussed earlier.
We want a custom word for that.
Well, the first thing that we need to do is to have a gazebo simulation, and then you will see it
as a word.
Okay.
If you take a look into our gazebo simulation, we have a robot in the gazebo to start by saying it
is raining.
So we have this simulation here, right here.
And what I want to do is to insert AD, but I'm doing it once more so you can understand better.
If I go into my baseboard, then I have the models and I press open.
Here I have four scalar means and B is number two.
And then the camera.
I'm going to show you how I did it.
So first, this process is really simple.
You understand it very well.
The creation of the maze, right?
So let me put it on my wall.
What I now want to do is to save this world as a file.
Okay?
So I don't want to bring up again and again this means void, it means file, it means itself, and
then save it as a friend.
So let's save it as a maze board and gander.
Okay.
I'm going to save it inside of my maze bought folder here.
I think I should create a new for learning.
That folder is going to be named as worlds ways and let's save it.
So the name is going to be Maze Bot
Maze and Gamera okay dot world that is going to be the name.
I want it to be saved.
It is going to carry a camera as well.
To weaken by the way, is utilize this file and launch it to gazebo as a but.
For now what I want to do is to directly perform another step and that is to add a camera inside of
it.
The way that we created this means we are going to now use model editor instead of added that previously
we created this media using related editor model and that is going to be utilized to create a model
like this square.
I'm going to put it here and I will be interested in changing the properties of this newly created model.
The first thing that I want to do is to create change it visually.
If I put it here and I change the values of its physical geometry to be 0.8, 0.2, 0.2 sort of board.
And again for the collision properties as physical collision properties matter a lot in gazebo 0.8,
0.8 and 0.2 in what, 1.2, 0.8?
Okay, now it is ready.
And in my scenario the board is ready for the camera.
We need to add the camera sensor into it.
So for now, this sensor is going to be placed at a certain height because it is going to be looking
from some height.
Let me bring it at the top.
And at this specific point, it is going to be looking at the mass from the above.
So I think the model is ready.
Let's save it.
This is going to be a temporary model and I will just save it randomly in my model editor models.
So yes, replace it.
And that is going to happen when very, very funny you think and that is it is going to fall.
Yes, I want it to be pause.
So it is currently pause.
If I played the model is going to start moving downwards.
If you can see it, it is falling on the ground because of gravity.
We will fix that as well too.
We have the camera, we have the means, we have the robot.
Let's now save this configuration and save as previously.
We are going to save it into this board mes camera.
Don't worry, I will overrated.
It is taking some time on my system.
I want Google Chrome to browse some sensor properties from gazebo.
Okay, so you actually just google gazebo camera sensor plugin.
And that makes you come to this point gazebo plug ins and drawers, and you can directly get to this
page, which is providing sensor plug in a model plug in, in a sense, a plug in, very interested
in this in these visible properties in which we can just copy and paste these properties and make the
camera work.
So if we take a look here, what we have now is a gazebo, not large file arrays launch the words as
well mes board meets world dot world and we have if you open up, there is a big file that has been
automatically generated what, 1752 number of lines that is automatically generated.
Okay.
There is one important step that is remaining before we launch the large file that we have created which
utilizes a void fight.
So we have to go into our setup file here.
We have to mention that you are going to obtain files from another folder to be copied to our install
directory of our package and that is vous folder.
The same way that we added these folders large u RDF meshes folder and now we are going to add the word
folder as well because we required our word files to be copied or accessible as that.
And that's how it is going to be.
Simply it's going to be like this.
All of the old files that we will be creating here are going to be saved into the voyage folder too.
I'm going to say it means vault camera mes don't launch, don't buy.
It is going to contain all of the things from gazebo.
One extra thing is going to be added is the word file and that is going to be now I'm going to need
to be where you file.
It is going to be in the voice folder and the name is going to be this specific name, the word.
It seem like a file that we're trying to access.
So I have to just add one single line to make things work.
And that is this line verbose wavefile.
And that is it will file is going to be executed the way it should be.
So our launch file is ready.
What we need to do is to start the previous running thing and we need to perform qualifying.
So if I exist this thing and I am going to my project workspace, part planning workspace and I am going
to perform call can build allow overriding.
If I'm typing it right means but.
A lower rating is incorrect, I think.
A spelling mistake.
Yes, it was a spelling mistake.
Now it has automatically overwritten all the files.
Let me now run the file.
Rice law.
Rice to launch maize board.
Uh, it's not okay.
So the packaging of his maize bought maize board, camera, maize, dirt.
Let's see if it works or not.
It should work.
By the way, there are some warnings as well.
We we'll see what those warnings are.
And we have the our camera, the MES and our robot as well.
But the camera is on the ground.
There are some sort of errors.
Let me see if they are actual errors.
These are sort of missing configuration file.
I have included some parts in this insert folder that are not now available.
That is why it is showing this error.
So now don't worry about that, okay?
All of our models are available here.
We need to just add certain properties into this camera and make it work.
Okay, so let's see what we can do in the next video.