Create An Arena

• See [how to set up](Hector NIST Arenas) hector_nist_arenas_gazebo.
• Run rosmake inside hector_nist_arena_designer folder.
• Run rosrun hector_nist_arena_designer arena_designer to start the designer gui.
• Construct your arena.
• Export your arena in both raf and sdf formats. Create a folder inside pandora_gazebo_worlds/worlds with the name of your arena and save the files. The sdf file must have the same name with the folder and have a .world suffix.
• Convert the file from sdf 1.3 version to 1.4, by running:

$ gzsdf convert [sdf_file]

• Open the converted .world file with a text editor, find the <physics>...</physics> tag and replace it with:

<physics type="ode">
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>

• Now you are ready to run your arena in gazebo.
• You can even create a launcher for your arena to spawn a robot automatically. Copy an existing launcher and start your world changing:

<arg name="world" value="my_world_name"/>

• Be carefull not to spawn the robot ontop of a wall! Change the -x -y -z spawning position arguments accordingly and have fun!!