Create a common simulation environment in gazebo

[JakobThumm]

I propose creating a gazebo world from the BIM model.
It would benefit the project to have the entire drilling mission defined in one simulation environment.
Parts that would need to be included:

• geometries from BIM model
• Pre-defined drilling positions
• ArUco markers for localization of drilling position
• Humans walking through the scene or doing some typical working motion (can be provided by TUM)

[EdoardoRomiti]

I propose creating a gazebo world from the BIM model.
It would benefit the project to have the entire drilling mission defined in one simulation environment.

Hi @JakobThumm , If we want to create a gazebo world of the BIC facility (the location of the integration week), I think @FraunhoferItalia can help us with that. They have created a draft BIM of the place with the 3d scan we provided, that they used last week for their missions.

Otherwise, there are other gazebo worlds available at https://github.com/ADVRHumanoids/concert_gazebo_worlds that could also be used in the simulation environment (you can do it by passing the required world as an argument to the launch file e.g., world_name:='$(find concert_gazebo_worlds)/worlds/kranhalle_concert.world')

Parts that would need to be included:
- geometries from BIM model
- Pre-defined drilling positions
- ArUco markers for localization of drilling position
- Humans walking through the scene or doing some typical working motion (can be provided by TUM)

So I propose to add all these features either inside a new gazebo world from the draft BIM of the BIC facility or also inside the Fraunhofer Kranhalle if this makes things easier for @FraunhoferItalia (since the final task will not be performed at BIC anyway). I leave this choice to @FraunhoferItalia since they are the one taking care of the BIM-> gazebo transition usually.

[FraunhoferItalia]

Hy @JakobThumm, thanks @EdoardoRomiti to link the repo, i would propose to enhance the Kranhalle model with the features you listed here

• geometries from BIM model
• Pre-defined drilling positions
• ArUco markers for localization of drilling position
• Humans walking through the scene or doing some typical working motion (can be provided by TUM)

MT