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Documentation Index

Fetch the complete documentation index at: https://mintlify.com/clearpathrobotics/cpr_gazebo/llms.txt

Use this file to discover all available pages before exploring further.

CPR Gazebo is a collection of high-fidelity Gazebo simulation environments built for Clearpath Robotics robot platforms. Whether you need an outdoor agricultural field, an industrial inspection site, a multi-room office, or a configurable obstacle course, each world ships with launch files that get your robot into simulation with a single roslaunch command.

Installation

Install CPR Gazebo from source using catkin and get your ROS environment ready.

Launch Parameters

Learn the common arguments every world accepts: platform, spawn position, and more.

Outdoor Worlds

Agriculture, Inspection, and Orchard worlds for outdoor navigation and sensing.

Indoor Worlds

Office, Obstacle, and Empty worlds for indoor navigation and obstacle avoidance.

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Supported Robot Platforms

Every world in CPR Gazebo supports one or more Clearpath robot platforms. The platform argument selects which robot is spawned; it defaults to the CPR_GAZEBO_PLATFORM environment variable if set, otherwise a size-appropriate robot is chosen as the default. The supported platforms are: Husky, Jackal, Warthog, Dingo, Ridgeback, and Boxer. Not every platform is available in every world — for example, Dingo and Ridgeback are not supported in outdoor worlds. Refer to each world’s page for the full list of supported platforms.

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Available Worlds

Agriculture World

A flat outdoor world with a barn, fences, and a medium-sized solar farm. Ideal for area-coverage and precision-agriculture simulations.

Inspection World

A hilly outdoor world with a bridge, cave/mine tunnel, water, solar panels, and pipes. Designed for inspection and traversal scenarios.

Orchard World

Rows of trees on slightly uneven terrain with wide turn-around areas at each end. Ideal for row-following algorithms.

Office World

A detailed indoor office with hallways, meeting rooms, and furniture — plus a construction variant with debris and stud walls.

Obstacle World

An enclosed indoor world with narrow doorways, floor holes, and toggleable walls. Scale can be adjusted for large robots.

Empty World

A featureless 1 km² ground plane with a Clearpath base station at (50, 50). The cleanest starting point for custom setups.

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Quick Start

1

Install dependencies

Clone the repository into your catkin workspace and install ROS dependencies with rosdep.
cd ~/catkin_ws/src
git clone https://github.com/clearpathrobotics/cpr_gazebo.git
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
2

Build the workspace

catkin_make
source devel/setup.bash
3

Launch a world

Pick a world and launch it with your preferred robot platform:
roslaunch cpr_office_gazebo office_world.launch platform:=jackal
4

Adjust spawn position (optional)

Override the robot’s initial pose using launch arguments:
roslaunch cpr_agriculture_gazebo agriculture_world.launch \
  platform:=husky \
  robot_x:=10.0 \
  robot_y:=5.0 \
  robot_z:=0.2

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