The Obstacle World is an enclosed indoor Gazebo environment featuring non-planar ground geometry. It consists of large rooms interconnected by narrow doorways, with actual holes cut into the floor surface that present a genuine physical challenge: smaller robots that drive into a hole will become trapped. The perimeter walls can be toggled off for open-space testing, and the entire ground plane is uniformly scalable — making the same world usable across platforms as small as Jackal and as large as Warthog. This combination of features makes the Obstacle World one of the most versatile indoor test environments in the CPR Gazebo collection.Documentation Index
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Supported Platforms
Jackal is the default platform. Theplatform argument accepts any of the following values, with Warthog requiring a larger world_scale setting due to its physical dimensions:
| Platform | Default | Notes |
|---|---|---|
| Jackal | ✓ | |
| Husky | ||
| Dingo | ||
| Boxer | ||
| Warthog | Requires world_scale:=2.0 or greater |
Launching
Launch with a specific platform
Use the
platform argument to select a different robot. Accepted values are jackal, husky, dingo, boxer, and warthog:Launch with an adjusted world scale
Use the
world_scale argument to uniformly scale the ground plane. This is required for large platforms such as Warthog so the robot fits through doorways and the floor holes are proportionally navigable:Launch with walls disabled
Set
walls:=false to remove the perimeter walls, leaving only the ground-plane geometry. This is useful for testing navigation in open areas while retaining the non-planar floor features:World-Specific Parameters
In addition to the standardplatform, robot_x/y/z/yaw, and world_x/y/z/yaw arguments common to all CPR Gazebo worlds, the Obstacle World exposes two additional parameters:
Uniformly scales the X and Y dimensions of the ground plane geometry. Increase this value when using large platforms that cannot fit through the default doorway widths or that are at risk of falling into the floor holes. A value of
2.0 or greater is recommended for Warthog.Toggles the perimeter walls on or off. When set to
false, the enclosing walls are removed but the ground geometry — including rooms, doorways, and holes — remains unchanged.Features
Large rooms with narrow doorways — The world is divided into several spacious rooms connected only by narrow doorway openings, challenging local planners and requiring precise alignment to navigate through. Floor holes — Actual voids are cut into the floor surface. Robots that drive into a hole may become stuck, making this a useful test for hazard-avoidance behaviours and footprint-aware planning. Toggleable walls — The perimeter walls can be removed at launch time, converting the environment into an open ground plane with non-planar features. This is useful for isolating the ground geometry challenge from the wall-avoidance challenge. Adjustable scale — Theworld_scale argument allows the entire ground plane to be resized uniformly, making the same world configuration accessible to both compact platforms like Jackal and large platforms like Warthog.