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The Office World package provides two indoor simulation environments built on the same underlying floorplan. The complete office variant is a fully furnished space with meeting rooms, open work areas, and narrow hallways — ideal for navigation, SLAM, and obstacle avoidance research. The construction variant transforms the same layout into an active job site: stud walls replace finished partitions, building materials are scattered as floor debris, and different ground textures create a visually distinct challenge. Both variants are loaded via separate launch files in the cpr_office_gazebo package.
Both the office and construction worlds share the same general floorplan. Algorithms developed and tested in one variant transfer directly to the other, making them a natural pair for evaluating robustness across varying indoor environments.

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Supported Platforms

The complete office world supports the following platforms. Husky is the default if no platform argument is provided and the CPR_GAZEBO_PLATFORM environment variable is not set.
PlatformDefault
Husky✓
Jackal
Ridgeback
Dingo

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Launching the Office World

1

Launch with the default platform

Start Gazebo with the complete office world and the default Husky robot:
roslaunch cpr_office_gazebo office_world.launch
2

Launch with a specific platform

Use the platform argument to select a different robot. Accepted values are husky, jackal, ridgeback, and dingo:
roslaunch cpr_office_gazebo office_world.launch platform:=jackal
3

Launch with a custom spawn position

Set the robot’s initial position with robot_x, robot_y, robot_z, and robot_yaw. Always keep robot_z above ground level to prevent the robot from falling through the ground plane while the environment renders:
roslaunch cpr_office_gazebo office_world.launch \
  robot_x:=1.0 robot_y:=2.0 robot_z:=0.2 robot_yaw:=1.57
4

View the world geometry without a robot

To inspect the office world layout in RViz without spawning a robot, use the dedicated view launch file:
roslaunch cpr_office_gazebo view_office_world.launch

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Launching the Construction World

1

Launch with the default platform

Start Gazebo with the construction variant and the default Husky robot:
roslaunch cpr_office_gazebo office_construction_world.launch
2

Launch with a specific platform

Use the platform argument to select a robot. The construction world additionally supports boxer compared to the complete office variant:
roslaunch cpr_office_gazebo office_construction_world.launch platform:=boxer
3

View the construction world geometry without a robot

To inspect the construction world layout in RViz without spawning a robot:
roslaunch cpr_office_gazebo view_office_construction_world.launch

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Features of the Office World

The complete office world is designed to replicate a realistic indoor workplace environment with a variety of navigation challenges. Large open areas — Spacious open-plan sections of the office provide room for wide-radius manoeuvres and multi-robot coordination, and serve as good testing grounds for global planners. Narrow hallways — Corridor segments throughout the layout require precise localisation and tight local planning to navigate without collision. Meeting rooms and offices — Enclosed rooms with doorway entrances challenge robots to enter, navigate within confined spaces, and exit — useful for delivery and inspection use cases.

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Features of the Construction World

The construction world applies a work-in-progress overlay to the same floorplan, introducing a distinct set of navigation challenges. Incomplete stud walls — Several partitions are represented only by their structural studs rather than finished drywall, creating irregular geometry that differs from the completed office. Different ground textures — Flooring materials vary across the construction site, providing visual and physical surface variation for sensor testing. Construction debris and obstacles — Building materials piled on the floor act as dynamic-looking obstacles, requiring local planners to negotiate cluttered pathways.

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