Simulation Worlds

DelibFlow ships with three Gazebo worlds. You pick one via the world argument when launching the bringup. All worlds are SDF 1.9 format and use the Gazebo Harmonic physics engine (DART).

Switching worlds

Pass the world name to the bringup launch file:

ros2 launch tiago_demos tiago_bringup.launch.py world:=<world_name>

Available worlds

minimal_world (default)

A bare-bones world with just a ground plane. It loads fast, which makes it perfect for quickly iterating on behavior tree logic when you do not need any obstacles or objects around.

ros2 launch tiago_demos tiago_bringup.launch.py world:=minimal_world

Use this when:

  • You are writing or debugging a new behavior tree

  • You want the simulation to start as fast as possible

  • Navigation or manipulation details do not matter yet

test_world

A more practical environment with furniture and objects: boxes, tables, counters, a trash bin, and a desk. This is the go-to world for testing navigation and basic manipulation.

ros2 launch tiago_demos tiago_bringup.launch.py world:=test_world

Use this when:

  • You want to test navigation around real obstacles

  • You are placing ArUco markers on objects for pick-and-place testing

world

A full home environment with multiple rooms: a bathroom (toilet, sink, bathtub), a kitchen, a bedroom, shelves, cabinets, and a bedside table. This is the richest world and is used by the prebuilt map_locations.yaml config with all its predefined waypoints (Dining, Bedroom, Kitchen, Trash, Closet, Office).

ros2 launch tiago_demos tiago_bringup.launch.py world:=world

Use this when:

  • You are running the included demo behavior trees as intended

  • You want to test navigation across long distances and multiple rooms

World assets

All world files live under tiago_sim/worlds/. Model assets (furniture, objects, food items) are under tiago_sim/models/. You can add or modify models there and reference them in your own custom SDF worlds.