MeshNav Tutorial Worlds

For the tutorials we created a selection of virtual worlds, which we categorized in realistic and simplistic environments. Realistic worlds bring us closer to real-world conditions by modeling complex geometry, textures, and dynamics, which helps evaluate how algorithms perform in practice. Simplistic worlds, on the other hand, keep environments minimal so that examples can run even on low-end hardware and interesting situations can be studied in isolation without unnecessary complexity. This separation ensures both robustness testing under realistic conditions and efficient, focused experimentation when needed.

Simple Worlds

All files are located in the following packages:

• Maps & MeshNav: mesh_navigation_tutorials
• Worlds & Simulation: mesh_navigation_tutorials_sim

Tray

The most simplistic environment for very simple test cases.

RViz	Gazebo

ros2 launch mesh_navigation_tutorials mesh_navigation_tutorials_launch.py world_name:=tray

Floor Is Lava

A more sophisticated environments where the robot could fall down a bridge (into lava).

RViz	Gazebo

ros2 launch mesh_navigation_tutorials mesh_navigation_tutorials_launch.py world_name:=floor_is_lava

Parking Garage

A simple multi-story parking garage, demonstrating how mesh navigation enables efficient planning across different floors.

RViz	Gazebo

ros2 launch mesh_navigation_tutorials mesh_navigation_tutorials_launch.py world_name:=parking_garage

Download

All simple maps are automatically available after cloning the repository.

Real World Worlds

Additionally, we provide larger maps that more closely resemble real-world scales. Because these maps also have a large file size, we use Git LFS to store them efficiently and to make downloading parts of the repository more manageable.

Pluto Maps

Originally used to benchmark the findings in the very first publications they are now revived for ROS 2. You can find the very first version of the code here: https://github.com/uos/pluto_robot.

All files are located in the following packages:

• Maps & MeshNav: mesh_navigation_pluto
• Worlds & Simulation: mesh_navigation_pluto_sim

Physics Campus UOS

Physics building at Campus Westerberg, Osnabrück University.

ID	Vertices	Triangles	Dimensions: x[m], y[m], z[m]	File Size
physics_campus_uos	813 674	1 804 965	166.02 * 83.61 * 26.33	35M

ros2 launch mesh_navigation_pluto mesh_navigation_pluto_launch.py world_name:=physics_campus_uos

Botanical Garden Osnabrück

ID	Vertices	Triangles	Dimensions: x[m], y[m], z[m]	File Size
botanical_garden_osnabrueck	711 417	1 404 396	39.05 * 49.25 * 6.67	34M

ros2 launch mesh_navigation_pluto mesh_navigation_pluto_launch.py world_name:=botanical_garden_osnabrueck

Stone Quarry Brockum

ID	Vertices	Triangles	Dimensions: x[m], y[m], z[m]	File Size
stone_quarry_brockum	927 102	1 881 428	100.58 * 100.58 * 23.94	37M

ros2 launch mesh_navigation_pluto mesh_navigation_pluto_launch.py world_name:=stone_quarry_brockum

Download

While being in the source directory of this repository, download all Pluto maps by entering

git lfs pull --include="mesh_navigation_pluto*"

or specific ones by calling

git lfs pull --include="mesh_navigation_pluto*/**/physics_campus_uos*"

Ceres Maps

Coppenrath Innovation Centre (CIC) Outdoors

The CIC building contains tech companies and research facilities that focus on AI & Robotics. Nature Robots is situated there as well as DFKI and UOS.

ID	Vertices	Triangles	Dimensions: x[m], y[m], z[m]	File Size
cic_outdoor	1 067 684	1 967 419	284.06 * 276.64 * 26.3	57M

RViz	Gazebo

ros2 launch mesh_navigation_ceres mesh_navigation_ceres_launch.py world_name:=cic_outdoor

Agro-Technicum

Building of Osnabrück University of Applied Sciences and Osnabotics.

ID	Vertices	Triangles	Dimensions: x[m], y[m], z[m]	File Size
agrotechnicum	402 076	681 761	129.1 * 143.25 * 16.1	15M

RViz	Gazebo

ros2 launch mesh_navigation_ceres mesh_navigation_ceres_launch.py world_name:=agrotechnicum

FH Aachen (MASKOR)

The campus of FH Aachen digitalized from the MASKOR institute.

ID	Vertices	Triangles	Dimensions: x[m], y[m], z[m]	File Size
fh_aachen	1 191 523	2 350 458	245.97 * 370.9 * 39.43	48M

RViz	Gazebo

ros2 launch mesh_navigation_ceres mesh_navigation_ceres_launch.py world_name:=fh_aachen

Download

While being in the source directory of this repository, download all Pluto maps by entering

git lfs pull --include="mesh_navigation_ceres*"

or specific ones by calling

git lfs pull --include="mesh_navigation_ceres*/**/cic_outdoor*"