# Gazebo Harbour Models:
![harbour](https://user-images.githubusercontent.com/2436747/30788495-c4d449d2-a151-11e7-81aa-798952552ec2.png)
##

These models were created as a part of [Cargo-ANTS][] project which required a simulation environment of a container terminal scenario.
So many harbour entities were created using freely available Google sketchup models like ship, idle_truck, containers, straddle_carriers, etc. Note: These models are simple sdf models and not URDF models and do not have dynamic engine.
Feel free to use these models and please cite the following [paper]:
Local Path Optimizer for an Autonomous Truck in a Harbour Scenario
J David, R PHILIPPSEN, R VALENCIA, K Iagnemma - 11th Conference on Field and Service Robotics (FSR), Zurich 2017.

[paper]: http://www.diva-portal.org/smash/get/diva2:1137701/FULLTEXT01.pdf 
[Cargo-ANTS]:http://cargo-ants.eu/
## Usage:
Keep the models along with your other Gazebo models or edit your gazebo/setup.sh to include this file location.

##Examples:
![harbour2](https://user-images.githubusercontent.com/2436747/30788520-27a8c61e-a152-11e7-9bdc-4d8c0a7795d2.png)
![harbour3](https://user-images.githubusercontent.com/2436747/30788548-9b19fa50-a152-11e7-974b-2d4e5a5cbfe2.png)