Overview

Gazebo Ignition plugin for dynamically spawning MicroMouse-format maze environments with accurate physics simulation following official competition rules.

Features

• Maze File Support: Reads micromouseonline-format maze text files
• Physics Integration: Spawns walls, posts, and floor tiles in Gazebo Ignition
• Official Compliance: 16×16 grid, 180mm cells, 50mm walls, 12mm thickness
• Start/Goal Markers: Green start cells, red goal cells with floor tiles
• Customizable Geometry: Wall height, thickness, post size configurable

Technical Specifications

• Framework: Gazebo Ignition Fortress (gz-sim 6)
• Plugin Type: World System (ISystemConfigure)
• Cell Size: 180 mm (MicroMouse standard)
• Wall Properties: 12mm thick × 50mm tall, white sides, red tops
• Posts: 12×12×50 mm at grid intersections
• Language: C++

Maze File Format

Plain text format with:

• o = grid intersection post
• --- = horizontal wall
• | = vertical wall
• S = start cell (green)
• G = goal cell (red)

Example:

o---o   o
| S | G |
o---o---o

Gallery

Getting Started

git clone https://github.com/svaibhav101/mazegen_ign_gazebo.git
cd mazegen_ign_gazebo && mkdir build
cmake -S . -B build && cmake --build build -j
ctest --test-dir build  # Run parser tests

Use Cases

• MicroMouse competition simulation
• Robot navigation algorithm testing
• Benchmark scenario generation
• Educational robotics projects