Standard-complaint Gazebo warehouse modelling and validation

Modern robotics require high-quality simulations for robots and algorithms validation. Warehouses are the source of active robotic deployment due to high level of standardization. In this paper, we present a model of a warehouse designed entirely in accordance with GOST regulations and international practices for the ROS / Gazebo environment. It is compared with the existing solutions in terms of applicability and computational performance. Created environments are validated using robotic navigation experiments. As a result, the ready-to-use warehouse models with flexible modular design are presented.