I’m not sure if people are aware, but if you’re looking for some good Gazebo worlds to simulate your robot in, AWS Robomaker has released a few for the community that you might want to take a look at:
Small Warehouse World - this is good for simulating your AMRs in a warehouse / logistics environment. There are also useful model assets here such as stacks of cardboard boxes, shelving and a pallet jack.
We’ve done some multi-robot simulations using this world, in particular using the Clearpath Husky and Ridgeback robots, and I think it would be really cool if someone did a Navigation2 demo of something like that in this world. Maybe someone from the Navigation2 WG wants to try that? @smac are you interested?
Also available is the Bookstore world (good for testing retail type robots):
And for testing home cleaning robots, the Small House World could be useful:
I hope some of you find these useful for testing your robots in Gazebo!