obstacle_spawner Namespace Reference

Classes
class	ObstacleSpawner
class	WalkingPerson

Functions
def	main (args=None)

Variables
string	PERSON_SDF
dictionary	SCENARIOS

Detailed Description

Dynamic Obstacle Spawner for Gazebo Classic

Spawns walking people (Scrubs 3D model) and moves them along paths
using sinusoidal interpolation for smooth, realistic movement.
Nav2 detects them via lidar and avoids them in real-time.

Uses gazebo_msgs services:
  /spawn_entity         (gazebo_msgs/srv/SpawnEntity)
  /set_entity_state     (gazebo_msgs/srv/SetEntityState)
  /delete_entity        (gazebo_msgs/srv/DeleteEntity)

Usage:
    ros2 run robot_simulation obstacle_spawner.py
    ros2 run robot_simulation obstacle_spawner.py --ros-args -p scenario:=hospital

Function Documentation

main()

def obstacle_spawner.main

(

args = None

)

Variable Documentation

PERSON_SDF

string obstacle_spawner.PERSON_SDF

Initial value:

=  """<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="{name}">
    <static>false</static>
    <link name="body">
      <gravity>false</gravity>
      <pose>0 0 0 0 0 0</pose>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://Scrubs/meshes/scrubs.obj</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://Scrubs/meshes/Scrubs_Col.obj</uri>
          </mesh>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>"""

SCENARIOS

dictionary obstacle_spawner.SCENARIOS

Initial value:

=  {
    'hospital': [
        WalkingPerson('human_1',
                      point_a=(-4.586, -14.697),
                      point_b=(-5.937, -14.430),
                      duration=21.0),
        WalkingPerson('human_2',
                      point_a=(1.2, 13.7), 
                      point_b=(-2.5, 14.0),
                      duration=30.0),
        WalkingPerson('human_3',
                      point_a=(4.0, 1.0), 
                      point_b=(5.0, 2.0),
                      duration=22.0),
    ],
    'corridors': [
        WalkingPerson('human_1',
                      point_a=(-3.0, 0.0), point_b=(3.0, 0.0),
                      duration=12.0),
        WalkingPerson('human_2',
                      point_a=(0.0, -2.0), point_b=(0.0, 2.0),
                      duration=10.0),
    ],
}