Extend World Generation with obstacles

.gitattributes

@@ -0,0 +1 @@
+*.resS filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -58,3 +58,7 @@ __pycache__/
 *.lock
 *.bkup
 *.log
+
+# Unity Data
+utils/misc/unity_simulator/unity_simulator_BurstDebugInformation_DoNotShip/
+!**/UnityPlayer.so

.repos

@@ -6,7 +6,7 @@ repositories:
   arena/simulation-setup:
     type: git
     url: https://github.com/Arena-Rosnav/arena-simulation-setup.git
-    version: f093a8ef
+    version: 0016e3d379e848d2d7c11bca6447153ca1ba0e80
   arena/utils/3rd-party-robot-packages:
     type: git
     url: https://github.com/Arena-Rosnav/3rd-party-robot-packages
@@ -47,6 +47,10 @@ repositories:
     type: git
     url: https://github.com/jackal/jackal.git
     version: 85e16bd7b3ea72a4b5a2d3ca8224e056d7ab1c70
+  extern/ros_tcp_endpoint:
+    type: git
+    url: https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git
+    version: 993d366b8900bf9f3d2da444fde64c0379b4dc7c
   planners/all_in_one:
     type: git
     url: https://github.com/Arena-Rosnav/all_in_one

arena_bringup/configs/scenarios/office_example.json

@@ -0,0 +1,289 @@
+{
+  "robots": [
+    {
+      "start": [24.0, 20.0, 0.7],
+      "goal": [2.0, 2.0, 0.0]
+    }
+  ],
+  "obstacles": {
+    "static": [
+      {
+        "name": "desk1",
+        "model": "office_desk",
+        "pos": [8.0, 7.0, 0]
+      },
+      {
+        "name": "chair1",
+        "model": "office_chair",
+        "pos": [8.0, 6.2, 4.71]
+      },
+      {
+        "name": "desk1_1",
+        "model": "office_desk",
+        "pos": [8.0, 8.0, 3.14] 
+      },
+      {
+        "name": "chair1_1",
+        "model": "office_chair",
+        "pos": [8.0, 8.9, 1.57]
+      },
+
+      {
+        "name": "desk2",
+        "model": "office_desk",
+        "pos": [11.0, 7.0, 0]
+      },
+      {
+        "name": "chair2",
+        "model": "office_chair",
+        "pos": [11.0, 6.2, 4.71]
+      },
+      {
+        "name": "desk2_1",
+        "model": "office_desk",
+        "pos": [11.0, 8.0, 3.14] 
+      },
+      {
+        "name": "chair2_1",
+        "model": "office_chair",
+        "pos": [11.0, 8.9, 1.57]
+      },
+
+      {
+        "name": "desk3",
+        "model": "office_desk",
+        "pos": [14.0, 7.0, 0]
+      },
+      {
+        "name": "chair3",
+        "model": "office_chair",
+        "pos": [14.0, 6.2, 4.71]
+      },
+      {
+        "name": "desk3_1",
+        "model": "office_desk",
+        "pos": [14.0, 8.0, 3.14] 
+      },
+      {
+        "name": "chair3_1",
+        "model": "office_chair",
+        "pos": [14.0, 8.9, 1.57]
+      },
+
+      {
+        "name": "desk4",
+        "model": "office_desk",
+        "pos": [17.0, 7.0, 0]
+      },
+      {
+        "name": "chair4",
+        "model": "office_chair",
+        "pos": [17.0, 6.2, 4.71]
+      },
+      {
+        "name": "desk4_1",
+        "model": "office_desk",
+        "pos": [17.0, 8.0, 3.14] 
+      },
+      {
+        "name": "chair4_1",
+        "model": "office_chair",
+        "pos": [17.0, 8.9, 1.57]
+      },
+
+      {
+        "name": "desk5",
+        "model": "office_desk",
+        "pos": [20.0, 7.0, 0]
+      },
+      {
+        "name": "chair5",
+        "model": "office_chair",
+        "pos": [20.0, 6.2, 4.71]
+      },
+      {
+        "name": "desk5_1",
+        "model": "office_desk",
+        "pos": [20.0, 8.0, 3.14] 
+      },
+      {
+        "name": "chair5_1",
+        "model": "office_chair",
+        "pos": [20.0, 8.9, 1.57]
+      },
+
+
+
+
+
+
+
+
+      {
+        "name": "desk6",
+        "model": "office_desk",
+        "pos": [8.0, 15.0, 0]
+      },
+      {
+        "name": "chair6",
+        "model": "office_chair",
+        "pos": [8.0, 14.2, 4.71]
+      },
+      {
+        "name": "desk6_1",
+        "model": "office_desk",
+        "pos": [8.0, 16.0, 3.14] 
+      },
+      {
+        "name": "chair6_1",
+        "model": "office_chair",
+        "pos": [8.0, 16.9, 1.57]
+      },
+
+
+
+      {
+        "name": "desk7",
+        "model": "office_desk",
+        "pos": [11.0, 15.0, 0]
+      },
+      {
+        "name": "chair7",
+        "model": "office_chair",
+        "pos": [11.0, 14.2, 4.71]
+      },
+      {
+        "name": "desk7_1",
+        "model": "office_desk",
+        "pos": [11.0, 16.0, 3.14] 
+      },
+      {
+        "name": "chair7_1",
+        "model": "office_chair",
+        "pos": [11.0, 16.9, 1.57]
+      },
+
+      {
+        "name": "desk8",
+        "model": "office_desk",
+        "pos": [14.0, 15.0, 0]
+      },
+      {
+        "name": "chair8",
+        "model": "office_chair",
+        "pos": [14.0, 14.2, 4.71]
+      },
+      {
+        "name": "desk8_1",
+        "model": "office_desk",
+        "pos": [14.0, 16.0, 3.14] 
+      },
+      {
+        "name": "chair8_1",
+        "model": "office_chair",
+        "pos": [14.0, 16.9, 1.57]
+      },
+
+      {
+        "name": "desk9",
+        "model": "office_desk",
+        "pos": [17.0, 15.0, 0]
+      },
+      {
+        "name": "chair9",
+        "model": "office_chair",
+        "pos": [17.0, 14.2, 4.71]
+      },
+      {
+        "name": "desk9_1",
+        "model": "office_desk",
+        "pos": [17.0, 16.0, 3.14] 
+      },
+      {
+        "name": "chair9_1",
+        "model": "office_chair",
+        "pos": [17.0, 16.9, 1.57]
+      },
+
+      {
+        "name": "desk10",
+        "model": "office_desk",
+        "pos": [20.0, 15.0, 0]
+      },
+      {
+        "name": "chair10",
+        "model": "office_chair",
+        "pos": [20.0, 14.2, 4.71]
+      },
+      {
+        "name": "desk10_1",
+        "model": "office_desk",
+        "pos": [20.0, 16.0, 3.14] 
+      },
+      {
+        "name": "chair10_1",
+        "model": "office_chair",
+        "pos": [20.0, 16.9, 1.57]
+      },
+
+      {
+        "name": "desk11",
+        "model": "office_desk",
+        "pos": [23.0, 15.0, 0]
+      },
+      {
+        "name": "chair11",
+        "model": "office_chair",
+        "pos": [23.0, 14.2, 4.71]
+      },
+      {
+        "name": "desk11_1",
+        "model": "office_desk",
+        "pos": [23.0, 16.0, 3.14] 
+      },
+      {
+        "name": "chair11_1",
+        "model": "office_chair",
+        "pos": [23.0, 16.9, 1.57]
+      }
+    ],
+
+    "dynamic": [
+      {
+        "name": "1",
+        "pos": [14.0, 2.0, 0.0],
+        "type": "adult",
+        "model": "actor1",
+        "waypoints": [
+            [2.0, 14.0, 0.0],
+            [14.0, 2.0, 0.0]
+        ],
+        "waypoint_mode": 1
+      },
+      {
+        "name": "2",
+        "pos": [2.0, 8.0, 0.0],
+        "type": "adult",
+        "model": "actor1",
+        "waypoints": [
+            [8.0, 2.0, 0.0],
+            [8.0, 2.0, 0.0]
+        ],
+        "waypoint_mode": 1
+      },
+      {
+        "name": "3",
+        "pos": [8.0, 2.0, 0.0],
+        "type": "adult",
+        "model": "actor1",
+        "waypoints": [
+          [2.0, 8.0, 0.0],
+          [8.0, 2.0, 0.0]
+        ],
+        "waypoint_mode": 1
+      }
+    ],
+    "interactive": []
+  },
+  "map": "map_empty"
+}

arena_bringup/configs/task_generator.yaml

@@ -11,14 +11,14 @@ STAGED:
 RANDOM:
   seed: -1
   static:
-    min: 5
-    max: 10
+    min: 0
+    max: 0
     models: ["shelf"]
   interactive:
     min: 0
     max: 0
     models: ["shelf"]
   dynamic:
-    min: 3
-    max: 15
+    min: 1
+    max: 3
     models: ["actor1"]

arena_bringup/launch/start_arena.launch

@@ -16,7 +16,7 @@
   <arg name="model" default="burger" doc="robot model type [burger, jackal, ridgeback, agvota, rto, ...]" />
   <arg name="inter_planner" default="bypass" doc="inter planner type [bypass, shortsighted, polite, aggressive, sideways]" />
   <arg name="local_planner" default="teb" doc="local planner type [teb, dwa, mpc, rlca, arena, rosnav, cohan]" />
-  <arg name="simulator" default="flatland" doc="[flatland, gazebo]" />
+  <arg name="simulator" default="flatland" doc="[flatland, gazebo, unity]" />
   <arg name="headless" default="0" doc="0 = show all, 1 = show only rviz, 2 = show nothing" />
   <env name="SIMULATOR" value="$(arg simulator)" />
   <param name="headless" value="$(arg headless)" /> 
@@ -130,6 +130,13 @@
     <arg name="headless" value="$(arg headless)" />
   </include>
 
+  <!-- Unity -->
+  <arg name="development_mode" default="false" />
+  <include file="$(find arena_bringup)/launch/testing/simulators/unity.launch" if="$(eval arg('simulator') == 'unity')">
+    <arg name="development_mode" value="$(arg development_mode)" />
+    <arg name="headless" value="$(arg headless)" />
+  </include>
+
   <!-- map server-->
   <include file="$(find arena_bringup)/launch/utils/map_server.launch">
     <arg name="map_file" value="$(arg map_file)" />

arena_bringup/launch/start_generate.launch

@@ -3,7 +3,6 @@
 
   <arg name="gui" default="true"/>
   <arg name="verbose" default="false"/>
-  <env name="GAZEBO_MODEL_PATH" value="$(find arena_simulation_setup)/gazebo_models" />
 
   <arg name="world_name" default=""/> 
 

arena_bringup/launch/testing/simulators/gazebo.launch

@@ -2,6 +2,7 @@
 <launch>
 
   <env name="GAZEBO_MODEL_PATH" value="$(find arena_simulation_setup)/worlds/$(arg world)/models" />
+  <env name="GAZEBO_MODEL_PATH" value="$(find arena_simulation_setup)/entities/obstacles/static" if="$(eval arg('world') == 'dynamic_map')"/>
 
   <arg name="world" default="turtlebot3_house" />
   <arg name="model" default="burger"/>
@@ -33,4 +34,4 @@
     <arg name="show_rviz" value="$(arg show_rviz)" />
   </include>
 
-</launch>
+  </launch>