Pre-Finale Simulation World
Adding Static Obstacles
To add obstacles into the simulation environment, navigate to ~/ros2ws/src/sim_gazebo_bringup/config in the software stack and open the gen_params.json file.
To add obstacles navigate to the "embedded_models"_ sub-tag in the "world_params"_ tag. Then copy the following code:
"model": "Raceway2",
"name": "Raceway_1_track",
"pose": "0 0 0.04000 0 0 0"
},
"embed_model_1": {
"model": "start_point",
"name": "start_point_1",
"pose": "0.533241 0 0.067473 0 0 0"
},
"embed_model_2": {
"model": "start_point",
"name": "start_point_2",
"pose": "-0.533241 0 0.067473 0 0 0"
},
"embed_model_3": {
"model": "turn_right_sign",
"name": "turn_left_1",
"pose": "6.961647 6.999404 0.141243 0 0 0.224956"
},
"embed_model_4": {
"model": "turn_right_sign",
"name": "turn_left_2",
"pose": "7.157476 7.866743 0.139078 0 0 -0.480452"
},
"embed_model_8": {
"model": "turn_left_sign",
"name": "turn_left_3",
"pose": "-0.001217 2.517102 0.141243 0 0 1.561054"
},
"embed_model_9": {
"model": "turn_left_sign",
"name": "turn_left_4",
"pose": "-0.450366 3.231226 0.141243 0 0 0.563165"
},
"embed_model_5": {
"model": "turn_left_sign",
"name": "turn_right_0",
"pose": "6.101090 7.838730 0.141243 0 0 -1.401961"
},
"embed_model_6": {
"model": "turn_left_sign",
"name": "turn_right_1",
"pose": "6.039118 7.043794 0.141243 0 0 -1.401962"
},
"embed_model_7": {
"model": "turn_left_sign",
"name": "turn_right_2",
"pose": "6.850454 6.458070 0.317739 0 0 -2.318629"
},
"embed_model_10": {
"model": "stop_traffic_sign",
"name": "stop_traffic_sign",
"pose": "1.394454 1.362193 0.153013 0 0 1.582700"
},
"embed_model_11": {
"model": "finish_line",
"name": "finish_line",
"pose": "1.264966 1.625857 0.014189 0 0 1.546246"
},
"embed_model_12": {
"model": "turn_right_sign",
"name": "turn_right_01",
"pose": "6.036990 -1.957740 0.141243 0 0 -3.010565"
},
"embed_model_13": {
"model": "turn_right_sign",
"name": "turn_right_02",
"pose": "5.892650 -1.129460 0.141243 0 0 -3.010571"
},
"embed_model_14": {
"model": "turn_right_sign",
"name": "turn_right_03",
"pose": "7.008253 -1.155979 0.141243 0 0 -0.034782"
},
"embed_model_15": {
"model": "turn_right_sign",
"name": "turn_right_04",
"pose": "6.967960 -1.997830 0.141243 0 0 -0.034782"
},
"embed_model_16": {
"model": "car",
"name": "car_1",
"pose": "1.520010 -2.371180 0 0 0 0"
},
"embed_model_17": {
"model": "car_blue",
"name": "car_2",
"pose": "3.778930 -0.209861 0 0 0 0"
},
"embed_model_18": {
"model": "dumpster2",
"name": "dumpster_1",
"pose": "6.209020 3.039650 0 0 0 0"
},
"embed_model_19": {
"model": "dumpster2",
"name": "dumpster_2",
"pose": "6.787890 3.078500 0 0 0 0"
},
"embed_model_20": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_1",
"pose": "5.196230 7.230290 0 0 0 0"
},
"embed_model_21": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_2",
"pose": "4.985940 7.626090 0 0 0 0"
},
"embed_model_22": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_3",
"pose": "4.866470 7.247080 0 0 0 0"
},
"embed_model_23": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_4",
"pose": "4.835070 7.643900 0 0 0 0"
},
"embed_model_24": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_5",
"pose": "4.604640 7.258980 0 0 0 0"
},
"embed_model_25": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_6",
"pose": "4.439520 7.363690 0 0 0 0"
},
"embed_model_26": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_7",
"pose": "4.256437 7.416032 0 0 0 0"
},
"embed_model_27": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_8",
"pose": "4.100130 7.720550 0 0 0 0"
},
"embed_model_28": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_9",
"pose": "3.975580 7.679610 0 0 0 0"
},
"embed_model_29": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_10",
"pose": "3.976610 7.328560 0 0 0 0"
},
"embed_model_30": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_11",
"pose": "3.767880 7.589030 0 0 0 0"
},
"embed_model_31": {
"model": "Construction_Cone_mini",
"name": "Construction_Cone_12",
"pose": "3.637660 7.525750 0 0 0 0"
},
"embed_model_32": {
"model": "barricade",
"name": "barricade_1",
"pose": "0.326338 5.906060 0.030935 0 0 0"
},
"embed_model_33": {
"model": "barricade",
"name": "barricade_2",
"pose": "-0.245990 5.526630 0.030935 0 0 0"
},
"embed_model_34": {
"model": "barricade",
"name": "barricade_3",
"pose": "0.297154 4.981470 0.030935 0 0 0"
},
"embed_model_35": {
"model": "barricade",
"name": "barricade_4",
"pose": "-0.268218 4.486810 0.030935 0 0 0"
},
"embed_model_36": {
"model": "barricade",
"name": "barricade_5",
"pose": "1.716760 8.794882 0.479858 0 0 0"
},
"embed_model_37": {
"model": "person_2",
"name": "person_1",
"pose": "6.255060 0.113153 0 0 0 0"
},
"embed_model_38": {
"model": "person_1",
"name": "person_2",
"pose": "3.677107 4.207261 0.468489 0 0 0"
},
"embed_model_39": {
"model": "postbox2",
"name": "postbox_1",
"pose": "6.805440 -3.120050 0 0 0 0"
},
"embed_model_40": {
"model": "oak_tree_mini",
"name": "tree_1",
"pose": "9.417270 -3.485010 0 0 0 0"
},
"embed_model_41": {
"model": "oak_tree_mini",
"name": "tree_2",
"pose": "9.611970 4.774720 0 0 0 0"
},
"embed_model_42": {
"model": "oak_tree_mini",
"name": "tree_3",
"pose": "6.616697 9.718095 0.441569 0 0 0"
},
"embed_model_43": {
"model": "traffic_light_red",
"name": "traffic_light",
"pose": "1.322568 7.290203 0.680126 0 0 1.528681"
},
"embed_model_44": {
"model": "fire_hydrant2",
"name": "fire_hydrant_1",
"pose": "8.499910 6.678930 0 0 0 0"
},
"embed_model_45": {
"model": "start_point",
"name": "start_point_0001",
"pose": "6.305489 1.876002 0 0 0 0"
},
"embed_model_48": {
"model": "barricade",
"name": "barricade",
"pose": "2.194609 -1.300408 0.018361 -0.093369 -0.009292 0"
},
"embed_model_51": {
"model": "car_blue",
"name": "car62",
"pose": "6.771580 0.623883 0 0 0 0"
},
"embed_model_58": {
"model": "car_blue",
"name": "car63",
"pose": "6.774790 1.007196 0 0 0 0"
},
"embed_model_59": {
"model": "car_blue",
"name": "car64",
"pose": "6.781790 0.823987 0 0 0 0"
},
"embed_model_60": {
"model": "postbox2",
"name": "postbox_2",
"pose": "6.707060 -4.025880 0 0 0 0"
},
"embed_model_61": {
"model": "postbox2",
"name": "postbox_3",
"pose": "6.873150 -4.212660 0 0 0 0"
},
"embed_model_62": {
"model": "postbox2",
"name": "postbox_4",
"pose": "7.157350 -4.368260 0 0 0 0"
},
"embed_model_63": {
"model": "oak_tree_mini",
"name": "tree_4",
"pose": "7.443300 -4.516780 0 0 0 0"
},
"embed_model_64": {
"model": "oak_tree_mini",
"name": "tree_5",
"pose": "7.727030 -4.570390 0 0 0 0"
},
"embed_model_65": {
"model": "oak_tree_mini",
"name": "tree_6",
"pose": "7.960390 -4.552590 0 0 0 0"
},
"embed_model_69": {
"model": "fire_hydrant2",
"name": "fire_hydrant_5",
"pose": "8.310840 -3.954310 0 0 0 0"
},
"embed_model_70": {
"model": "postbox2",
"name": "postbox_5",
"pose": "6.707060 -4.025880 0 0 0 0"
},
"embed_model_71": {
"model": "fire_hydrant2",
"name": "fire_hydrant_6",
"pose": "8.485060 -3.880990 0 0 0 0"
},
"embed_model_72": {
"model": "car",
"name": "car1",
"pose": "5.964630 -0.569309 0 0 0 0"
},
"embed_model_73": {
"model": "car",
"name": "car2",
"pose": "8.089680 3.431590 0 0 0 0"
},
"embed_model_77": {
"model": "car_red",
"name": "car6",
"pose": "2.798470 7.770910 0 0 0 0"
},
"embed_model_78": {
"model": "car_blue",
"name": "car7",
"pose": "3.219050 7.743590 0 0 0 -0.722550"
},
"embed_model_79": {
"model": "car",
"name": "car11",
"pose": "2.379117 7.836338 0 0 0 -0.722550"
},
"embed_model_80": {
"model": "car_blue",
"name": "car12",
"pose": "3.019249 7.028828 0 0 0 -0.722550"
},
"embed_model_81": {
"model": "car",
"name": "car13",
"pose": "2.240290 7.064150 0 0 0 -0.722550"
},
"embed_model_90": {
"model": "oak_tree_mini",
"name": "tree_18",
"pose": "9.798663 5.240543 0 0 0 0"
},
"embed_model_91": {
"model": "oak_tree_mini",
"name": "tree_19",
"pose": "9.713505 4.396950 0 0 0 0"
},
"embed_model_92": {
"model": "oak_tree_mini",
"name": "tree_20",
"pose": "9.656664 4.021600 0 0 0 0"
},
"embed_model_93": {
"model": "oak_tree_mini",
"name": "tree_21",
"pose": "9.749110 5.729170 0 0 0 0"
},
"embed_model_94": {
"model": "oak_tree_mini",
"name": "tree_22",
"pose": "9.573650 6.120090 0 0 0 0"
},
"embed_model_95": {
"model": "oak_tree_mini",
"name": "tree_23",
"pose": "9.475110 6.494870 0 0 0 0"
}
},Adding Moving Obstacles
First download the given .zip file and save it in ~/ros2ws/nxp_gazebo/ directory.
To add moving obstacles into the simulation navigate to gen.world.jinja located at **~/ros2ws/nxp_gazebo/worlds ** in the software stack. Navigate to line 115. Below this line instert following lines of code:
<include>
<uri>model://car_blue</uri>
<name>moving_car</name>
<pose>-1.562250 3.107690 0 0 0 0</pose>
<plugin name="push_animate" filename="/home/aditya/ros2ws/nxp_gazebo/custom_pluggins/car_animation/build/libanimated_car.so"/>
</include>
<include>
<uri>model://person_1</uri>
<name>moving_person_1</name>
<pose>-2.071470 0.387716 0.018239 0 0 1.612632</pose>
<plugin name="push_animate2" filename="/home/aditya/ros2ws/nxp_gazebo/custom_pluggins/person_animation_x_dir/build/libanimated_person_xDir.so"/>
</include>
<include>
<uri>model://person_1</uri>
<pose>2.603500 0.543162 0.018239 0 0 0</pose>
<name>moving_person_2</name>
<plugin name="push_animate3" filename="/home/aditya/ros2ws/nxp_gazebo/custom_pluggins/person_animation_y_dir/build/libanimated_person_yDir.so"/>
</include>Please make sure to provide the full path of the plugin to be used as many times gazebo have problems in locating custom plugin files. Also replace the /home/aditya/ros2ws with the path in your own system.
Make traffic light change colour during simulation
In spawn_light.py file, replace the content of the file with following lines of code:
from time import sleep
spawn_green="gz model --spawn-file=/home/aditya/ros2ws/nxp_gazebo/models/traffic_light_green/model.sdf --model-name=lightGreen -x 1.496568 -y 7.320472 -z 0.778152 -R -3.121948 -P -0.006105 -Y 1.503726"
del_green="gz model -m lightGreen -d"
while(True):
sleep(10)
os.system(spawn_green)
sleep(10)
os.system(del_green) While simulation is running, open a new terminal and run the following command:
$ python3 spawn_light.pyRun the above command only when gazebo has started and initialized succesfully
This script will enable changing of red light to green light (and vice versa) in simulation after 10 seconds interval.
Pre-finale World Visualised
The gazebo world will look like the image below:
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