Sample Simulation World

Sample World

The sample world was updatd on 12th August,2022. Please use the updated obstacle positions given below.

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:

				"embed_model_0": {
					"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"
				}
			},

The gazebo world will look like the image below:

This is just a sample world for the Pre-Finale Round.

In Pre-finale and Grand Finale round, there will be both moving and static obstacles. More obstacles will be added in these rounds. Positions and direction of traffic signs (& lights) will be changed.

Make traffic light change colour during simulation

The sample world was updatd on 12th August,2022. Please use the updated traffic light positions given below

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/manish/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.py

Run 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.

This script is only compatible for sample track given above. If you want to use the script for other locations of red light in the gazebo, world then edit the -x -y -z -R -P -Y values accordingly

PreviousAdding Obstacles to Simulation WorldNextPre-Finale Simulation World

Last updated