gazebo-plugin-autonomous-actor's Introduction

GAZEBO Plugin Autonomous Actor

This repository is Gazebo plugin for actor to navigation in simulation environment autonomously.
Please refer for more usage of actor in Gazebo at this repository

Installation

This code may be treated as a ROS package. Therefore, it can be built with catkin_make or catkin build.

mkdir -p catkin_ws/src
cd catkin/src
git clone https://github.com/BruceChanJianLe/gazebo-plugin-autonomous-actor.git
cd ..
catkin_make

Usage

Add your plugin in your sdf world file.

<actor name="actor0">
    <pose>0 0 0 0 0 0</pose>
    <skin>
    <filename>walk.dae</filename>
    <scale>1.0</scale>
    </skin>
    <animation name="walking">
    <filename>walk.dae</filename>
    <scale>1.000000</scale>
    <interpolate_x>true</interpolate_x>
    </animation>

    <plugin name="actor0_plugin" filename="libAutonomousActorPlugin.so">
    <target_weight>1.15</target_weight>
    <obstacle_weight>1.8</obstacle_weight>
    <animation_factor>5.1</animation_factor>
    <!-- Usage: Modify the set of models that the vector field should
            ignore when moving the actor -->
    <ignore_obstacles>
        <model>cafe</model>
        <model>ground_plane</model>
    </ignore_obstacles>
    <targets>
        <target>0 -5 0</target>
        <target>0 0 0</target>
        <target>-3 -4 0</target>
    </targets>
    </plugin>
</actor>

Parameters

ACTOR

pose: Modify the element of each actor to change their starting location.

AUTONOMOUS ACTOR PLUGIN

targets: The element contains multiple elements.
target: Add element for actor to navigate to in sequence.
target_tolerance: Modify <target_tolerance> for invoking next target. Please note that the Gazebo simulator is not very accurate.