Configuring World

The simulation world is defined by a YAML file as shown below. Examples can be found in flatland_server/tests.

# required, world properties
properties:

  # optional, defaults to 10, number of velocity iterations for the Box2D
  # physics solver
  velocity_iterations: 10

  # optional, defaults to 10, number of position iterations for the Box2D
  # physics solver
  position_iterations: 10



# required, specifies a list of layers, maximum number of layers is 16,
# constrained by Box2D's collision masks
layers:

    # required, name of the layer, each layer name must be unique
  - name: "layer_1"

    # required, path to the map yaml file, begin with "/" to indicate
    # absolute path, otherwise relative path w.r.t this file is used
    map: "layer_1.yaml"

    # optional, defaults to [1, 1, 1, 1], color for visualization specified
    # by [r, g, b, alpha]
    color: [1, 1, 1, 1]

    # you can also specify a list of names. These names will point to the same
    # entity in the physics engine. This introduces an efficient way of organizing
    # entities into the same physical layer without loading the same map more
    # than once. Only the first name in this list is used to identify this entity,
    # such as in visualizations or collision handling. The number of layers here
    # also counts towards the maximum number of 16 layers.
  - name: ["layer_2", "layer_3", "layer_4"]
    map: "/absolute/path/layer_2.yaml"



# optional, specifies a list of models to be loaded into the world, if you
# don't need models to load right at the start, you don't need provide this
# yaml entry
models:

    # required, name of the model, must be unique in the world
  - name: turtlebot1

    # optional, defaults to "", specifies the namespace of the robot. Used
    # for situations where multiple models of the same type are instantiated,
    # in order to avoid conflicts in TF transforms and ROS topic names. It is
    # used to initialize the namespace of the node handle of model plugins
    # under this model. Not enforced to be unique when set, but it should be
    # unique for all practical purposes
    namespace: ""

    # optional, defaults to [0, 0, 0], pose to put the model, in the format
    # of [position x, position y, angle yaw] in the world coordinate
    pose: [0, 0, 0]

    # required, path to the model yaml file, begin with "/" to indicate
    # absolute path, otherwise relative path w.r.t this file is used
    model: "turtlebot.model.yaml"

  - name: turtlebot12
    namespace: "turtlebot2"
    model: "turtlebot.model.yaml"

  - name: person
    model: "/absolute/path/person.model.yaml"