Worlds

Add a new world under arena_simulation_setup/worlds.

A world folder must contain the following structure:

<world_name>/
    map/
        map.png
        map.yaml
    scenarios/
        default.json
    world.yaml

Generating Worlds

You can automatically generate worlds using arena-tools:

ros2 run arena_simulation_setup generate_world

You can implement custom world generators in arena_simulation_setup/arena_simulation_setup/utils/generative.

Editing Scenarios

You can modify and add scenarios using arena-tools:

ros2 run arena_tools scenario_editor