Random

Obstacles

The random task spawns a variety of static and dynamic obstacles upon each reset, with models chosen randomly. To adjust the types and quantities of obstacles, modify the task_mode/random parameter in src/arena-rosnav/arena_bringup/configs/task_generator.yaml.

e.g.

RANDOM:
  seed: -1
  static:
    min: 0
    max: 0
    models: ["shelf"]
  interactive:
    min: 1
    max: 5
    models: ["shelf"]
  dynamic:
    min: 1
    max: 5
    models: ["actor1"]

For each obstacle type, define the range of spawnable instances (minimum and maximum) and the available models. To specify the amount of obstacles for a specific model, refer to the Parametrized task mode.

Robot

The random task mode generates new start and goal positions for the robot with each task reset.

Seed

The seed parameter controls the random seed used for obstacle, robot start, and goal position generation. Providing a seed allows for stable reproduction of tasks. A value of -1 indicates a random seed will be used.

Usage

roslaunch arena_bringup start_arena.launch model:=jackal