Usage

Environment

The arena environment can be activated using . arena.bash while in the workspace root. This automatically activates the ros2 and python environments.

(Optional) update.

Update arena using ros2 run arena_bringup pull.

Build your workspace using . colcon_build. This is a wrapper around colcon_build and only rebuilds packages with newer timestamps in the src folder. Specify --packages-select to ignore that. All arguments are passed through to colcon_build.

The build is performed as a symlink install and may lead to issues when moving/deleting files. In that case, manually run rm -r build/<problematic_package> install/<problematic_package> and rebuild.

Starting

To start a simulation just launch the arena.launch file in the arena_bringup package.

ros2 launch arena_bringup arena.launch.py sim:=gazebo

The launch file takes following parameters:

Name	Default	Type	Description
robot	jackal	string	robot you want to simulate. Supports syntax name[2] for multiple instances of the same robot. Supports syntax file.yaml to reference the robot setup file arena_bringup/configs/robot_setup/file.yaml Supports comma-separated lists of the above, e.g. jackal,turtlebot[2],demo.yaml
world	map_empty	string	Name of the world.
sim	dummy	string	Name of the simulator
human	hunav	string	Name of the human simulator
global_planner	navfn	string	Name of the nav2 planner you want to use.
local_planner	dwb	string	Name of the nav2 controller you want to use.
tm_robots	random	string	robots task mode
tm_obstacles	random	string	obstacles task mode
tm_modules		string	modules task modes
record_data	false	bool	Wether you want to record the robot data during the run for later evaluations with the arena_evaluation package.