arjo129 / rusty_gz_plugin

Experimental work combining rust and gazebo ina system. Does nothing useful

Gazebo Plugin Written in Rust: Crowd sim integration

This repo contains my experiments with rust + gazebo.

You will need Gazebo Garden installed. To build this repo simply run:

colcon build

corrosion-rs and cargo will take care of the rest of the magic.

C-API documentation

Complete documentation for the C-API can be found here

Plugin documentations

The plugin can be loaded like so:

 <plugin
      filename="libRustySystem.so"
      name="rusty::RustySystem">
      <!-- TODO: use relative paths -->
    <path>/home/arjo/workspaces/chartsim/src/chart_sim_maps/maps/ward45/ward45.building.yaml</path>
    <sources>
        <source_sink>
            <rate>1</rate>
            <start>-23 -1 0</start>
            <waypoints>
              <waypoint>9 -3 0</waypoint>
            </waypoints>
        </source_sink>
    </sources>
</plugin>

SDFormat Arguments

• <path> - Parameter specifies the path to the RMF building YAML.
• <sources> - List of crowd sources.
  • <source_sink> - An individual crowd source-sink (agents are spawned and follow a fixed path).
    • <rate> -Poisson rate at which to generate agents.
    • <start> - 3-Vector of start position. (Note: currently z is ignored)
    • <waypoints> - List of waypoints agent should go to . Agent is destroyed after reaching last waypoint
      • <waypoint> - Waypoint to visit. 3-vector also but z is ignored.