[Feature request]: Provide world layout and flexible fidelity simulation setup from SiteEditor
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Assessment
- Difficulty
- 5/5
- Estimated time
- Over a week
- Newbie friendliness
- 35/100
Research direction
Start by reviewing rmf_site_format/src/templates/gz_world.sdf, the legacy rmf_building_map_tools custom-base-SDF flow, and rmf_simulation's current export path. Define the scope for selecting SDF presets or custom files first, then assess the separate scenario-export milestone; done should include the requested Site Editor workflow and, for full export, a runnable ROS/Gazebo simulation with Nav2.
Written by the indexing model from the issue text.
Description
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Description
We have a great visualization tool for setting up scenarios. However, we are not utilizing said tool in the prototype.
For systems running Nav2 natively, simulating the environment with at least a 2D LiDAR is essential, with potential interest in full end-to-end (E2E) testing. Conversely, for end-users working with VDA5050, simple event-driven simulations may suffice. While we can currently export simulations to Gazebo via rmf_simulation, expanding support to accommodate these additional use cases is highly desirable.
Implementation
- Milestone 1: Custom SDF World Export
The most straightforward approach to achieving variable simulation fidelity is to support loading custom base Simulation Description Format (SDF) files. The legacy build pipeline in rmf_building_map_tools allows specifying a custom base SDF. Currently, the base SDF file is hardcoded here; introducing a user interface to select alternative base files should be relatively straightforward. Additionally, providing a collection of standard presets would be beneficial. (See https://github.com/open-rmf/rmf_site/pull/437) - Milestone 2: Scenario Export
Although scenarios can be created within the Site Editor, executing them end-to-end is not yet supported. Ideally, users should be able to export a complete ROS and Gazebo simulation with Nav2 integrated via a single button click.
Alternatives
Developing native simulation capabilities directly within the Site Editor is a complex undertaking due to the varying levels of fidelity required. Currently, established simulators like Gazebo and Isaac Sim make this not worth our time and effort.
Additional information
No response
- Dominant language
- Python
- Stars
- 10
- Forks
- 9
- Avg merge
- 3h 21m
- Merged PRs (30d)
- 1
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First steps
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