Moving_Obstacle_Gazebo

For running the world

In a terminal (Source the files)

$ roslaunch husky_gazebo mowito_world.launch

To edit the trajectory and velocity of moving obstacles

1) For cube

Move to the file

gazebo_world/src/gazebo/worlds/wall.world

From line 2487 to 2512.

To edit the trajectory, change the POSE values which are x,y coordinates in Lines (2493,2497,2501,2505,2509).

To change the velocity of the moving obstacle change the TIME value in each waypoint in Lines (2492,2496,2500.2504,2508) .The time is in seconds, counted from the beginning of the script, when the pose should be reached.Higher the time the obstacles moves slowly.

2) For SPHERE

Move to the file

gazebo_world/src/gazebo/worlds/wall.world

From line 2408 to 2433.

To edit the trajectory, change the POSE values which are x,y coordinates in Lines (2414,2418,2422,2426,2430).

To change the velocity of the moving obstacle change the TIME value in each waypoint in Lines (2413,2417,2421,2425,2429).The time is in seconds, counted from the beginning of the script, when the pose should be reached.Higher the time the obstacles moves slowly.