scenario_execution_floorplan_dsl

Scenario Execution library for Floorplan DSL

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README

Scenario Execution Library for Floorplan DSL

The scenario_execution_floorplan_dsl package provides actions to interact with Floorplan DSL.

It provides the following scenario execution library:

• floorplan_dsl.osc: Floorplan DSL specific actions to create simulation worlds

Build

# build docker image of floorplan dsl
git clone https://github.com/secorolab/FloorPlan-DSL
cd FloorPlan-DSL
git checkout 34bd70bc89b285173226e27add6f4f5589de106a
docker build . --tag floorplan:latest

# build scenario execution and dependencies
source /opt/ros/humble/setup.bash
colcon build --packages-up-to scenario_execution_floorplan_dsl scenario_execution_ros scenario_execution_gazebo scenario_execution_nav2 tb4_sim_scenario
source install/setup.bash

Test

# run example scenario
ros2 run scenario_execution_ros scenario_execution_ros libs/scenario_execution_floorplan_dsl/example/example.osc -t