Creating a YAML Scenario

A YAML scenario allows you to utilize standard ROS grid maps with namosim. It is a bit more complex because it is designed to work with real robots using an image to represent the static map. It is composed of four files:

An image file representing the map (usually a .pgm or .png)
A map config yaml file
An SVG geometry file
A NAMO config yaml file

The first two items constitute a standard ROS map, see here for details.

The SVG file is a bit different in this case. It can have four layers:

a map_layer
a movables_layer
a goals_layer
a robots_layer

See below for an example.

The NAMO config yaml file provides the link between the SVG and the ROS map.

The Geometry File

Here are the contents of a minimal svg geometry file. All geometries in the world must be svg path elements and each must have an id attribute which is used by the <namo_config> to configure the geometry as an entity in the simulation.

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<svg
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   id="svg2"
   width="215"
   height="242"
   viewBox="0 0 215 242"
   sodipodi:docname="citi_ing.svg"
   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:xlink="http://www.w3.org/1999/xlink"
   xmlns="http://www.w3.org/2000/svg"
   xmlns:svg="http://www.w3.org/2000/svg">
  <defs
     id="defs6" />
  <sodipodi:namedview
     id="namedview4"
     pagecolor="#ffffff"
     bordercolor="#666666"
     borderopacity="1.0"
     inkscape:pageshadow="2"
     inkscape:pageopacity="0.0"
     inkscape:pagecheckerboard="0"
     showgrid="false"
     inkscape:zoom="2.5508439"
     inkscape:cx="68.408734"
     inkscape:cy="182.0966"
     inkscape:window-width="1850"
     inkscape:window-height="1136"
     inkscape:window-x="70"
     inkscape:window-y="27"
     inkscape:window-maximized="1"
     inkscape:current-layer="movables_layer" />
  <g
     inkscape:groupmode="layer"
     inkscape:label="Image"
     id="map_layer">
    <image
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       height="242"
       preserveAspectRatio="none"
       style="image-rendering:optimizeSpeed"
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       d="m 124.34237,120.20633 5.02352,0.97648 -0.97648,5.02352 -5.02352,-0.97648 z" />
    <path
       id="box_0-6"
       style="fill:#00ffff;stroke-width:79.3702;stroke-miterlimit:10"
       d="m 121.80991,162.38537 6.87139,1.33567 -1.33567,6.87139 -6.87139,-1.33567 z" />
  </g>
  <g
     inkscape:groupmode="layer"
     id="goals_layer"
     inkscape:label="goals">
    <path
       sodipodi:type="star"
       style="fill:#00ff00;stroke-width:113.386;stroke-miterlimit:10"
       id="goal_0"
       inkscape:flatsided="true"
       sodipodi:sides="20"
       sodipodi:cx="148.11133"
       sodipodi:cy="145.55975"
       sodipodi:r1="4.6544375"
       sodipodi:r2="4.5971336"
       sodipodi:arg1="0.8278723"
       sodipodi:arg2="0.98495194"
       inkscape:rounded="0"
       inkscape:randomized="0"
       d="m 151.2598,148.98772 -1.2134,0.80515 -1.40281,0.39079 -1.45492,-0.0618 -1.3646,-0.5084 -1.14071,-0.9052 -0.80515,-1.21339 -0.39079,-1.40282 0.0618,-1.45491 0.5084,-1.3646 0.9052,-1.14071 1.2134,-0.80515 1.40281,-0.39079 1.45492,0.0618 1.3646,0.5084 1.1407,0.90521 0.80516,1.21339 0.39078,1.40282 -0.0618,1.45491 -0.5084,1.3646 z"
       agent_id="robot_0" />
  </g>
</svg>

Here is the same file rendered as an image:

You can see the robot starting position in the top left. To the right of the robot is a movable box. The walls are in black. The robot goal pose is visible in the bottom right.

We recommend using Inkscape to edit your svg geometry file.

Units

As before, all units in the SVG geometry file be in centimeters. The ROS map should have units in meters.

Namo Config Yaml File

The namo config yaml file links the svg to the ros map and provides configuration settings for each robot in the scenario. The full specification is defined by the NamoConfigYamlModel class which can be found in namosim/data_models.py.

Example:

map_yaml: citi_ing.yaml
svg_file: citi_ing.svg
agents:
  - id: robot_0
    initial_pose: [6.6, 9.5, 0]
    radius: 0.2
    behavior:
      type: stilman_2005_behavior