Dynamic obstacles in ignition (e.g. walking pedestrian)

[marc-wittwer]

I'm trying to find a way to add walking pedestrians to gazebo ignition via sending external position updates via a script.

I found the terminal command to interact with the ign services /set_pose:

ign service -s /world/my_world/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 300 --req 'name: "spawned_model", position: {z: 5.0}'

However, by sending these /set_pose commands very frequently the performance of ignition drops to a real time factor of 2%.

Is there a way to set of the position more frequently without the performance loss?

[marc-wittwer]

I found that there are actors in ignition which can follow predefined paths.
https://gazebosim.org/docs/citadel/actors

However, this path is not changeable during runtime.