# Dynamic World Generator Wizard – Open-source tool for creating dynamic Gazebo worlds

**URL:** <https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-open-source-tool-for-creating-dynamic-gazebo-worlds/49751>\
**Category:** Gazebo Ideas\
**Tags:** harmonic\
**Created:** [August 26, 2025, 4:07pm UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-open-source-tool-for-creating-dynamic-gazebo-worlds/49751 "2025-08-26T16:07:11Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![ali.pahlevani](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ali.pahlevani/32/30216_2.png) [@ali.pahlevani](https://discourse.openrobotics.org/u/ali.pahlevani)\
**Post date:** [August 26, 2025, 4:07pm UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-open-source-tool-for-creating-dynamic-gazebo-worlds/49751/1 "2025-08-26T16:07:11Z")

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Hi everyone,

I’d like to share a project I’ve been working on: the **Dynamic World Generator Wizard (v1)** 🎉  
An open-source tool to quickly create **dynamic simulation environments** in Gazebo (Harmonic & Fortress).

Instead of static test setups, you can now add:

- 🧱 Custom walls & static obstacles (boxes, cylinders, spheres)

- 🔄 Dynamic obstacles with **linear, elliptical, or polygon** motions

- 👀 Real-time preview + **SDF export** to Gazebo

### Why it matters

Robots operate in **dynamic** environments full of moving people and objects. Robust SLAM, navigation, and autonomy need simulation tools that reflect that complexity.

### Use cases

- SLAM & Navigation benchmarking

- Mobile robot & autonomous driving development

- Research & teaching

👉 **GitHub repo:** [Dynamic World Generator Wizard](https://github.com/ali-pahlevani/Dynamic_World_Generator)  
👉 **LinkedIn post:** [here](https://www.linkedin.com/posts/ali-pahlevani_robotics-simulation-gazebo-activity-7364615642437636097-wRKe?utm_source=share&utm_medium=member_desktop&rcm=ACoAACGJWNQBpAMOM0nM0n4-0j-YrwjkTaSaeAw)

Would love to hear feedback, ideas, or contributions from the community!

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**Author:** ![fenixionsoul](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/fenixionsoul/32/22355_2.png) [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Post date:** [August 30, 2025, 11:42am UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-open-source-tool-for-creating-dynamic-gazebo-worlds/49751/2 "2025-08-30T11:42:06Z")

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Great job, **[Ali](https://discourse.openrobotics.org/u/ali.pahlevani)**!

From my side - RobotCAD integrated Dynamic World Generator Wizzard as a tool for creating Gazebo maps.

> **[v9.3.0 · drfenixion freecad.robotcad · Discussion #99](https://github.com/drfenixion/freecad.robotcad/discussions/99)**
>
> Improvements: Add "Create custom world" tool based on Dynamic World Generator repo. It let you create Gazebo world with static and dynamic obstacles directly in RobotCAD. Add Gazebo Harmonic instal...

[RobotCAD - Dynamic world creating — Video | VK](https://vk.com/video-219386643_456239082) - video demo

 ![world_creating](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/c/8/c8dae8e7ca29f10b6ba0d2057c04570730839625.png)

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**Author:** ![bogdanmm](https://avatars.discourse-cdn.com/v4/letter/b/54ee81/32.png) [@bogdanmm](https://discourse.openrobotics.org/u/bogdanmm)\
**Post date:** [September 12, 2025, 1:29pm UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-open-source-tool-for-creating-dynamic-gazebo-worlds/49751/3 "2025-09-12T13:29:16Z")

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Very nice, thanks so much for your work! I think it would be great to have an option like in Gazebo Classic, where you can import a floorplan image, detect the scale, and draw the walls like in this video: [https://www.youtube.com/watch?v=ZLSY-yS5XK4](https://www.youtube.com/watch?v=ZLSY-yS5XK4)