diff --git a/src/unitdev03/gazebo_native_manager.py b/src/unitdev03/gazebo_native_manager.py
new file mode 100644
index 0000000..8699188
--- /dev/null
+++ b/src/unitdev03/gazebo_native_manager.py
@@ -0,0 +1,174 @@
+#!/usr/bin/env python3
+import subprocess
+import argparse
+import time
+import psutil
+import h5py
+import numpy as np
+
+class GazeboModelManager:
+ def __init__(self):
+ self.base_cmd = "gz service -s /world/map"
+ self.timeout = 5000
+
+ def add_iris(self, number, x_pos, y_pos, yaw_angle):
+ cmd = f'''gz service -s /world/map/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 5000 --req 'sdf: "model://iris{number}{x_pos} {y_pos} 0.195 0 0 {yaw_angle}"' '''
+
+ try:
+ print(f"正在新增 iris{number}...")
+ print(f"位置: x={x_pos}, y={y_pos}, yaw={yaw_angle}度")
+ subprocess.run(cmd, shell=True, check=True)
+ print(f"成功新增 iris{number}")
+
+ sitl_instance = number - 1
+ port = 14550 + sitl_instance
+
+ sitl_cmd = f"sim_vehicle.py -v ArduCopter -f gazebo-iris{sitl_instance} -L NCHU --model JSON --map --console -I{sitl_instance} --out=127.0.0.1:{port}"
+ terminal_cmd = f'gnome-terminal -- bash -c "{sitl_cmd}; exec bash"'
+ print(f"正在啟動 SITL...")
+ subprocess.Popen(terminal_cmd, shell=True)
+
+ return True
+ except subprocess.CalledProcessError as e:
+ print(f"新增失敗: {e}")
+ return False
+
+ def cleanup_sitl(self, number):
+ instance_number = number - 1
+ print(f"正在清理 SITL 進程 {number}...")
+
+ cleanup_commands = [
+ f"pkill -f 'sim_vehicle.py.*-I{instance_number}'",
+ f"pkill -f 'arducopter.*-I{instance_number}'",
+ "pkill -f 'mavproxy.py.*map'",
+ "pkill -f 'mavproxy.py.*console'",
+ f"pkill -f 'mavproxy.*{instance_number}'",
+ "pkill -f 'python.*map.py'",
+ "pkill -f 'MAVProxy.py.*map'"
+ ]
+
+ for cmd in cleanup_commands:
+ try:
+ subprocess.run(cmd, shell=True)
+ except subprocess.CalledProcessError:
+ pass
+
+ time.sleep(2)
+ print(f"SITL 進程清理完成")
+
+ def remove_iris(self, number):
+ cmd = f'gz service -s /world/map/remove --reqtype gz.msgs.Entity --reptype gz.msgs.Boolean --timeout 1000 --req \'name: "iris{number}"\''
+
+ try:
+ print(f"正在移除 iris{number}...")
+ subprocess.run(cmd, shell=True, check=True)
+ print(f"成功移除 iris{number}")
+ return True
+ except subprocess.CalledProcessError as e:
+ print(f"移除失敗: {e}")
+ return False
+
+ def add_obstacle(self, number, x_pos, y_pos, radius=0.5, height=2.0):
+ cmd = f'''gz service -s /world/map/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 5000 --req 'sdf: "true{x_pos} {y_pos} {height/2} 0 0 0{radius}{height}{radius}{height}0.3 0.3 0.3 10.7 0.7 0.7 1"' '''
+
+ try:
+ print(f"正在新增障礙物 {number}...")
+ print(f"位置: x={x_pos}, y={y_pos}, radius={radius}, height={height}")
+ subprocess.run(cmd, shell=True, check=True)
+ return True
+ except subprocess.CalledProcessError as e:
+ print(f"新增失敗: {e}")
+ return False
+
+ def remove_obstacle(self, number):
+ cmd = f'gz service -s /world/map/remove --reqtype gz.msgs.Entity --reptype gz.msgs.Boolean --timeout 1000 --req \'name: "obstacle_{number}"\''
+
+ try:
+ print(f"正在移除障礙物 {number}...")
+ subprocess.run(cmd, shell=True, check=True)
+ print(f"成功移除障礙物 {number}")
+ return True
+ except subprocess.CalledProcessError as e:
+ print(f"移除失敗: {e}")
+ return False
+
+ def add_obstacles_from_mat(self, mat_file):
+ """從 .mat 檔案逐一生成障礙物"""
+ try:
+ with h5py.File(mat_file, 'r') as f:
+ x_data = f['#refs#/d'][()]
+ y_data = f['#refs#/e'][()]
+ z_data = f['#refs#/f'][()]
+ radius_data = f['#refs#/g'][()]
+ height_data = f['#refs#/h'][()]
+
+ data_matrix = np.vstack((x_data, y_data, z_data, radius_data, height_data)).T
+
+ for i, obstacle in enumerate(data_matrix):
+ x, y, _, radius, height = obstacle
+ success = self.add_obstacle(i+1, float(x), float(y), float(radius), float(height))
+ if not success:
+ print(f"警告：障礙物 {i+1} 新增失敗")
+ time.sleep(0.1)
+
+ print("所有障礙物新增完成")
+ return True
+
+ except Exception as e:
+ print(f"錯誤：讀取或處理 .mat 檔案時發生問題: {e}")
+ return False
+
+def main():
+ parser = argparse.ArgumentParser(description='Gazebo Iris and Obstacle Manager')
+ parser.add_argument('action', choices=['add', 'remove', 'cleanup', 'add_from_mat'],
+ help='Action to perform (add, remove, cleanup, or add_from_mat)')
+ parser.add_argument('type', choices=['iris', 'obstacle'],
+ help='Type of object to manage (iris or obstacle)')
+ parser.add_argument('number', type=int, nargs='?',
+ help='Object number (e.g., 4 for iris4 or obstacle_4)')
+ parser.add_argument('--x-pos', type=float, default=15.0,
+ help='X position for new object')
+ parser.add_argument('--y-pos', type=float, default=0.0,
+ help='Y position for new object')
+ parser.add_argument('--yaw', type=float, default=90.0,
+ help='Yaw angle in degrees for iris')
+ parser.add_argument('--radius', type=float, default=0.5,
+ help='Radius for obstacle cylinder')
+ parser.add_argument('--height', type=float, default=2.0,
+ help='Height for obstacle cylinder')
+ parser.add_argument('--mat-file', type=str,
+ help='Path to .mat file containing obstacles data')
+
+ args = parser.parse_args()
+ manager = GazeboModelManager()
+
+ if args.action == 'add_from_mat':
+ if args.type == 'obstacle' and args.mat_file:
+ manager.add_obstacles_from_mat(args.mat_file)
+ else:
+ print("錯誤：使用 add_from_mat 時需指定 --mat-file 參數")
+ elif args.action == 'add':
+ if args.number is None:
+ print("錯誤：使用 add 時需指定 number 參數")
+ return
+ if args.type == 'iris':
+ manager.add_iris(args.number, args.x_pos, args.y_pos, args.yaw)
+ else: # obstacle
+ manager.add_obstacle(args.number, args.x_pos, args.y_pos, args.radius, args.height)
+ elif args.action == 'cleanup':
+ if args.number is None:
+ print("錯誤：使用 cleanup 時需指定 number 參數")
+ return
+ if args.type == 'iris':
+ manager.cleanup_sitl(args.number)
+ else: # remove
+ if args.number is None:
+ print("錯誤：使用 remove 時需指定 number 參數")
+ return
+ if args.type == 'iris':
+ manager.remove_iris(args.number)
+ else:
+ manager.remove_obstacle(args.number)
+
+if __name__ == "__main__":
+ main()
\ No newline at end of file