How to make an actor do path planning

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Hi,

I am trying to build a gazebo environment, in which a walking person actor needs to do path planning in the given world, meaning generating random target and find a relatively smooth path towards it and avoid obstacles. I have two questions:

1. I modified corridor.world and use it as the basic world, with walls around. With the code example, I use the same obstacle handler function. But the actor just goes through the wall. I checked that each wall is a collision model, and the ignore_obstacles in the actor part doesn't include those wall models. I am very confused why the actor doesn't consider wall as an obstacle.

2. What should I do if I want to make the actor do path planning in the given world? I didn't find the api that can get the occupancy map, and here is the world document. Is it possible to use move_base on actor? I can set a ros param which includes the map.yaml, thus get the cost map.

I am fairly new to gazebo and I will appreciate if you can shed some light on this or share some similar examples.

I am using Gazebo 8.

Thanks in advance.