Please enter the commit message for your changes. Lines starting
with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 31 commits. (use "git push" to publish your local commits) Changes to be committed: new file: .gitignore new file: .vscode/c_cpp_properties.json new file: .vscode/launch.json new file: .vscode/settings.json new file: CLAUDE.md new file: README.md new file: bashes/README.md new file: bashes/radar-driver-switch.sh new file: bashes/radar-driver-switch.sh.bak new file: dependencies/dependencies.txt new file: src/LSLIDAR_X_ROS2-20240228/src/README.md new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc.bak new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/version.txt new file: src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh new file: "src/LSLIDAR_X_ROS2-20240228/src/\351\225\255\347\245\236Lsx\351\233\267\350\276\276\346\227\213\350\275\254\350\247\222\345\272\246.png" new file: src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py new file: "src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py\344\273\205\345\234\250WHEELTEC\351\225\234\345\203\217\344\270\255\344\275\277\347\224\250" new file: src/cyy_navigation2/CMakeLists.txt new file: src/cyy_navigation2/bt/follow_point.xml new file: src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_distance.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_speed.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_time.xml new file: src/cyy_navigation2/bt/odometry_calibration.xml new file: src/cyy_navigation2/config/nav2_params.yaml new file: src/cyy_navigation2/launch/car_bringup.launch.py new file: src/cyy_navigation2/launch/cyy_nav.launch.py new file: src/cyy_navigation2/launch/cyy_nav_box.launch.py new file: src/cyy_navigation2/maps/cyy_map.data new file: src/cyy_navigation2/maps/cyy_map.pgm new file: src/cyy_navigation2/maps/cyy_map.yaml new file: src/cyy_navigation2/maps/cyy_map1.pgm new file: src/cyy_navigation2/maps/cyy_map1.yaml new file: src/cyy_navigation2/package.xml new file: src/cyy_navigation2/param/nav2_params.yaml new file: src/cyy_navigation2/param/slam_toolbox_localization.yaml new file: src/cyy_slamtoolbox/CMakeLists.txt new file: src/cyy_slamtoolbox/config/angular_filter_example.yaml new file: src/cyy_slamtoolbox/config/box_filter_example.yaml new file: src/cyy_slamtoolbox/config/footprint_filter_example.yaml new file: src/cyy_slamtoolbox/config/intensity_filter_example.yaml new file: src/cyy_slamtoolbox/config/laser_filter_config.yaml new file: src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/cyy_slamtoolbox/config/mapper_params_localization.yaml new file: src/cyy_slamtoolbox/config/mapper_params_offline.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_async.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/cyy_slamtoolbox/config/mask_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml new file: src/cyy_slamtoolbox/config/multiple_filters_example.yaml new file: src/cyy_slamtoolbox/config/pass_through_example.yaml new file: src/cyy_slamtoolbox/config/polygon_filter_example.yaml new file: src/cyy_slamtoolbox/config/range_filter_example.yaml new file: src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml new file: src/cyy_slamtoolbox/config/sector_filter_example.yaml new file: src/cyy_slamtoolbox/config/shadow_filter_example.yaml new file: src/cyy_slamtoolbox/config/slam_toolbox_default.rviz new file: src/cyy_slamtoolbox/config/speckle_filter_example.yaml new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py new file: src/cyy_slamtoolbox/launch/filter.launch.py new file: src/cyy_slamtoolbox/package.xml new file: src/gc_navigation2_real/CMakeLists.txt new file: src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml new file: src/gc_navigation2_real/config/slam_toolbox_async_real.yaml new file: src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml new file: src/gc_navigation2_real/launch/real_bringup.launch.py new file: src/gc_navigation2_real/launch/real_nav2_slam.launch.py new file: src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py new file: src/gc_navigation2_real/launch/real_slam_mapping.launch.py new file: src/gc_navigation2_real/maps/Readme.txt new file: src/gc_navigation2_real/package.xml new file: src/gc_navigation2_real/params/gc_navigation_slam_real.yaml new file: src/gc_navigation2_slamtoolbox/CMakeLists.txt new file: src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py new file: src/gc_navigation2_slamtoolbox/maps/my_map.data new file: src/gc_navigation2_slamtoolbox/maps/my_map.pgm new file: src/gc_navigation2_slamtoolbox/maps/my_map.posegraph new file: src/gc_navigation2_slamtoolbox/maps/my_map.yaml new file: src/gc_navigation2_slamtoolbox/maps/zhihui.data new file: src/gc_navigation2_slamtoolbox/maps/zhihui.pgm new file: src/gc_navigation2_slamtoolbox/maps/zhihui.posegraph new file: src/gc_navigation2_slamtoolbox/maps/zhihui.yaml new file: src/gc_navigation2_slamtoolbox/package.xml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/world/zhihui/model.config new file: src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf new file: src/gc_navigation_fish/CMakeLists.txt new file: src/gc_navigation_fish/launch/gc_navigation.launch.py new file: src/gc_navigation_fish/maps/test_map.pgm new file: src/gc_navigation_fish/maps/test_map.yaml new file: src/gc_navigation_fish/package.xml new file: src/gc_navigation_fish/param/gc_navigation.yaml new file: src/gc_navigation_fish/param/navigation_test.yaml new file: src/gc_slam_toolbox_fish/CMakeLists.txt new file: src/gc_slam_toolbox_fish/config/gc_2d.lua new file: src/gc_slam_toolbox_fish/launch/catograph.launch.py new file: src/gc_slam_toolbox_fish/package.xml new file: src/ground_slam/.gitignore new file: src/ground_slam/CMakeLists.txt new file: src/ground_slam/LICENSE.md new file: src/ground_slam/README.md new file: src/ground_slam/cmake/FindEigen3.cmake new file: src/ground_slam/cmake/FindFFTW3.cmake new file: src/ground_slam/configs/config_HD.yaml new file: src/ground_slam/configs/config_geekplus.yaml new file: src/ground_slam/configs/config_ntu.yaml new file: src/ground_slam/figures/data_association.jpg new file: src/ground_slam/figures/features_small.jpg new file: src/ground_slam/figures/fig1.jpg new file: src/ground_slam/figures/loop_error.jpg new file: src/ground_slam/figures/loop_trajectory.jpg new file: src/ground_slam/figures/pipeline.png new file: src/ground_slam/figures/rmse_curve.jpg new file: src/ground_slam/figures/sample_images.jpg new file: src/ground_slam/figures/trajectory.jpg new file: src/ground_slam/figures/video.png new file: src/ground_slam/include/camera.h new file: src/ground_slam/include/circ_shift.h new file: src/ground_slam/include/correlation_flow.h new file: src/ground_slam/include/dataset.h new file: src/ground_slam/include/edge.h new file: src/ground_slam/include/frame.h new file: src/ground_slam/include/loop_closure.h new file: src/ground_slam/include/map.h new file: src/ground_slam/include/map_builder.h new file: src/ground_slam/include/map_stitcher.h new file: src/ground_slam/include/optimization_2d/angle_local_parameterization.h new file: src/ground_slam/include/optimization_2d/normalize_angle.h new file: src/ground_slam/include/optimization_2d/pose_graph_2d.h new file: src/ground_slam/include/optimization_2d/pose_graph_2d_error_term.h new file: src/ground_slam/include/optimization_2d/types.h new file: src/ground_slam/include/read_configs.h new file: src/ground_slam/include/thread_publisher.h new file: src/ground_slam/include/timer.h new file: src/ground_slam/include/utils.h new file: src/ground_slam/include/visualization.h new file: src/ground_slam/main.cpp new file: src/ground_slam/package.xml new file: src/ground_slam/src/camera.cc new file: src/ground_slam/src/correlation_flow.cc new file: src/ground_slam/src/dataset.cc new file: src/ground_slam/src/edge.cc new file: src/ground_slam/src/frame.cc new file: src/ground_slam/src/loop_closure.cc new file: src/ground_slam/src/map.cc new file: src/ground_slam/src/map_builder.cc new file: src/ground_slam/src/map_stitcher.cc new file: src/ground_slam/src/optimization_2d/pose_graph_2d.cc new file: src/ground_slam/src/thread_publisher.cc new file: src/ground_slam/src/timer.cc new file: src/ground_slam/src/utils.cc new file: src/ground_slam/src/visualization.cc new file: src/ground_slam/supplementary/GroundSLAM_Supplement_Materia.pdf new file: src/origincar_base/CMakeLists.txt new file: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/imu.yaml new file: src/origincar_base/include/origincar_base/Quaternion_Solution.h new file: src/origincar_base/include/origincar_base/origincar_base.h new file: src/origincar_base/launch/__pycache__/testtwo.launch.cpython-38.pyc new file: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/ekf.launch.py new file: src/origincar_base/launch/origincar_bringup.launch.py new file: src/origincar_base/launch/robot_mode_description.launch.py new file: src/origincar_base/msg/Position.msg new file: src/origincar_base/package.xml new file: src/origincar_base/scripts/__pycache__/cmd_vel_to_ackermann_drive.cpython-310.pyc new file: src/origincar_base/scripts/cmd_vel_to_ackermann_drive.py new file: src/origincar_base/src/Quaternion_Solution.cpp new file: src/origincar_base/src/origincar_base.cpp new file: src/origincar_base/src/origincar_base.cpp.bak new file: src/origincar_description/CMakeLists.txt new file: src/origincar_description/CMakeLists.txt.save new file: src/origincar_description/config/joint_names_origincar_description.yaml new file: src/origincar_description/config/joint_names_origincar_description.yaml:Zone.Identifier new file: "src/origincar_description/config/joint_names_origincar_description.yaml\357\200\272Zone.Identifier" new file: src/origincar_description/launch/display.launch new file: src/origincar_description/launch/display.launch.py new file: src/origincar_description/launch/gazebo.launch new file: src/origincar_description/launch/gazebo.launch.py new file: src/origincar_description/meshes/base_link.STL new file: src/origincar_description/meshes/base_link.STL:Zone.Identifier new file: "src/origincar_description/meshes/base_link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_left_Link.STL new file: src/origincar_description/meshes/down_left_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/down_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_right_Link.STL new file: src/origincar_description/meshes/down_right_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/down_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_left_Link.STL new file: src/origincar_description/meshes/up_left_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/up_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_right_Link.STL new file: src/origincar_description/meshes/up_right_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/up_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/package.xml new file: src/origincar_description/rviz/README new file: src/origincar_description/rviz/display.rviz new file: src/origincar_description/urdf/origincar.urdf new file: src/origincar_description/urdf/origincar.xacro new file: src/origincar_description/world/fishbot.world new file: src/origincar_description/world/gc_world.world new file: src/origincar_description/world/test.world new file: src/origincar_description/world/zhihui.world new file: src/origincar_msg/CMakeLists.txt new file: src/origincar_msg/msg/Data.msg new file: src/origincar_msg/msg/Sign.msg new file: src/origincar_msg/package.xml new file: src/zbw_slamtoolbox/CMakeLists.txt new file: src/zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: src/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: src/zbw_slamtoolbox/config/navigation.yaml new file: src/zbw_slamtoolbox/launch/navigation.launch.py new file: src/zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: src/zbw_slamtoolbox/package.xml new file: "\347\253\236\350\265\233\346\226\271\346\241\210_\347\254\25421\345\261\212\346\231\272\350\203\275\346\261\275\350\275\246\347\253\236\350\265\233\345\234\260\347\223\234\346\234\272\345\231\250\344\272\272\350\265\233\351\241\271.md" new file: "\350\260\203\350\257\225\350\256\260\345\275\225.log"
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44
src/origincar_description/CMakeLists.txt
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src/origincar_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
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project(origincar_description)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(
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<<<<<<< HEAD
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DIRECTORY launch urdf rviz meshes world
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=======
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DIRECTORY launch urdf rviz meshes world
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>>>>>>> mo_new
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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12
src/origincar_description/CMakeLists.txt.save
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src/origincar_description/CMakeLists.txt.save
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cmake_minimum_required(VERSION 2.8.3)
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project(origincar_description)
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find_package(ament_cmake REQUIRED)
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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@@ -0,0 +1 @@
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controller_joint_names: ['', 'down_left_joint', 'down_right_joint', 'up_left_joint', ]
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20
src/origincar_description/launch/display.launch
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src/origincar_description/launch/display.launch
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<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
|
||||
textfile="$(find origincar_description)/urdf/origincar.urdf" />
|
||||
<node
|
||||
name="joint_state_publisher_gui"
|
||||
pkg="joint_state_publisher_gui"
|
||||
type="joint_state_publisher_gui" />
|
||||
<node
|
||||
name="robot_state_publisher"
|
||||
pkg="robot_state_publisher"
|
||||
type="robot_state_publisher" />
|
||||
<node
|
||||
name="rviz"
|
||||
pkg="rviz"
|
||||
type="rviz"
|
||||
args="-d $(find origincar_description)/urdf.rviz" />
|
||||
</launch>
|
||||
63
src/origincar_description/launch/display.launch.py
Normal file
63
src/origincar_description/launch/display.launch.py
Normal file
@@ -0,0 +1,63 @@
|
||||
#!/usr/bin/python3
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.parameter_descriptions import ParameterValue
|
||||
from launch.substitutions import Command, LaunchConfiguration
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# * 这里是机器人模型路径之类的
|
||||
origincar_urdf_dir = get_package_share_directory('origincar_description')
|
||||
default_model_path = os.path.join(
|
||||
origincar_urdf_dir, "urdf", "origincar.urdf")
|
||||
default_rviz_path = os.path.join(
|
||||
origincar_urdf_dir, "rviz", "display.rviz")
|
||||
model = DeclareLaunchArgument(
|
||||
name="model", default_value=default_model_path)
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
|
||||
# 加载机器人模型
|
||||
# 1.启动 robot_state_publisher 节点并以参数方式加载 urdf 文件
|
||||
robot_description = ParameterValue(Command(["xacro ", LaunchConfiguration("model")]),
|
||||
value_type=str)
|
||||
robot_state_publisher = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
parameters=[{"robot_description": robot_description,
|
||||
'use_sim_time': True, 'publish_frequency': 30.0}]
|
||||
)
|
||||
|
||||
joint_state_publisher_node = Node(
|
||||
package='joint_state_publisher_gui',
|
||||
executable='joint_state_publisher_gui',
|
||||
name='joint_state_publisher_gui',
|
||||
parameters=[{'use_sim_time': use_sim_time}],
|
||||
arguments=[default_model_path]
|
||||
)
|
||||
|
||||
# 2.启动 joint_state_publisher 节点发布非固定关节状态
|
||||
joint_state_publisher = Node(
|
||||
package="joint_state_publisher",
|
||||
executable="joint_state_publisher"
|
||||
)
|
||||
|
||||
# rviz2 节点
|
||||
# *-d 为加载配置文件，这个不用看，因人而异
|
||||
rviz2 = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
parameters=[{'use_sim_time': use_sim_time}],
|
||||
arguments=["-d", default_rviz_path]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
model,
|
||||
robot_state_publisher,
|
||||
# joint_state_publisher_node,
|
||||
joint_state_publisher,
|
||||
rviz2
|
||||
])
|
||||
20
src/origincar_description/launch/gazebo.launch
Normal file
20
src/origincar_description/launch/gazebo.launch
Normal file
@@ -0,0 +1,20 @@
|
||||
<launch>
|
||||
<include
|
||||
file="$(find gazebo_ros)/launch/empty_world.launch" />
|
||||
<node
|
||||
name="tf_footprint_base"
|
||||
pkg="tf"
|
||||
type="static_transform_publisher"
|
||||
args="0 0 0 0 0 0 base_link base_footprint 40" />
|
||||
<node
|
||||
name="spawn_model"
|
||||
pkg="gazebo_ros"
|
||||
type="spawn_model"
|
||||
args="-file $(find origincar_description)/urdf/origincar_description.urdf -urdf -model origincar_description"
|
||||
output="screen" />
|
||||
<node
|
||||
name="fake_joint_calibration"
|
||||
pkg="rostopic"
|
||||
type="rostopic"
|
||||
args="pub /calibrated std_msgs/Bool true" />
|
||||
</launch>
|
||||
68
src/origincar_description/launch/gazebo.launch.py
Normal file
68
src/origincar_description/launch/gazebo.launch.py
Normal file
@@ -0,0 +1,68 @@
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch_ros.parameter_descriptions import ParameterValue
|
||||
from launch.substitutions import Command, LaunchConfiguration
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.actions import ExecuteProcess
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
ld = LaunchDescription()
|
||||
robot_name_in_model = 'mycar'
|
||||
origincar_urdf_dir = get_package_share_directory(
|
||||
'origincar_description')
|
||||
default_model_path = os.path.join(
|
||||
origincar_urdf_dir, "urdf", "origincar.urdf")
|
||||
default_rviz_path = os.path.join(
|
||||
origincar_urdf_dir, "rviz", "display.rviz")
|
||||
model = DeclareLaunchArgument(
|
||||
name="model", default_value=default_model_path)
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
# * ###################gazebo
|
||||
gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world')
|
||||
start_gazebo_cmd = ExecuteProcess(
|
||||
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
|
||||
'-s', 'libgazebo_ros_factory.so', gazebo_world_path],
|
||||
output='screen')
|
||||
|
||||
spawn_entity_cmd = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
arguments=['-entity', robot_name_in_model,
|
||||
'-file', default_model_path],
|
||||
output='screen'
|
||||
)
|
||||
|
||||
robot_description = ParameterValue(Command(["xacro ", LaunchConfiguration("model")]),
|
||||
value_type=str)
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
parameters=[{"robot_description": robot_description,
|
||||
'use_sim_time': True, 'publish_frequency': 30.0}]
|
||||
)
|
||||
|
||||
# 2.启动 joint_state_publisher 节点发布非固定关节状态
|
||||
joint_state_publisher = Node(
|
||||
package="joint_state_publisher",
|
||||
executable="joint_state_publisher"
|
||||
)
|
||||
# *###################rviz
|
||||
# rviz2 节点
|
||||
# *-d 为加载配置文件，这个不用看，因人而异
|
||||
rviz2 = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
arguments=["-d", default_rviz_path],
|
||||
parameters=[{'use_sim_time': use_sim_time}]
|
||||
)
|
||||
ld.add_action(model)
|
||||
ld.add_action(start_gazebo_cmd)
|
||||
ld.add_action(spawn_entity_cmd)
|
||||
ld.add_action(robot_state_publisher)
|
||||
# ld.add_action(joint_state_publisher)
|
||||
# ld.add_action(rviz2)
|
||||
return ld
|
||||
BIN
src/origincar_description/meshes/base_link.STL
Normal file
BIN
src/origincar_description/meshes/base_link.STL
Normal file
Binary file not shown.
BIN
src/origincar_description/meshes/base_link.STL:Zone.Identifier
Normal file
BIN
src/origincar_description/meshes/base_link.STL:Zone.Identifier
Normal file
Binary file not shown.
BIN
src/origincar_description/meshes/base_link.STLZone.Identifier
Normal file
BIN
src/origincar_description/meshes/base_link.STLZone.Identifier
Normal file
Binary file not shown.
BIN
src/origincar_description/meshes/down_left_Link.STL
Normal file
BIN
src/origincar_description/meshes/down_left_Link.STL
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
src/origincar_description/meshes/down_right_Link.STL
Normal file
BIN
src/origincar_description/meshes/down_right_Link.STL
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
src/origincar_description/meshes/up_left_Link.STL
Normal file
BIN
src/origincar_description/meshes/up_left_Link.STL
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
src/origincar_description/meshes/up_right_Link.STL
Normal file
BIN
src/origincar_description/meshes/up_right_Link.STL
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
24
src/origincar_description/package.xml
Normal file
24
src/origincar_description/package.xml
Normal file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>origincar_description</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="ps-micro@todo.todo">ps-micro</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>rviz2</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>joint_state_publisher</exec_depend>
|
||||
<exec_depend>ros2launch</exec_depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
1
src/origincar_description/rviz/README
Normal file
1
src/origincar_description/rviz/README
Normal file
@@ -0,0 +1 @@
|
||||
## 此文件夹为配置RVIZ，暂时不使用
|
||||
186
src/origincar_description/rviz/display.rviz
Normal file
186
src/origincar_description/rviz/display.rviz
Normal file
@@ -0,0 +1,186 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /RobotModel1/Description Topic1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 490
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /robot_description
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
down_left_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
down_right_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
up_left_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
up_right_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: false
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: false
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 0.4845520257949829
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.7803981304168701
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.05039529129862785
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 719
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000275fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000275000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000275fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000275000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000035a0000027500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1483
|
||||
X: 72
|
||||
Y: 27
|
||||
471
src/origincar_description/urdf/origincar.urdf
Normal file
471
src/origincar_description/urdf/origincar.urdf
Normal file
@@ -0,0 +1,471 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="mycar">
|
||||
|
||||
<link name="base_footprint">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</link>
|
||||
<link name="base_link">
|
||||
</link>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint" />
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0.0 -0.09" rpy="0 0 0" />
|
||||
</joint>
|
||||
<link name="chassis_link">
|
||||
<inertial>
|
||||
<origin xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029" rpy="0 0 0" />
|
||||
<mass value="12" />
|
||||
<inertia ixx="2.0833333333333335"
|
||||
ixy="0" ixz="0"
|
||||
iyy="11.979166666666668" iyz="0"
|
||||
izz="11.979166666666668" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.276 0.164 0.08" />
|
||||
</geometry>
|
||||
<material name="base_color">
|
||||
<color rgba="0.4 0.039 0.039 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.07" />
|
||||
<geometry>
|
||||
<box size="0.276 0.164 0.08" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="chassis_joint" type="fixed">
|
||||
<parent link="base_link" />
|
||||
<child link="chassis_link" />
|
||||
<origin xyz="0 0.0 0.1555" rpy="0 0 0" />
|
||||
</joint>
|
||||
<link name="borad_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="12" />
|
||||
<inertia ixx="2.0833333333333335"
|
||||
ixy="0" ixz="0"
|
||||
iyy="11.979166666666668" iyz="0"
|
||||
izz="11.979166666666668" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.200 0.164 0.07" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<material name="rgba(246,152,152,1)">
|
||||
<color rgba="0.9647058823529412 0.596078431372549 0.596078431372549 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0" />
|
||||
<geometry>
|
||||
<box size="0.200 0.164 0.07" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="board_joint" type="fixed">
|
||||
<parent link="chassis_link" />
|
||||
<child link="borad_link" />
|
||||
<origin rpy="0 0 0" xyz="0 0 0.075" />
|
||||
</joint>
|
||||
<link name="fr_left_steer_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.01" />
|
||||
<inertia
|
||||
ixx="9.880333333333333E-5"
|
||||
ixy="0" ixz="0"
|
||||
iyy="9.880333333333333E-5"
|
||||
iyz="0" izz="9.8E-5" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="fr_left_steer_joint" type="revolute">
|
||||
<origin xyz="0.0715 0.0945 -0.03" rpy="0 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="fr_left_steer_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<limit upper="0.6" lower="-0.6" effort="-1.0" velocity="-20.0" />
|
||||
</joint>
|
||||
|
||||
<link name="fr_left_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fr_left_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 0" rpy="1.5708 0 0" />
|
||||
<parent link="fr_left_steer_link" />
|
||||
<child link="fr_left_wheel_link" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<dynamics friction="0.2" damping="0.12" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
<link name="fr_right_steer_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.01" />
|
||||
<inertia
|
||||
ixx="9.880333333333333E-5"
|
||||
ixy="0" ixz="0"
|
||||
iyy="9.880333333333333E-5"
|
||||
iyz="0" izz="9.8E-5" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="fr_right_steer_joint" type="revolute">
|
||||
<origin xyz="0.0715 -0.0945 -0.03" rpy="0 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="fr_right_steer_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<limit upper="0.6" lower="-0.6" effort="-1.0" velocity="-20.0" />
|
||||
</joint>
|
||||
<link name="fr_right_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fr_right_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
|
||||
<parent link="fr_right_steer_link" />
|
||||
<child link="fr_right_wheel_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<dynamics friction="0.2" damping="0.12" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="re_left_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.37647 0.37647 0.37647 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="re_left_wheel_joint" type="continuous">
|
||||
<origin xyz="-0.0715 0.0945 -0.03" rpy="1.5708 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="re_left_wheel_link" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<dynamics friction="0.2" damping="0.12" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
<link name="re_right_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.37647 0.37647 0.37647 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="re_right_wheel_joint" type="continuous">
|
||||
<origin xyz="-0.0715 -0.0945 -0.03" rpy="-1.5708 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="re_right_wheel_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<dynamics friction="0.2" damping="0.1" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="virtual_steer_link">
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1.0 1.0 0.0 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<mass value="0.001" />
|
||||
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="virtual_steering_wheel_joint" type="revolute">
|
||||
<origin xyz="0.0715 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="virtual_steer_link" />
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit lower="-3" upper="3" effort="200" velocity="20" />
|
||||
</joint>
|
||||
<!-- **************************** -->
|
||||
<!-- 激光雷达 -->
|
||||
<link name="laser_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder radius="0.025" length="0.05" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.04 0 0" />
|
||||
<material name="rgba(255,255,255,1)">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="laser_joint" type="fixed">
|
||||
<parent link="borad_link" />
|
||||
<child link="laser_link" />
|
||||
<origin rpy="0 0 0" xyz="0.045 0 0.065" />
|
||||
</joint>
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.02 0.02 0.02" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.01" />
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="borad_link" />
|
||||
<child link="imu_link" />
|
||||
<origin rpy="0 0 0" xyz="0 0 0.045" />
|
||||
</joint>
|
||||
|
||||
<!-- ackerman -->
|
||||
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_ackermann_drive" filename="libgazebo_ros_ackermann_drive.so">
|
||||
|
||||
<ros>
|
||||
<namespace>/</namespace>
|
||||
<remapping>cmd_vel:=cmd_vel</remapping>
|
||||
<remapping>odom:=odom</remapping>
|
||||
<remapping>distance:=distance</remapping>
|
||||
</ros>
|
||||
<update_rate>30.0</update_rate>
|
||||
<front_left_joint>fr_left_wheel_joint</front_left_joint>
|
||||
<front_right_joint>fr_right_wheel_joint</front_right_joint>
|
||||
<rear_left_joint>re_left_wheel_joint</rear_left_joint>
|
||||
<rear_right_joint>re_right_wheel_joint</rear_right_joint>
|
||||
<left_steering_joint>fr_left_steer_joint</left_steering_joint>
|
||||
<right_steering_joint>fr_right_steer_joint</right_steering_joint>
|
||||
<steering_wheel_joint>virtual_steering_wheel_joint</steering_wheel_joint>
|
||||
<max_steer>0.583972</max_steer>
|
||||
<max_steering_angle>1.570796</max_steering_angle>
|
||||
<max_speed>4</max_speed>
|
||||
|
||||
|
||||
<left_steering_pid_gain>600 0 6</left_steering_pid_gain>
|
||||
<left_steering_i_range>0 0</left_steering_i_range>
|
||||
<right_steering_pid_gain>600 0 6</right_steering_pid_gain>
|
||||
<right_steering_i_range>0 0</right_steering_i_range>
|
||||
<linear_velocity_pid_gain>800 0 0</linear_velocity_pid_gain>
|
||||
<linear_velocity_i_range>0 0</linear_velocity_i_range>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
|
||||
</plugin>
|
||||
|
||||
|
||||
<plugin name="gazebo_ros_joint_state_publisher"
|
||||
filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<update_rate>100</update_rate>
|
||||
<joint_name>fr_right_steer_joint</joint_name>
|
||||
<joint_name>fr_right_wheel_joint</joint_name>
|
||||
<joint_name>fr_left_steer_joint</joint_name>
|
||||
<joint_name>fr_left_wheel_joint</joint_name>
|
||||
<joint_name>re_right_wheel_joint</joint_name>
|
||||
<joint_name>re_left_wheel_joint</joint_name>
|
||||
<joint_name>virtual_steering_wheel_joint</joint_name>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
|
||||
<ros>
|
||||
<namespace>/</namespace>
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
|
||||
</plugin>
|
||||
<always_on>true</always_on>
|
||||
<update_rate>100</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="laser_link">
|
||||
<sensor name="laser_sensor" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>5</update_rate>
|
||||
<pose>0 0 0.075 0 0 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
|
||||
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>laser_link</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
</robot>
|
||||
135
src/origincar_description/urdf/origincar.xacro
Normal file
135
src/origincar_description/urdf/origincar.xacro
Normal file
@@ -0,0 +1,135 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
|
||||
<robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
|
||||
|
||||
<xacro:property name="PI" value="3.1415926"/>
|
||||
<xacro:property name="Track" value="0.1682"/>
|
||||
<xacro:property name="WheelBase" value="0.189"/>
|
||||
<xacro:property name="WheelLen" value="0.025"/>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.276 ${WheelBase-WheelLen} 0.08"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 ${0.08/2+0.03}" rpy="0 0 0"/>
|
||||
<material name="rgba(102,10,10,1)">
|
||||
<color rgba="${102/255} ${10/255} ${10/255} 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="board_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.200 ${WheelBase-WheelLen} ${0.150-0.08}"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 ${(0.150-0.08)/2}" rpy="0 0 0"/>
|
||||
<material name="rgba(246,152,152,1)">
|
||||
<color rgba="${246/255} ${152/255} ${152/255} 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="camera" >
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.015 0.045 0.03"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 ${(0.03)/2}" rpy="0 0 0"/>
|
||||
<material name="rgba(93,78,78,1)">
|
||||
<color rgba="${93/255} ${78/255} ${78/255} 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent link="base_link" />
|
||||
<child link="camera" />
|
||||
<origin xyz="${(0.276-0.015)/2-0.01} 0 ${0.08+0.03}" rpy="0 0 0" />
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="board_joint" type="fixed">
|
||||
<parent link="base_link" />
|
||||
<child link="board_link" />
|
||||
<origin xyz="${-(0.276-0.2)/2} 0 ${0.08+0.03}" rpy="0 0 0" />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
|
||||
<link name="down_left_Link">
|
||||
<visual>
|
||||
<origin xyz="0 ${-WheelLen/2+0.025/2} 0" rpy="${-PI/2} 0 0" />
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.025" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="down_left_joint" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="down_left_Link" />
|
||||
<origin xyz="${-Track/2} ${WheelBase/2} ${0.03}" rpy="0 0 0" />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
|
||||
<link name="down_right_Link">
|
||||
<visual>
|
||||
<origin xyz="0 ${WheelLen/2-0.025/2} 0" rpy="${PI/2} 0 0" />
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.025"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="down_right_joint" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="down_right_Link" />
|
||||
<origin xyz="${-Track/2} ${-WheelBase/2} ${0.03}" rpy="0 0 0" />
|
||||
<axis xyz="0 -1 0" />
|
||||
</joint>
|
||||
|
||||
<link name="up_left_Link">
|
||||
<visual>
|
||||
<origin xyz="0 ${-WheelLen/2+0.025/2} 0" rpy="${-PI/2} 0 0" />
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.025"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="up_left_joint" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="up_left_Link" />
|
||||
<origin xyz="${Track/2} ${WheelBase/2} ${0.03}" rpy="0 0 0" />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
|
||||
<link name="up_right_Link">
|
||||
<visual>
|
||||
<origin xyz="0 ${WheelLen/2-0.025/2} 0" rpy="${PI/2} 0 0" />
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.025"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="up_right_joint" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="up_right_Link" />
|
||||
<origin xyz="${Track/2} ${-WheelBase/2} ${0.03}" rpy="0 0 0" />
|
||||
<axis xyz="0 -1 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
626
src/origincar_description/world/fishbot.world
Normal file
626
src/origincar_description/world/fishbot.world
Normal file
@@ -0,0 +1,626 @@
|
||||
<sdf version='1.7'>
|
||||
<world name='default'>
|
||||
<light name='sun' type='directional'>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
<model name='ground_plane'>
|
||||
<static>1</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
</surface>
|
||||
<max_contacts>10</max_contacts>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
</model>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
||||
<atmosphere type='adiabatic'/>
|
||||
<physics type='ode'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
</physics>
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>1</shadows>
|
||||
</scene>
|
||||
<audio>
|
||||
<device>default</device>
|
||||
</audio>
|
||||
<wind/>
|
||||
<spherical_coordinates>
|
||||
<surface_model>EARTH_WGS84</surface_model>
|
||||
<latitude_deg>0</latitude_deg>
|
||||
<longitude_deg>0</longitude_deg>
|
||||
<elevation>0</elevation>
|
||||
<heading_deg>0</heading_deg>
|
||||
</spherical_coordinates>
|
||||
<state world_name='default'>
|
||||
<sim_time>51 251000000</sim_time>
|
||||
<real_time>51 570048324</real_time>
|
||||
<wall_time>1767706562 783975173</wall_time>
|
||||
<iterations>51251</iterations>
|
||||
<model name='fishbot_0'>
|
||||
<pose>0.005469 0.07101 0 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='Wall_10'>
|
||||
<pose>2.33047 -1.27133 0 0 0 -2.0944</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_11'>
|
||||
<pose>0.005469 -2.61367 0 0 -0 3.14159</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_12'>
|
||||
<pose>-2.31953 -1.27133 0 0 -0 2.0944</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_7'>
|
||||
<pose>-2.31953 1.41335 0 0 -0 1.0472</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_8'>
|
||||
<pose>0.005469 2.75569 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_9'>
|
||||
<pose>2.33047 1.41335 0 0 0 -1.0472</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='ground_plane'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_box'>
|
||||
<pose>-0.039643 1.36341 0.499995 0 1e-05 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>-0.039643 1.36341 0.499995 0 1e-05 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05</acceleration>
|
||||
<wrench>0.010615 -0.006191 -9.78231 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_cylinder'>
|
||||
<pose>-1.0625 -0.503729 0.499993 -3e-06 -4e-06 -0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>-1.0625 -0.503729 0.499993 -3e-06 -4e-06 -0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 -9.8 0 -0 0</acceleration>
|
||||
<wrench>0 0 -9.8 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_cylinder_0'>
|
||||
<pose>0.724857 -0.542454 0.499997 3e-06 4e-06 -0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>0.724857 -0.542454 0.499997 3e-06 4e-06 -0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 -9.8 0 -0 0</acceleration>
|
||||
<wrench>0 0 -9.8 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<light name='sun'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
</light>
|
||||
</state>
|
||||
<model name='fishbot_0'>
|
||||
<pose>0.005469 0.07101 0 0 -0 0</pose>
|
||||
<link name='Wall_10'>
|
||||
<collision name='Wall_10_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_10_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>0.996078 0.47451 0.0196078 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>2.325 -1.34234 0 0 -0 -2.0944</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_11'>
|
||||
<collision name='Wall_11_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_11_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>0.996078 0.47451 0.0196078 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-0 -2.68468 0 0 -0 3.14159</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_12'>
|
||||
<collision name='Wall_12_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_12_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<name>Gazebo/Grey</name>
|
||||
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|
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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<visual name='Wall_9_Visual'>
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|
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|
||||
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|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
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|
||||
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|
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|
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</link>
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<pose>0.724855 -0.542452 0.5 0 -0 0</pose>
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<link name='link'>
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<mass>1</mass>
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|
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|
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|
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</link>
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<camera name='user_camera'>
|
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<pose>11.8556 -5.21446 33.9466 0 1.2498 2.56501</pose>
|
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<view_controller>orbit</view_controller>
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|
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</camera>
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</gui>
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</world>
|
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</sdf>
|
||||
893
src/origincar_description/world/gc_world.world
Normal file
893
src/origincar_description/world/gc_world.world
Normal file
@@ -0,0 +1,893 @@
|
||||
<sdf version='1.7'>
|
||||
<world name='default'>
|
||||
<light name='sun' type='directional'>
|
||||
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|
||||
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|
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|
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|
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|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
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|
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</attenuation>
|
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|
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|
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|
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<falloff>0</falloff>
|
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</spot>
|
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</light>
|
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|
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<static>1</static>
|
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|
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<collision name='collision'>
|
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<geometry>
|
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<plane>
|
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|
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<size>100 100</size>
|
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</plane>
|
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</geometry>
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<surface>
|
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<friction>
|
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<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
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</ode>
|
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<torsional>
|
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<ode/>
|
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|
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|
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|
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|
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<bounce/>
|
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|
||||
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|
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</collision>
|
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<visual name='visual'>
|
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|
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<geometry>
|
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|
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|
||||
<size>100 100</size>
|
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</plane>
|
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</geometry>
|
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<material>
|
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<script>
|
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<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
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</material>
|
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</visual>
|
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|
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|
||||
</link>
|
||||
</model>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
||||
<atmosphere type='adiabatic'/>
|
||||
<physics type='ode'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
</physics>
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>1</shadows>
|
||||
</scene>
|
||||
<audio>
|
||||
<device>default</device>
|
||||
</audio>
|
||||
<wind/>
|
||||
<spherical_coordinates>
|
||||
<surface_model>EARTH_WGS84</surface_model>
|
||||
<latitude_deg>0</latitude_deg>
|
||||
<longitude_deg>0</longitude_deg>
|
||||
<elevation>0</elevation>
|
||||
<heading_deg>0</heading_deg>
|
||||
</spherical_coordinates>
|
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|
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|
||||
<link name='Wall_11'>
|
||||
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|
||||
<geometry>
|
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<box>
|
||||
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|
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</box>
|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
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<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-10.5912 -3.10164 0 0 -0 0</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_22'>
|
||||
<collision name='Wall_22_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>16 0.15 2.5</size>
|
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</box>
|
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|
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<pose>0 0 1.25 0 -0 0</pose>
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|
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<surface>
|
||||
<contact>
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|
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|
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|
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|
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</torsional>
|
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|
||||
</friction>
|
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</surface>
|
||||
</collision>
|
||||
<visual name='Wall_22_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
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|
||||
<box>
|
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|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
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<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
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<meta>
|
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<layer>0</layer>
|
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</meta>
|
||||
</visual>
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||||
<name>Gazebo/Grey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_box_0'>
|
||||
<pose>1.72376 5.13 0.5 0 -0 0</pose>
|
||||
<link name='link'>
|
||||
<inertial>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Grey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
</model>
|
||||
<state world_name='default'>
|
||||
<sim_time>148 245000000</sim_time>
|
||||
<real_time>149 497524618</real_time>
|
||||
<wall_time>1770372561 596283813</wall_time>
|
||||
<iterations>148245</iterations>
|
||||
<model name='aaaaaa.world'>
|
||||
<pose>-4.71646 -0.134166 0 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='Wall_11'>
|
||||
<pose>-15.3077 -3.23581 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_22'>
|
||||
<pose>-10.0853 -0.385134 0 0 0 -1.5708</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_23'>
|
||||
<pose>-0.53527 -8.31014 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_24'>
|
||||
<pose>9.01474 -0.135134 0 0 -0 1.5708</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_25'>
|
||||
<pose>-0.53527 7.78986 0 0 0 -3.11542</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_28'>
|
||||
<pose>-5.73027 2.94986 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_29'>
|
||||
<pose>-0.43027 0.399866 0 0 0 -1.5708</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_31'>
|
||||
<pose>-7.79527 -1.73014 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_33'>
|
||||
<pose>4.53973 -5.69514 0 0 -0 1.5708</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
<link name='Wall_35'>
|
||||
<pose>6.74974 3.53486 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='ground_plane'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_box'>
|
||||
<pose>-6.35985 -5.47044 0.499995 -1e-05 -0 -0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>-6.35985 -5.47044 0.499995 -1e-05 -0 -0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
|
||||
<wrench>0.004709 0.011055 -9.78158 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_box_0'>
|
||||
<pose>1.72376 5.13 0.5 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>1.72376 5.13 0.5 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>-0.004709 -9.78112 9.78158 0.712677 -0.009414 -4.3e-05</acceleration>
|
||||
<wrench>-0.004709 -9.78112 9.78158 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_cylinder'>
|
||||
<pose>-2.08128 -5.46626 0.499997 3e-06 4e-06 -0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>-2.08128 -5.46626 0.499997 3e-06 4e-06 -0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 -9.8 0 -0 0</acceleration>
|
||||
<wrench>0 0 -9.8 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_cylinder_0'>
|
||||
<pose>3.24338 0.112286 0.499993 -3e-06 -4e-06 -0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>3.24338 0.112286 0.499993 -3e-06 -4e-06 -0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 -9.8 0 -0 0</acceleration>
|
||||
<wrench>0 0 -9.8 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<light name='sun'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
</light>
|
||||
</state>
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose>7.40665 -3.57041 31.6489 0 1.4618 3.1242</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
</world>
|
||||
</sdf>
|
||||
828
src/origincar_description/world/test.world
Normal file
828
src/origincar_description/world/test.world
Normal file
@@ -0,0 +1,828 @@
|
||||
<sdf version='1.7'>
|
||||
<world name='default'>
|
||||
<light name='sun' type='directional'>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
<model name='ground_plane'>
|
||||
<static>1</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
</surface>
|
||||
<max_contacts>10</max_contacts>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
</model>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
||||
<atmosphere type='adiabatic'/>
|
||||
<physics type='ode'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
</physics>
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>1</shadows>
|
||||
</scene>
|
||||
<audio>
|
||||
<device>default</device>
|
||||
</audio>
|
||||
<wind/>
|
||||
<spherical_coordinates>
|
||||
<surface_model>EARTH_WGS84</surface_model>
|
||||
<latitude_deg>0</latitude_deg>
|
||||
<longitude_deg>0</longitude_deg>
|
||||
<elevation>0</elevation>
|
||||
<heading_deg>0</heading_deg>
|
||||
</spherical_coordinates>
|
||||
<model name='aaav.world'>
|
||||
<pose>2.92199 0.94347 0 0 -0 0</pose>
|
||||
<link name='Wall_0'>
|
||||
<collision name='Wall_0_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_0_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-4.8877 -4.19109 0 0 -0 -1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_1'>
|
||||
<collision name='Wall_1_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_1_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>0.0373 -6.74109 0 0 -0 0</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_10'>
|
||||
<collision name='Wall_10_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_10_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>1.06397 5.19109 0 0 -0 1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_12'>
|
||||
<collision name='Wall_12_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_12_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
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||||
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<velocity>0 0 0 0 -0 0</velocity>
|
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<acceleration>0 0 0 0 -0 0</acceleration>
|
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<wrench>0 0 0 0 -0 0</wrench>
|
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</link>
|
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<link name='Wall_8'>
|
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<pose>2.60969 1.39279 0 0 -0 0</pose>
|
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<velocity>0 0 0 0 -0 0</velocity>
|
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<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='ground_plane'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
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<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_box'>
|
||||
<pose>0.15442 -3.50156 0.5 0 -0 0.691942</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>0.15442 -3.50156 0.5 0 -0 0.691942</pose>
|
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<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>-0 0 -0 0 -0 0</acceleration>
|
||||
<wrench>-0 0 -0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='unit_box_0'>
|
||||
<pose>5.80896 0.105775 0.5 0 -0 0.665093</pose>
|
||||
<scale>1 1 1</scale>
|
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<link name='link'>
|
||||
<pose>5.80896 0.105775 0.5 0 -0 0.665093</pose>
|
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>7.28216 6.1355 9.84639 -2.8462 1.14378 -3.14153</acceleration>
|
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<wrench>7.28216 6.1355 9.84639 0 -0 0</wrench>
|
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</link>
|
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</model>
|
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<model name='unit_cylinder'>
|
||||
<pose>1.94616 -0.907634 0.499993 -3e-06 -3e-06 0</pose>
|
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<scale>1 1 1</scale>
|
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<link name='link'>
|
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<pose>1.94616 -0.907634 0.499993 -3e-06 -3e-06 0</pose>
|
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<velocity>0 0 0 0 -0 0</velocity>
|
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<acceleration>0 0 -9.8 0 -0 0</acceleration>
|
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<wrench>0 0 -9.8 0 -0 0</wrench>
|
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</link>
|
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</model>
|
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<light name='sun'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
</light>
|
||||
</state>
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose>4.60766 -4.56851 22.292 -0 1.35564 1.44419</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
</world>
|
||||
</sdf>
|
||||
791
src/origincar_description/world/zhihui.world
Normal file
791
src/origincar_description/world/zhihui.world
Normal file
@@ -0,0 +1,791 @@
|
||||
<sdf version='1.7'>
|
||||
<world name='default'>
|
||||
<light name='sun' type='directional'>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
</light>
|
||||
<model name='ground_plane'>
|
||||
<static>1</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
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<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
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<visual name='visual'>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<model name='zhihui'>
|
||||
<pose>-2.11635 -1.73906 0 0 -0 0</pose>
|
||||
<link name='Wall_12'>
|
||||
<collision name='Wall_12_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_12_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-1.61999 -0.744014 0 0 -0 0</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_15'>
|
||||
<collision name='Wall_15_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_15_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
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</visual>
|
||||
<pose>1.62754 -0.744014 0 0 -0 0</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_17'>
|
||||
<collision name='Wall_17_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_17_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
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<layer>0</layer>
|
||||
</meta>
|
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</visual>
|
||||
<pose>-0.827543 -0.3078 0 0 -0 1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_19'>
|
||||
<collision name='Wall_19_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
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|
||||
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|
||||
<bounce/>
|
||||
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|
||||
<torsional>
|
||||
<ode/>
|
||||
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|
||||
<ode/>
|
||||
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|
||||
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|
||||
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|
||||
<visual name='Wall_19_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
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<meta>
|
||||
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|
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|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_2'>
|
||||
<collision name='Wall_2_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
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|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
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|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_2_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>0.062177 -2.89677 0 0 -0 0</pose>
|
||||
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|
||||
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|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_29'>
|
||||
<collision name='Wall_29_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
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|
||||
<visual name='Wall_29_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
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|
||||
</meta>
|
||||
</visual>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</link>
|
||||
<link name='Wall_31'>
|
||||
<collision name='Wall_31_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.75 0.15 2.5</size>
|
||||
</box>
|
||||
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|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
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|
||||
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|
||||
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|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
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|
||||
<visual name='Wall_31_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
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|
||||
</visual>
|
||||
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|
||||
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|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_33'>
|
||||
<collision name='Wall_33_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.5 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_33_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.5 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
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|
||||
</visual>
|
||||
<pose>1.65085 1.41824 0 0 -0 -1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_36'>
|
||||
<collision name='Wall_36_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
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|
||||
<max_contacts>10</max_contacts>
|
||||
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|
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|
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|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_36_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.75 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>2.3125 1.40828 0 0 -0 1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_38'>
|
||||
<collision name='Wall_38_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_38_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-0.19189 2.74413 0 0 -0 3.14159</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_4'>
|
||||
<collision name='Wall_4_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_4_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>2.6265 -1.8264 0 0 -0 1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_40'>
|
||||
<collision name='Wall_40_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.5 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_40_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.5 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-2.25486 1.43754 0 0 -0 -1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_44'>
|
||||
<collision name='Wall_44_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_44_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-2.89932 1.47176 0 0 -0 -1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_46'>
|
||||
<collision name='Wall_46_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_46_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-1.87754 0.1172 0 0 -0 3.14159</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_48'>
|
||||
<collision name='Wall_48_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.13496 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_48_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.13496 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>1.32002 0.107134 0 0 -0 0.001157</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<link name='Wall_6'>
|
||||
<collision name='Wall_6_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='Wall_6_Visual'>
|
||||
<pose>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose>-2.50971 -1.81518 0 0 -0 1.5708</pose>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<physics type='ode'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
</physics>
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>1</shadows>
|
||||
</scene>
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user