zbw/yiliao2026
1
0
Fork 1
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

目前完成了比赛地图的建图，但是还没有实现定位导航

Browse Source
This commit is contained in:
陌欢醉
2026-06-05 22:35:07 +08:00
parent fab5f811cb
commit 5da3d07656
10 changed files with 766 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
src/origincar_description/world/zhihui.world Normal file
View File

@@ -0,0 +1,79 @@
<sdf version='1.7'>
<world name='default'>
<!-- ===== 光照 ===== -->
<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>
<!-- ===== 地面 ===== -->
<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>
</friction>
<contact>
<ode />
</contact>
</surface>
</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>
</link>
</model>
<!-- ===== 智慧楼墙体模型 ===== -->
<include>
<uri>model://zhihui</uri>
</include>
<!-- ===== 物理引擎 ===== -->
<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>
<!-- ===== 场景 ===== -->
<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>