feat: add lms-nav2-gazebo-simulator module
This commit is contained in:
@@ -0,0 +1,187 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package turtlebot3_gazebo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.8 (2025-07-10)
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------------------
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* None
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2.3.6 (2025-06-19)
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------------------
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* None
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2.3.4 (2025-05-28)
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------------------
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* None
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2.3.0 (2025-02-17)
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------------------
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* Added multi-robot launch functionality
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* Updated robot mesh in Gazebo and RViz
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* Added launch file for TurtleBot3 Autorace 2020
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* Added plugins to the models of Autorace 2020
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* Contributors: Hyungyu Kim
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2.2.6 (2022-05-26)
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------------------
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* ROS 2 Humble Hawksbill supported
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* Contributors: Will Son
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2.2.5 (2021-08-25)
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------------------
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* Release for ROS 2 Rolling
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* Contributors: Will Son
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2.2.4 (2021-06-14)
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------------------
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* Release for ROS 2 Galactic
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* Separate world and robot models(#162)
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* Clean up unncessary files
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* Use turtlebot3_common mesh modeling
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* Independent turtlebot3_simulations package
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* Contributors: Joep Tool, Will Son
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2.2.3 (2021-04-12)
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------------------
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* Update required keyword arguments
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* Clear up exec_depend
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* Fix Waffle Pi wheel inertia
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* Contributors: ruffsl, Will Son
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2.2.2 (2021-02-24)
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------------------
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* Remove shared objects built in older version
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* Contributors: Will Son
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2.2.1 (2021-01-13)
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------------------
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* Eloquent Elusor EOL
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* Add missing imu joint in sdf
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* Append Gazebo model path
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* Portable fix, launch description revise
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* Ament lint applied
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* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son
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2.2.0 (2020-06-29)
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------------------
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* TurtleBot3 Drive node implementation
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* Additional Gazebo maps added
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* argument tags in the sdf file replaced with remapping tags
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* Low polygon 3D modeling applied for simulation
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* Contributors: Ryan Shim, Mikael Arguedas, Will Son
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2.1.0 (2019-09-10)
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------------------
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* Added turtlebot3_house and related world, model files
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* Contributors: Ryan Shim
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2.0.1 (2019-09-05)
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------------------
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* Modified dependency packages
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* Modified launch directory
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* Added a launch file for robot state publisher
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* Contributors: Darby Lim, Pyo
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2.0.0 (2019-08-20)
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------------------
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* Supported ROS 2 Dashing Diademata
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* Updated the CHANGELOG and version to release binary packages
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* Contributors: Darby Lim, Pyo
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1.3.0 (2020-06-29)
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------------------
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* Turtlebot3 Autorace 2020 implemented
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* Remove the plugin_path from gazebo_ros export
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* Remove *nix path separator
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* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen
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1.2.0 (2019-01-22)
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------------------
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* moved <scene> into <world> `#65 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/65>`_
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* modified ML stage
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* delete unused param
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* update algorithm and modified variable more clearly
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* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo
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1.1.0 (2018-07-20)
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------------------
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* modified uri path
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* modified autorace
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* delete remap
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* Contributors: Darby Lim, Gilbert, Pyo
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1.0.2 (2018-06-01)
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------------------
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* added mission.launch modified model.sdf
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* deleted turtlebot3's gazebo plugins
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* modified autorace gazebo
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* merged pull request `#53 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/53>`_ `#52 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/52>`_ `#51 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/51>`_ `#50 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/50>`_ `#49 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/49>`_
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* Contributors: Gilbert, Darby Lim, Pyo
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1.0.1 (2018-05-30)
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------------------
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* resolving dependency issues:
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http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/
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* Contributors: Pyo
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1.0.0 (2018-05-29)
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------------------
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* added world for turtlebot3_autorace
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* added world for turtlebot3_machine_learning
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* merged pull request `#46 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/46>`_ from AuTURBO/develop
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add turtlebot3_autorace world'
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* merged pull request `#48 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/48>`_ `#47 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/47>`_ `#44 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/44>`_ `#42 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/42>`_ `#41 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/41>`_
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* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo
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0.2.4 (2018-03-14)
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------------------
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* None
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0.2.3 (2018-03-14)
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------------------
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* solved DuplicateVersionsException error
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* Contributors: Pyo
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0.2.2 (2018-03-14)
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------------------
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* None
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0.2.1 (2018-03-14)
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------------------
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* added worlds for gazebo and turtlebot3
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* Contributors: Darby Lim
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0.2.0 (2018-03-13)
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------------------
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* added slam with multiple tb3
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* added multi example
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* added turtlebot3_house
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* modified cmake file
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* modified spwn model name
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* modified multi slam param
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* modified camera position
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* modified folder name
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* Contributors: Darby Lim
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0.1.7 (2017-08-16)
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------------------
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* renamed missed the install rule (worlds -> models)
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* Contributors: Darby Lim, Tully Foote
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0.1.6 (2017-08-14)
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------------------
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* modified folder name and model path
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* updated rviz and add static tf publisher for depth camera
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* Contributors: Darby Lim
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0.1.5 (2017-06-09)
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------------------
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* modified make files for dependencies
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* updated turtlebot3 sim
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* updated world config
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* Contributors: Darby Lim
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0.1.4 (2017-05-23)
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------------------
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* added as new meta-packages and version update (0.1.4)
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* Contributors: Darby Lim, Pyo
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@@ -0,0 +1,96 @@
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################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 3.5)
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project(turtlebot3_gazebo)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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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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if(MSVC)
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add_compile_definitions(_USE_MATH_DEFINES)
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endif()
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################################################################################
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# Find ament packages and libraries for ament and system dependencies
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################################################################################
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find_package(ament_cmake REQUIRED)
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find_package(gazebo REQUIRED)
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find_package(gazebo_ros_pkgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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################################################################################
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# Build
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################################################################################
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link_directories(
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${GAZEBO_LIBRARY_DIRS}
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)
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include_directories(
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include
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${GAZEBO_INCLUDE_DIRS}
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)
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set(dependencies
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"geometry_msgs"
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"nav_msgs"
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"rclcpp"
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"sensor_msgs"
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"tf2"
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)
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set(EXEC_NAME "turtlebot3_drive")
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add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
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ament_target_dependencies(${EXEC_NAME} ${dependencies})
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add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
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target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
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add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
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target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
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add_library(obstacle1 SHARED src/obstacle1.cpp)
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target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
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add_library(obstacle2 SHARED src/obstacle2.cpp)
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target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
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add_library(obstacles SHARED src/obstacles.cpp)
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target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
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################################################################################
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# Install
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################################################################################
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install(TARGETS ${EXEC_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch models rviz worlds
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY include/
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DESTINATION include/
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)
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################################################################################
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# Macro for ament package
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################################################################################
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ament_export_include_directories(include)
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ament_export_dependencies(gazebo_ros_pkgs)
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ament_export_dependencies(geometry_msgs)
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ament_export_dependencies(nav_msgs)
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(sensor_msgs)
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ament_export_dependencies(tf2)
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ament_package()
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@@ -0,0 +1,38 @@
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// Copyright 2012 Open Source Robotics Foundation
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
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//
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// Author: Ryan Shim
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#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
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#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
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#include <ignition/math.hh>
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#include <gazebo/common/common.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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namespace gazebo
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{
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class Obstacle1 : public ModelPlugin
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{
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public:
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void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
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private:
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physics::ModelPtr model;
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event::ConnectionPtr updateConnection;
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};
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GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
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} // namespace gazebo
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#endif // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
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@@ -0,0 +1,39 @@
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// Copyright 2012 Open Source Robotics Foundation
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//
|
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// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
// Author: Ryan Shim
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#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
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#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
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#include <ignition/math.hh>
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#include <gazebo/common/common.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
|
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namespace gazebo
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{
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class Obstacle2 : public ModelPlugin
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{
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public:
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Obstacle2() = default;
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void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
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private:
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physics::ModelPtr model;
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event::ConnectionPtr updateConnection;
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};
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GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
|
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} // namespace gazebo
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#endif // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
|
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@@ -0,0 +1,41 @@
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// Copyright 2012 Open Source Robotics Foundation
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
// Author: Ryan Shim
|
||||
|
||||
#ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
|
||||
#define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
|
||||
|
||||
#include <ignition/math.hh>
|
||||
#include <gazebo/common/common.hh>
|
||||
#include <gazebo/gazebo.hh>
|
||||
#include <gazebo/physics/physics.hh>
|
||||
|
||||
#define PI 3.141592
|
||||
|
||||
namespace gazebo
|
||||
{
|
||||
class Obstacles : public ModelPlugin
|
||||
{
|
||||
public:
|
||||
Obstacles() = default;
|
||||
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
|
||||
|
||||
private:
|
||||
physics::ModelPtr model;
|
||||
event::ConnectionPtr updateConnection;
|
||||
};
|
||||
GZ_REGISTER_MODEL_PLUGIN(Obstacles);
|
||||
} // namespace gazebo
|
||||
#endif // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
|
||||
@@ -0,0 +1,45 @@
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||||
// Copyright 2025 ROBOTIS CO., LTD.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
// Author: Hyungyu Kim
|
||||
|
||||
#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
|
||||
#define TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
|
||||
|
||||
#include <gazebo/gazebo.hh>
|
||||
#include <gazebo/physics/physics.hh>
|
||||
|
||||
namespace gazebo
|
||||
{
|
||||
class TrafficBar : public ModelPlugin
|
||||
{
|
||||
public:
|
||||
TrafficBar();
|
||||
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
|
||||
void OnUpdate();
|
||||
|
||||
private:
|
||||
double traffic_cycle;
|
||||
int status;
|
||||
|
||||
common::Time last_time;
|
||||
event::ConnectionPtr update_connection;
|
||||
ignition::math::Pose3d down_pose;
|
||||
ignition::math::Pose3d up_pose;
|
||||
physics::ModelPtr model;
|
||||
physics::WorldPtr world;
|
||||
};
|
||||
GZ_REGISTER_MODEL_PLUGIN(TrafficBar);
|
||||
} // namespace gazebo
|
||||
#endif // TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
|
||||
@@ -0,0 +1,53 @@
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||||
// Copyright 2025 ROBOTIS CO., LTD.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
// Author: Hyungyu Kim
|
||||
|
||||
#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
|
||||
#define TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <gazebo/gazebo.hh>
|
||||
#include <gazebo/physics/physics.hh>
|
||||
|
||||
namespace gazebo
|
||||
{
|
||||
class TrafficLight : public ModelPlugin
|
||||
{
|
||||
public:
|
||||
TrafficLight();
|
||||
~TrafficLight();
|
||||
|
||||
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
|
||||
void OnUpdate();
|
||||
|
||||
private:
|
||||
double traffic_cycle;
|
||||
int status;
|
||||
std::vector<std::string> textures;
|
||||
|
||||
common::Time last_time;
|
||||
event::ConnectionPtr update_connection;
|
||||
gazebo::transport::NodePtr node;
|
||||
gazebo::msgs::Visual msg;
|
||||
gazebo::transport::PublisherPtr visPub;
|
||||
physics::ModelPtr model;
|
||||
physics::WorldPtr world;
|
||||
};
|
||||
GZ_REGISTER_MODEL_PLUGIN(TrafficLight);
|
||||
} // namespace gazebo
|
||||
|
||||
#endif // TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
|
||||
@@ -0,0 +1,70 @@
|
||||
// Copyright 2019 ROBOTIS CO., LTD.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
// Authors: Taehun Lim (Darby), Ryan Shim
|
||||
|
||||
#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
|
||||
#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
|
||||
|
||||
#include <tf2/LinearMath/Matrix3x3.h>
|
||||
#include <tf2/LinearMath/Quaternion.h>
|
||||
#include <geometry_msgs/msg/twist.hpp>
|
||||
#include <nav_msgs/msg/odometry.hpp>
|
||||
#include <rclcpp/rclcpp.hpp>
|
||||
#include <sensor_msgs/msg/laser_scan.hpp>
|
||||
|
||||
#define DEG2RAD (M_PI / 180.0)
|
||||
#define RAD2DEG (180.0 / M_PI)
|
||||
|
||||
#define CENTER 0
|
||||
#define LEFT 1
|
||||
#define RIGHT 2
|
||||
|
||||
#define LINEAR_VELOCITY 0.3
|
||||
#define ANGULAR_VELOCITY 1.5
|
||||
|
||||
#define GET_TB3_DIRECTION 0
|
||||
#define TB3_DRIVE_FORWARD 1
|
||||
#define TB3_RIGHT_TURN 2
|
||||
#define TB3_LEFT_TURN 3
|
||||
|
||||
class Turtlebot3Drive : public rclcpp::Node
|
||||
{
|
||||
public:
|
||||
Turtlebot3Drive();
|
||||
~Turtlebot3Drive();
|
||||
|
||||
private:
|
||||
// ROS topic publishers
|
||||
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
|
||||
|
||||
// ROS topic subscribers
|
||||
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
|
||||
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
|
||||
|
||||
// Variables
|
||||
double robot_pose_;
|
||||
double prev_robot_pose_;
|
||||
double scan_data_[3];
|
||||
|
||||
// ROS timer
|
||||
rclcpp::TimerBase::SharedPtr update_timer_;
|
||||
|
||||
// Function prototypes
|
||||
void update_callback();
|
||||
void update_cmd_vel(double linear, double angular);
|
||||
void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
|
||||
void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
|
||||
};
|
||||
#endif // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
|
||||
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@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'empty_world.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,137 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool, HyunGyu Kim
|
||||
|
||||
import os
|
||||
import xml.etree.ElementTree as ET
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import GroupAction
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.actions import RegisterEventHandler
|
||||
from launch.event_handlers import OnShutdown
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import PushRosNamespace
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||
|
||||
number_of_robots = 4
|
||||
namespace = 'TB3'
|
||||
pose = [[-2, -0.5], [0.5, -2], [2, 0.5], [-0.5, 2]]
|
||||
model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
|
||||
urdf_path = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'models',
|
||||
model_folder,
|
||||
'model.sdf'
|
||||
)
|
||||
save_path = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'models',
|
||||
model_folder,
|
||||
'tmp'
|
||||
)
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_world.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd_list = []
|
||||
|
||||
for count in range(number_of_robots):
|
||||
robot_state_publisher_cmd_list.append(
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'use_sim_time': use_sim_time,
|
||||
'frame_prefix': f'{namespace}_{count+1}'
|
||||
}.items()
|
||||
)
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd_list = []
|
||||
|
||||
for count in range(number_of_robots):
|
||||
tree = ET.parse(urdf_path)
|
||||
root = tree.getroot()
|
||||
for odom_frame_tag in root.iter('odometry_frame'):
|
||||
odom_frame_tag.text = f'{namespace}_{count+1}/odom'
|
||||
for base_frame_tag in root.iter('robot_base_frame'):
|
||||
base_frame_tag.text = f'{namespace}_{count+1}/base_footprint'
|
||||
for scan_frame_tag in root.iter('frame_name'):
|
||||
scan_frame_tag.text = f'{namespace}_{count+1}/base_scan'
|
||||
urdf_modified = ET.tostring(tree.getroot(), encoding='unicode')
|
||||
urdf_modified = '<?xml version="1.0" ?>\n'+urdf_modified
|
||||
with open(f'{save_path}{count+1}.sdf', 'w') as file:
|
||||
file.write(urdf_modified)
|
||||
|
||||
spawn_turtlebot_cmd_list.append(
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'multi_spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': str(pose[count][0]),
|
||||
'y_pose': str(pose[count][1]),
|
||||
'robot_name': f'{TURTLEBOT3_MODEL}_{count+1}',
|
||||
'namespace': f'{namespace}_{count+1}',
|
||||
'sdf_path': f'{save_path}{count+1}.sdf'
|
||||
}.items()
|
||||
)
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(RegisterEventHandler(
|
||||
OnShutdown(
|
||||
on_shutdown=lambda event,
|
||||
context: [os.remove(f'{save_path}{count+1}.sdf') for count in range(number_of_robots)]
|
||||
)
|
||||
))
|
||||
for count, spawn_turtlebot_cmd in enumerate(spawn_turtlebot_cmd_list, start=1):
|
||||
ld.add_action(GroupAction([PushRosNamespace(f'{namespace}_{count}'),
|
||||
robot_state_publisher_cmd_list[count-1],
|
||||
spawn_turtlebot_cmd]))
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,60 @@
|
||||
#!/usr/bin/env python3
|
||||
# Copyright 2019 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: HyunGyu Kim
|
||||
|
||||
import os
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
|
||||
namespace = LaunchConfiguration('namespace', default='')
|
||||
sdf_path = LaunchConfiguration('sdf_path', default='')
|
||||
|
||||
declare_x_position_cmd = DeclareLaunchArgument(
|
||||
'x_pose', default_value='0.0',
|
||||
description='Specify namespace of the robot')
|
||||
|
||||
declare_y_position_cmd = DeclareLaunchArgument(
|
||||
'y_pose', default_value='0.0',
|
||||
description='Specify namespace of the robot')
|
||||
start_gazebo_ros_spawner_cmd = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
arguments=[
|
||||
'-entity', robot_name,
|
||||
'-file', sdf_path,
|
||||
'-x', x_pose,
|
||||
'-y', y_pose,
|
||||
'-z', '0.01',
|
||||
'-robot_namespace', namespace
|
||||
],
|
||||
output='screen',
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
ld.add_action(declare_x_position_cmd)
|
||||
ld.add_action(declare_y_position_cmd)
|
||||
ld.add_action(start_gazebo_ros_spawner_cmd)
|
||||
return ld
|
||||
@@ -0,0 +1,62 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Darby Lim
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.substitutions import PythonExpression
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
|
||||
frame_prefix = LaunchConfiguration('frame_prefix', default='')
|
||||
|
||||
print('urdf_file_name : {}'.format(urdf_file_name))
|
||||
|
||||
urdf_path = os.path.join(
|
||||
get_package_share_directory('turtlebot3_description'),
|
||||
'urdf',
|
||||
urdf_file_name)
|
||||
|
||||
with open(urdf_path, 'r') as infp:
|
||||
robot_desc = infp.read()
|
||||
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true'),
|
||||
Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
output='screen',
|
||||
parameters=[{
|
||||
'use_sim_time': use_sim_time,
|
||||
'robot_description': robot_desc,
|
||||
'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
|
||||
}],
|
||||
),
|
||||
])
|
||||
@@ -0,0 +1,70 @@
|
||||
# Copyright 2019 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the urdf file
|
||||
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||
model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
|
||||
urdf_path = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'models',
|
||||
model_folder,
|
||||
'model.sdf'
|
||||
)
|
||||
|
||||
# Launch configuration variables specific to simulation
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
|
||||
# Declare the launch arguments
|
||||
declare_x_position_cmd = DeclareLaunchArgument(
|
||||
'x_pose', default_value='0.0',
|
||||
description='Specify namespace of the robot')
|
||||
|
||||
declare_y_position_cmd = DeclareLaunchArgument(
|
||||
'y_pose', default_value='0.0',
|
||||
description='Specify namespace of the robot')
|
||||
|
||||
start_gazebo_ros_spawner_cmd = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
arguments=[
|
||||
'-entity', TURTLEBOT3_MODEL,
|
||||
'-file', urdf_path,
|
||||
'-x', x_pose,
|
||||
'-y', y_pose,
|
||||
'-z', '0.01'
|
||||
],
|
||||
output='screen',
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_x_position_cmd)
|
||||
ld.add_action(declare_y_position_cmd)
|
||||
|
||||
# Add any conditioned actions
|
||||
ld.add_action(start_gazebo_ros_spawner_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,77 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool, Hyungyu Kim
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.8')
|
||||
y_pose = LaunchConfiguration('y_pose', default='-1.747')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_autorace_2020.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
return ld
|
||||
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_dqn_stage1.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_dqn_stage2.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_dqn_stage3.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_dqn_stage4.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='-2.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='-0.5')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_house.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
#
|
||||
# Copyright 2019 ROBOTIS CO., LTD.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Authors: Joep Tool
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||
x_pose = LaunchConfiguration('x_pose', default='-2.0')
|
||||
y_pose = LaunchConfiguration('y_pose', default='-0.5')
|
||||
|
||||
world = os.path.join(
|
||||
get_package_share_directory('turtlebot3_gazebo'),
|
||||
'worlds',
|
||||
'turtlebot3_world.world'
|
||||
)
|
||||
|
||||
gzserver_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||
),
|
||||
launch_arguments={'world': world}.items()
|
||||
)
|
||||
|
||||
gzclient_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||
)
|
||||
)
|
||||
|
||||
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||
),
|
||||
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||
)
|
||||
|
||||
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'x_pose': x_pose,
|
||||
'y_pose': y_pose
|
||||
}.items()
|
||||
)
|
||||
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Add the commands to the launch description
|
||||
ld.add_action(gzserver_cmd)
|
||||
ld.add_action(gzclient_cmd)
|
||||
ld.add_action(robot_state_publisher_cmd)
|
||||
ld.add_action(spawn_turtlebot_cmd)
|
||||
|
||||
return ld
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 4.8 KiB |
+14
@@ -0,0 +1,14 @@
|
||||
material checker
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture checker.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 2.7 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>checker</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Gilbert</name>
|
||||
<email>kkjong@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="checker">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
|
||||
<name>checker</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material course
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture course.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>course</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Gilbert</name>
|
||||
<email>kkjong@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A simple textured ground plane
|
||||
</description>
|
||||
</model>
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="course">
|
||||
<static>true</static>
|
||||
<link name="course_link">
|
||||
<collision name="course_collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>4 4</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="course_visual">
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>4 4</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
|
||||
<name>course</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_bar
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_bar.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.0 KiB |
@@ -0,0 +1,18 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_bar</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
<name>Hyungyu Kim</name>
|
||||
<email>kimhg@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,32 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_bar">
|
||||
<static>false</static>
|
||||
<link name="traffic_bar">
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.3 0.02 0.05</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.3 0.02 0.05</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
|
||||
<name>traffic_bar</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_construction
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_construction.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 76 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_construction</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_construction">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
|
||||
<name>traffic_construction</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_intersection
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_intersection.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 66 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_intersection</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_intersection">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/textures</uri>
|
||||
<name>traffic_intersection</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_left
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_left.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_left</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_left">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>1.08 -0.838 0.125 0 -0 -1.57</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_left/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_left/materials/textures</uri>
|
||||
<name>traffic_left</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+41
@@ -0,0 +1,41 @@
|
||||
material traffic_light_red
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_light_red.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
material traffic_light_green
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_light_green.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
material traffic_light_yellow
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_light_yellow.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.8 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.8 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.9 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 5.0 KiB |
@@ -0,0 +1,13 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>traffic_light</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Ashekim</name>
|
||||
<email>ashekim@robotis.com</email>
|
||||
<name>Hyungyu Kim</name>
|
||||
<email>kimhg@robotis.com</email>
|
||||
</author>
|
||||
<description>The traffic light.</description>
|
||||
</model>
|
||||
@@ -0,0 +1,32 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name='traffic_light'>
|
||||
<link name='traffic_light'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_light/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_light/materials/textures</uri>
|
||||
<name>traffic_light_red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<plugin name="traffic_light_plugin" filename="libtraffic_light_plugin.so">
|
||||
</plugin>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_noentry
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_noentry.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_noentry</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_noentry">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/textures</uri>
|
||||
<name>traffic_noentry</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_parking
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_parking.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 44 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_parking</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_parking">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_parking/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_parking/materials/textures</uri>
|
||||
<name>traffic_parking</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_pl_left
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_pl_left.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_pl_left</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_pl_left">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/textures</uri>
|
||||
<name>traffic_pl_left</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_right
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_right.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_right</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_right">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_right/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_right/materials/textures</uri>
|
||||
<name>traffic_right</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_stop
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_stop.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 48 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_stop</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Gilbert</name>
|
||||
<email>kkjong@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_stop">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_stop/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_stop/materials/textures</uri>
|
||||
<name>traffic_stop</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_tunnel
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture tunnel.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 61 KiB |
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_tunnel</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_tunnel">
|
||||
<pose>0 0 0.125 0 0 0</pose>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/textures</uri>
|
||||
<name>traffic_tunnel</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,408 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_burger">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<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="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Burger)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Burger
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,467 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_burger">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<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="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="velodyne_link">
|
||||
<pose>0 0 0.24 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.12</mass>
|
||||
<inertia>
|
||||
<ixx>0.00012</ixx>
|
||||
<iyy>0.00012</iyy>
|
||||
<izz>0.00012</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="velodyne_visual">
|
||||
<geometry><cylinder><radius>0.035</radius><length>0.055</length></cylinder></geometry>
|
||||
<material><ambient>0.08 0.08 0.08 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
|
||||
</visual>
|
||||
<collision name="velodyne_collision">
|
||||
<geometry><cylinder><radius>0.035</radius><length>0.055</length></cylinder></geometry>
|
||||
</collision>
|
||||
<sensor name="velodyne_3d" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>false</visualize>
|
||||
<update_rate>10</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal><samples>720</samples><resolution>1</resolution><min_angle>-3.141593</min_angle><max_angle>3.141593</max_angle></horizontal>
|
||||
<vertical><samples>16</samples><resolution>1</resolution><min_angle>-0.261799</min_angle><max_angle>0.261799</max_angle></vertical>
|
||||
</scan>
|
||||
<range><min>0.20</min><max>20.0</max><resolution>0.01</resolution></range>
|
||||
<noise><type>gaussian</type><mean>0.0</mean><stddev>0.01</stddev></noise>
|
||||
</ray>
|
||||
<plugin name="velodyne_3d_ros" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros><remapping>~/out:=raw/lidar</remapping></ros>
|
||||
<output_type>sensor_msgs/PointCloud2</output_type>
|
||||
<frame_name>velodyne_link</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="velodyne_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>velodyne_link</child>
|
||||
<pose>0 0 0.24 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,408 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_burger">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<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="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Burger_cam)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<name>Hyungyu Kim</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
<email>kimhg@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Burger
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,495 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="turtlebot3_burger_cam">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>false</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<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="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link">
|
||||
<inertial>
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<sensor name="camera" type="wideanglecamera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="picam">
|
||||
<horizontal_fov>3.183</horizontal_fov>
|
||||
<image>
|
||||
<width>320</width>
|
||||
<height>240</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
<lens>
|
||||
<type>custom</type>
|
||||
<custom_function>
|
||||
<c1>1.05</c1>
|
||||
<c2>4</c2>
|
||||
<f>1.0</f>
|
||||
<fun>tan</fun>
|
||||
</custom_function>
|
||||
<scale_to_hfov>true</scale_to_hfov>
|
||||
<cutoff_angle>3.1415</cutoff_angle>
|
||||
<env_texture_size>512</env_texture_size>
|
||||
</lens>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>camera</cameraName>
|
||||
<frameName>camera_link</frameName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
<ros>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.040 -0.000 0.110 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
Binary file not shown.
BIN
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,220 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
|
||||
</contributor>
|
||||
<created>2020-06-29T17:10:17</created>
|
||||
<modified>2020-06-29T17:10:17</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_cameras>
|
||||
<camera id="Camera-camera" name="Camera">
|
||||
<optics>
|
||||
<technique_common>
|
||||
<perspective>
|
||||
<xfov sid="xfov">39.59775</xfov>
|
||||
<aspect_ratio>1.777778</aspect_ratio>
|
||||
<znear sid="znear">0.1</znear>
|
||||
<zfar sid="zfar">100</zfar>
|
||||
</perspective>
|
||||
</technique_common>
|
||||
</optics>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<shiftx sid="shiftx" type="float">0</shiftx>
|
||||
<shifty sid="shifty" type="float">0</shifty>
|
||||
<dof_distance sid="dof_distance" type="float">10</dof_distance>
|
||||
</technique>
|
||||
</extra>
|
||||
</camera>
|
||||
</library_cameras>
|
||||
<library_lights>
|
||||
<light id="Light-light" name="Light">
|
||||
<technique_common>
|
||||
<point>
|
||||
<color sid="color">1000 1000 1000</color>
|
||||
<constant_attenuation>1</constant_attenuation>
|
||||
<linear_attenuation>0</linear_attenuation>
|
||||
<quadratic_attenuation>0.00111109</quadratic_attenuation>
|
||||
</point>
|
||||
</technique_common>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<type sid="type" type="int">0</type>
|
||||
<flag sid="flag" type="int">0</flag>
|
||||
<mode sid="mode" type="int">1</mode>
|
||||
<gamma sid="blender_gamma" type="float">1</gamma>
|
||||
<red sid="red" type="float">1</red>
|
||||
<green sid="green" type="float">1</green>
|
||||
<blue sid="blue" type="float">1</blue>
|
||||
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
|
||||
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
|
||||
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
|
||||
<energy sid="blender_energy" type="float">1000</energy>
|
||||
<dist sid="blender_dist" type="float">29.99998</dist>
|
||||
<spotsize sid="spotsize" type="float">75</spotsize>
|
||||
<spotblend sid="spotblend" type="float">0.15</spotblend>
|
||||
<att1 sid="att1" type="float">0</att1>
|
||||
<att2 sid="att2" type="float">1</att2>
|
||||
<falloff_type sid="falloff_type" type="int">2</falloff_type>
|
||||
<clipsta sid="clipsta" type="float">0.04999995</clipsta>
|
||||
<clipend sid="clipend" type="float">30.002</clipend>
|
||||
<bias sid="bias" type="float">1</bias>
|
||||
<soft sid="soft" type="float">3</soft>
|
||||
<bufsize sid="bufsize" type="int">2880</bufsize>
|
||||
<samp sid="samp" type="int">3</samp>
|
||||
<buffers sid="buffers" type="int">1</buffers>
|
||||
<area_shape sid="area_shape" type="int">1</area_shape>
|
||||
<area_size sid="area_size" type="float">0.1</area_size>
|
||||
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
|
||||
<area_sizez sid="area_sizez" type="float">1</area_sizez>
|
||||
</technique>
|
||||
</extra>
|
||||
</light>
|
||||
</library_lights>
|
||||
<library_effects>
|
||||
<effect id="Material-effect">
|
||||
<profile_COMMON>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<color sid="diffuse">0.8 0.8 0.8 1</color>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.45</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images/>
|
||||
<library_materials>
|
||||
<material id="Material-material" name="Material">
|
||||
<instance_effect url="#Material-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Cube_001-mesh" name="Cube.001">
|
||||
<mesh>
|
||||
<source id="Cube_001-mesh-positions">
|
||||
<float_array id="Cube_001-mesh-positions-array" count="48">-0.5664003 -1 -1 -1 -0.5664004 -1 -1 -0.5664003 1.061318 -0.5664004 -1 1.061318 -1 0.5664003 -1 -0.5664004 1 -1 -0.5664003 1 1.061318 -1 0.5664004 1.061318 1 -0.5664003 -1 0.5664004 -1 -1 0.5664003 -1 1.061318 1 -0.5664004 1.061318 0.5664003 1 -1 1 0.5664004 -1 1 0.5664003 1.061318 0.5664004 1 1.061318</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_001-mesh-positions-array" count="16" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube_001-mesh-normals">
|
||||
<float_array id="Cube_001-mesh-normals-array" count="60">0 -1 0 1 0 0 0 0 1 -1 0 0 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 -1 0 0 0 1 0 0 1 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 0 -1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_001-mesh-normals-array" count="20" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube_001-mesh-map-0">
|
||||
<float_array id="Cube_001-mesh-map-0-array" count="168">0.625 0.8041999 0.375 0.9458001 0.375 0.8041999 0.625 0.5541999 0.375 0.6958 0.375 0.5541999 0.8208 0.75 0.6792 0.75 0.625 0.6958 0.625 0.05419993 0.375 0.1958 0.375 0.05419993 0.625 0.3041999 0.375 0.4458 0.375 0.3041999 0.625 0.9458001 0.375 1 0.375 0.9458001 0.375 0.3041999 0.625 0.1958 0.625 0.3041999 0.375 0.5541999 0.625 0.4458 0.625 0.5541999 0.375 0.8041999 0.625 0.6958 0.625 0.8041999 0.3208 0.75 0.1791999 0.75 0.125 0.6958 0.625 0.8041999 0.625 0.9458001 0.375 0.9458001 0.625 0.5541999 0.625 0.6958 0.375 0.6958 0.625 0.6958 0.625 0.5541999 0.875 0.5541999 0.625 0.5541999 0.6791999 0.5 0.875 0.5541999 0.6791999 0.5 0.8208 0.5 0.875 0.5541999 0.875 0.5541999 0.875 0.6958 0.625 0.6958 0.875 0.6958 0.8208 0.75 0.625 0.6958 0.625 0.05419993 0.625 0.1958 0.375 0.1958 0.625 0.3041999 0.625 0.4458 0.375 0.4458 0.625 0.9458001 0.625 1 0.375 1 0.375 0.3041999 0.375 0.1958 0.625 0.1958 0.375 0.5541999 0.375 0.4458 0.625 0.4458 0.375 0.8041999 0.375 0.6958 0.625 0.6958 0.125 0.6958 0.125 0.5541999 0.375 0.5541999 0.125 0.5541999 0.1791999 0.5 0.375 0.5541999 0.1791999 0.5 0.3208 0.5 0.375 0.5541999 0.375 0.5541999 0.375 0.6958 0.125 0.6958 0.375 0.6958 0.3208 0.75 0.125 0.6958</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_001-mesh-map-0-array" count="84" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube_001-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube_001-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles count="28">
|
||||
<input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
|
||||
<p>10 0 0 0 0 1 9 0 2 14 1 3 8 1 4 13 1 5 3 2 6 10 2 7 11 2 8 2 3 9 4 3 10 1 3 11 6 4 12 12 4 13 5 4 14 3 5 15 1 5 16 0 5 17 5 6 18 7 6 19 6 6 20 13 7 21 15 7 22 14 7 23 9 8 24 11 8 25 10 8 26 9 9 27 0 9 28 1 9 29 10 10 30 3 10 31 0 10 32 14 1 33 11 1 34 8 1 35 11 11 36 14 11 37 7 11 38 14 2 39 15 2 40 7 2 41 15 2 42 6 2 43 7 2 44 7 12 45 2 12 46 11 12 47 2 2 48 3 2 49 11 2 50 2 3 51 7 3 52 4 3 53 6 13 54 15 13 55 12 13 56 3 14 57 2 14 58 1 14 59 5 15 60 4 15 61 7 15 62 13 16 63 12 16 64 15 16 65 9 17 66 8 17 67 11 17 68 1 18 69 4 18 70 13 18 71 4 9 72 5 9 73 13 9 74 5 9 75 12 9 76 13 9 77 13 19 78 8 19 79 1 19 80 8 9 81 9 9 82 1 9 83</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-map-0">
|
||||
<float_array id="Cube-mesh-map-0-array" count="72">0.875 0.5 0.625 0.75 0.625 0.5 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="Material-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
|
||||
<p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="Cube_001" name="Cube.001" type="NODE">
|
||||
<matrix sid="transform">68.44905 0 0 0 0 68.44905 0 0 0 0 68.44905 68.59841 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_001-mesh" name="Cube.001"/>
|
||||
</node>
|
||||
<node id="Camera" name="Camera" type="NODE">
|
||||
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
|
||||
<instance_camera url="#Camera-camera"/>
|
||||
</node>
|
||||
<node id="Light" name="Light" type="NODE">
|
||||
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
|
||||
<instance_light url="#Light-light"/>
|
||||
</node>
|
||||
<node id="Cube" name="Cube" type="NODE">
|
||||
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh" name="Cube">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material-material" target="#Material-material">
|
||||
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user