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How to use RotorS’ world model #26
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type: question
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Copy and paste the content of the launch and world file |
test_city.world <?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<plugin name='gazebo_octomap' filename='librotors_gazebo_octomap_plugin.so'>
<octomapPubTopic>world/octomap</octomapPubTopic>
<octomapServiceName>world/get_octomap</octomapServiceName>
</plugin>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<physics type='ode'>
<ode>
<solver>
<type>quick</type>
<iters>1000</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>47.3667</latitude_deg>
<longitude_deg>8.5500</longitude_deg>
<elevation>500.0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='asphalt_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>10 10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>10 -10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-10 10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-10 -10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-10 -30 0 0 0 0</pose>
</model>
<model name='asphalt_plane_4'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>10 -30 0 0 0 0</pose>
</model>
<model name='asphalt_plane_5'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>30 -30 0 0 0 0</pose>
</model>
<model name='asphalt_plane_6'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>30 10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_7'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>30 -10 0 0 0 0</pose>
</model>
<model name='Fast Food'>
<static>1</static>
<link name='link'>
<pose>0 0 1.57966 0 0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://fast_food/meshes/fast_food.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://fast_food/meshes/fast_food.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://fast_food/materials/scripts</uri>
<uri>model://fast_food/materials/textures</uri>
<name>FastFood/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>FastFood_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 -13 0 0 0 0</pose>
</model>
<model name='Dumpster'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://dumpster/materials/scripts</uri>
<uri>model://dumpster/materials/textures</uri>
<name>Dumpster/Diffuse</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-8.5 -12 0 0 0 0</pose>
<static>0</static>
</model>
<model name='drc_practice_yellow_parking_block'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 0 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_0'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 -2.5 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_1'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 2.5 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_2'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 2.5 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_3'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 0 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_4'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 -2.5 0 0 0 0</pose>
</model>
<model name='House 1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_1/meshes/house_1.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_1/meshes/house_1.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_1/materials/scripts</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_1/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>House_1_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>13 16 0 0 0 0</pose>
</model>
<model name='House 2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_2/meshes/house_2.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_2/meshes/house_2.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_2/materials/scripts</uri>
<uri>model://house_2/materials/textures</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_2/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>0 15 0 0 0 0</pose>
</model>
<model name='House 3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_3/meshes/house_3.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_3/meshes/house_3.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_3/materials/scripts</uri>
<uri>model://house_3/materials/textures</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_3/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-8 14 0 0 0 0</pose>
</model>
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</link>
</model>
<model name='asphalt_plane_0'>
<pose>10 -10 0 0 0 0</pose>
<link name='link'>
<pose>10 -10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_1'>
<pose>-10 10 0 0 0 0</pose>
<link name='link'>
<pose>-10 10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_2'>
<pose>-10 -10 0 0 0 0</pose>
<link name='link'>
<pose>-10 -10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_3'>
<pose>-10 -30 0 0 0 0</pose>
<link name='link'>
<pose>-10 -30 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_4'>
<pose>10 -30 0 0 0 0</pose>
<link name='link'>
<pose>10 -30 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_5'>
<pose>30 -30 0 0 0 0</pose>
<link name='link'>
<pose>30 -30 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_6'>
<pose>30 10 0 0 0 0</pose>
<link name='link'>
<pose>30 10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_7'>
<pose>30 -10 0 0 0 0</pose>
<link name='link'>
<pose>30 -10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block'>
<pose>-5 0 0 0 0 0</pose>
<link name='link'>
<pose>-5 0 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_0'>
<pose>-5 -2.5 0 0 0 0</pose>
<link name='link'>
<pose>-5 -2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_1'>
<pose>-5 2.5 0 0 0 0</pose>
<link name='link'>
<pose>-5 2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_2'>
<pose>-4 2.5 0 0 0 0</pose>
<link name='link'>
<pose>-4 2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_3'>
<pose>-4 0 0 0 0 0</pose>
<link name='link'>
<pose>-4 0 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_4'>
<pose>-4 -2.5 0 0 0 0</pose>
<link name='link'>
<pose>-4 -2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='grey_wall'>
<pose>-16 -16 0 0 0 0</pose>
<link name='link'>
<pose>-16 -16 1.4 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='grey_wall_0'>
<pose>-12.15 -19.7 0 0 0 -1.57378</pose>
<link name='link'>
<pose>-12.15 -19.7 1.4 0 0 -1.57378</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose>0 0 0 0 0 0</pose>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='ladder'>
<pose>-13.3 -15.3 0.1 0 0 -3.1415</pose>
<link name='link'>
<pose>-13.3 -15.3 0.1 0 0 -3.1415</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='mud_box'>
<pose>-16.1 -21 0 0 0 0</pose>
<link name='link'>
<pose>-16.1 -21 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>-15 0 4.57585 0 0.317796 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<model name='Gas Station'>
<static>1</static>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://gas_station/meshes/gas_station.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://gas_station/meshes/gas_station.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://gas_station/materials/scripts</uri>
<uri>model://gas_station/materials/textures</uri>
<name>GasStation/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>GasStation_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>25 -13 0 0 0 -1.5708</pose>
</model>
</world>
</sdf> task2_world.launch <?xml version="1.0"?>
<launch>
<arg name="name" default="bebop"/>
<arg name="plotName" default="bebopPlots"/>
<arg name="x" default="0.0" />
<arg name="y" default="0.0" />
<arg name="z" default="0.0" />
<arg name="use_sim_time" default="true"/>
<arg name="world_name" default="test_city"/>
<arg name="wind_force" default="0.25"/>
<arg name="wind_start" default="5.0"/>
<arg name="wind_duration" default="40.0"/>
<arg name="wind_direction_x" default="1.0"/>
<arg name="wind_direction_y" default="0.0"/>
<arg name="wind_direction_z" default="0.0"/>
<arg name="csvFilesStoring" default="false"/>
<arg name="csvFilesStoringTime" default="60.0"/> <!-- seconds -->
<arg name="user_account" default="giuseppe"/> <!-- account name of your pc -->
<arg name="waypoint_filter" default="true"/>
<arg name="EKFActive" default="false"/>
<arg name="enable_odometry_sensor_with_noise" default="false"/>
<arg name="disable_odometry_sensor_with_noise" default="true"/>
<arg name="enable_ground_truth_sensor" default="false"/>
<arg name="enable_wind_plugin" default="false"/>
<arg name="enable_laser1D" default="false"/>
<arg name="enable_plots" default="false"/>
<arg name="enable_imu" default="true"/>
<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find bebop_simulator)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find bebop_simulator)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find bebop_simulator)/worlds/$(arg world_name).world" />
</include>
<!-- Launch UAV -->
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)" />
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<param name="disable_odometry_sensor_with_noise" value="false" unless="$(arg enable_odometry_sensor_with_noise)" />
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)"/>
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
</include>
<!-- Launch the controller -->
<node name="position_controller_node" pkg="bebop_simulator" type="position_controller_node" output="screen">
<rosparam command="load" file="$(find bebop_simulator)/resource/controller_bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/EKF_matrix.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/waypoint_filter.yaml" />
<param name="use_sim_time" value="$(arg use_sim_time)" />
<param name="csvFilesStoring" value="$(arg csvFilesStoring)"/>
<param name="csvFilesStoringTime" value="$(arg csvFilesStoringTime)"/>
<param name="user_account" value="$(arg user_account)"/>
<param name="waypoint_filter" value="$(arg waypoint_filter)"/>
<param name="EKFActive" value="$(arg EKFActive)"/>
<remap from="/command/motor_speed" to="/gazebo/command/motor_speed" />
<remap from="/odometry" to="/bebop/odometry" />
<remap from="/odometry_gt" to="/bebop/odometry_gt" />
<remap from="/filteredOutput" to="/bebop/filteredOutput" />
<remap from="/referenceAngles" to="/bebop/referenceAngles" />
<remap from="/stateErrors" to="/bebop/stateErrors" />
<remap from="/smoothedTrajectory" to="/bebop/smoothedTrajectory" />
<remap from="/command/trajectory" to="/bebop/command/trajectory" />
<remap from="/uTerrComponents" to="/bebop/uTerrComponents" />
<remap from="/zVelocityComponents" to="/bebop/zVelocityComponents" />
<remap from="/positionAndVelocityErrors" to="/bebop/positionAndVelocityErrors" />
<remap from="/angularAndAngularVelocityErrors" to="/bebop/angularAndAngularVelocityErrors" />
</node>
<!-- Launch the trajectory generator -->
<group ns="$(arg name)">
<node name="waypoint_example" pkg="bebop_simulator" type="waypoint_example" output="screen" args="$(find bebop_simulator)/resource/waypoints.txt"/>
</group>
<!-- Launch the trajectory plot -->
<group ns="$(arg plotName)" if="$(arg enable_plots)">
<node name="position_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/odometry/pose/pose/position" output="screen" />
<node name="quaternion_to_rpy" pkg="bebop_simulator" type="quaternion_to_rpy" output="screen" >
<remap from="/odometry" to="/bebop/odometry" />
<remap from="/orientation_rpy" to="/bebop/orientation_rpy" />
</node>
<node name="orientation_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/orientation_rpy" output="screen" />
<!-- Launch the reference angles plot -->
<node name="reference_angles_uT_PhiR_ThetaR" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/referenceAngles/pose/pose/position" output="screen" />
<node name="reference_angles_Ux_Uy_Uterr" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/referenceAngles/twist/twist/linear" output="screen" />
<!-- Launch the smoothed trajectory plot -->
<node name="smoothed_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/smoothedTrajectory/pose/pose/position" output="screen" />
<!-- Launch the uTerr components plot -->
<node name="uTerr_components_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/uTerrComponents/pose/pose/position" output="screen" />
<!-- Launch the zVelocity components plot -->
<node name="zVelocity_components_plot_1" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/zVelocityComponents/pose/pose/position" output="screen" />
<node name="zVelocity_components_plot_2" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/zVelocityComponents/twist/twist/linear" output="screen" />
<!-- Launch the filtered output plot -->
<node name="position_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/filteredOutput/pose/pose/position" output="screen" />
<node name="velocity_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/filteredOutput/twist/twist/linear" output="screen" />
<!-- Launch the state errors plot -->
<node name="state_errors_position_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/stateErrors/pose/pose/position" output="screen" />
<node name="state_errors_velocity_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/stateErrors/twist/twist/linear" output="screen" />
<!-- Launch the position and velocity errors plot -->
<node name="position_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/positionAndVelocityErrors/pose/pose/position" output="screen" />
<node name="velocity_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/positionAndVelocityErrors/twist/twist/linear" output="screen" />
<!-- Launch the angular and angular velocities errors plot -->
<node name="angular_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/angularAndAngularVelocityErrors/pose/pose/position" output="screen" />
<node name="angular_velocity_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/angularAndAngularVelocityErrors/twist/twist/linear" output="screen" />
</group>
</launch> |
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I want to use the world model from RotorS, but it shows as following (drone upside down). Could anyone tell me the reason? or if i need to modify the .world file?
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