Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

add new arena model #6

Merged
merged 1 commit into from
Jan 6, 2016
Merged

add new arena model #6

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 2 additions & 5 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,8 +36,5 @@ $ roslaunch jsk_mbzirc_common mbzirc_arena.launch

initial pose is very necessary


- for developer

models are the sdf files, put those files into :~/.gazebo/models/
or you can create new world
# for husky, please install as follow:
sudo apt-get install ros-indigo-husky-simulator
132 changes: 132 additions & 0 deletions gazebo_model/models/arena/meshes/arena.dae
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,132 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.72.0 commit date:2014-10-21, commit time:11:38, hash:9e963ae</authoring_tool>
</contributor>
<created>2016-01-05T13:49:40</created>
<modified>2016-01-05T13:49:40</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="arena_png" name="arena_png">
<init_from>arena.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material_001-effect">
<profile_COMMON>
<newparam sid="arena_png-surface">
<surface type="2D">
<init_from>arena_png</init_from>
</surface>
</newparam>
<newparam sid="arena_png-sampler">
<sampler2D>
<source>arena_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0.9 0.9 0.9 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<texture texture="arena_png-sampler" texcoord="UVMap"/>
</diffuse>
<specular>
<color sid="specular">1 1 1 1</color>
</specular>
<shininess>
<float sid="shininess">100</float>
</shininess>
<reflective>
<color>1 1 1 1</color>
</reflective>
<reflectivity>
<float>0</float>
</reflectivity>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material_001-material" name="Material_001">
<instance_effect url="#Material_001-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Arena-mesh" name="Arena">
<mesh>
<source id="Arena-mesh-positions">
<float_array id="Arena-mesh-positions-array" count="24">80 10 40 80 0 40 80 0 -40 80 10 -40 -80 10 40 -80 0 40 -80 10 -40 -80 0 -40</float_array>
<technique_common>
<accessor source="#Arena-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="Arena-mesh-normals">
<float_array id="Arena-mesh-normals-array" count="36">1 0 0 1 0 0 0 0 1 0 0 1 -1 0 0 -1 0 0 0 0 -1 0 0 -1 0 1 0 0 1 0 0 -1 0 0 -1 0</float_array>
<technique_common>
<accessor source="#Arena-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Arena-mesh-map-0">
<float_array id="Arena-mesh-map-0-array" count="72">0.99006 0.5106102 0.934337 0.5106102 0.9343374 0.08976894 0.9343374 0.08976894 0.9900602 0.089769 0.99006 0.5106102 0.04277145 0.5632143 0.04277145 0.5106093 0.934337 0.5106102 0.934337 0.5106102 0.934337 0.5632153 0.04277145 0.5632143 -0.01295101 0.08976829 0.04277181 0.08976829 0.04277145 0.5106093 0.04277145 0.5106093 -0.01295137 0.5106093 -0.01295101 0.08976829 0.9343374 0.03716379 0.9343374 0.08976894 0.04277181 0.08976829 0.04277181 0.08976829 0.04277181 0.03716319 0.9343374 0.03716379 0.04277145 0.5632143 0.934337 0.5632153 0.9343367 0.9840568 0.9343367 0.9840568 0.0427711 0.9840563 0.04277145 0.5632143 0.04277181 0.08976829 0.9343374 0.08976894 0.934337 0.5106102 0.934337 0.5106102 0.04277145 0.5106093 0.04277181 0.08976829</float_array>
<technique_common>
<accessor source="#Arena-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Arena-mesh-vertices">
<input semantic="POSITION" source="#Arena-mesh-positions"/>
</vertices>
<polylist material="Material_001-material" count="12">
<input semantic="VERTEX" source="#Arena-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Arena-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Arena-mesh-map-0" offset="2" set="0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 0 1 0 1 2 0 2 2 1 3 3 1 4 0 1 5 4 2 6 5 2 7 1 2 8 1 3 9 0 3 10 4 3 11 6 4 12 7 4 13 5 4 14 5 5 15 4 5 16 6 5 17 3 6 18 2 6 19 7 6 20 7 7 21 6 7 22 3 7 23 4 8 24 0 8 25 3 8 26 3 9 27 6 9 28 4 9 29 7 10 30 2 10 31 1 10 32 1 11 33 5 11 34 7 11 35</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Arena" name="Arena" 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="#Arena-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-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>
Binary file added gazebo_model/models/arena/meshes/arena.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
6 changes: 3 additions & 3 deletions gazebo_model/models/arena/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@
<model>
<name>arena</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<sdf version="1.4">model.sdf</sdf>
<author>
<name>xychen</name>
<email>xychen@jsk.imi.i.u-tokyo.ac.jp</email>
<name>chou</name>
<email>chou@jsk.imi.i.u-tokyo.ac.jp</email>
</author>
<description>mbzirc-jsk</description>
</model>
108 changes: 41 additions & 67 deletions gazebo_model/models/arena/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,66 +1,23 @@
<?xml version='1.0'?>
<sdf version='1.5'>
<?xml version="1.0"?>
<sdf version="1.4">
<model name='arena'>
<link name='link_arena'>
<pose>0 0 0 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<inertial>
<mass>10000</mass>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://arena/meshes/100x60.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://arena/meshes/100x60.dae</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<static>1</static>
<link name='link_arena'>
<collision name='collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://arena/meshes/arena.dae</uri>
<scale>1 0.01 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
Expand All @@ -85,10 +42,27 @@
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
</surface>
<max_contacts>10</max_contacts>
<laser_retro>0</laser_retro>
</collision>
<visual name='visual'>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
<geometry>
<mesh>
<uri>model://arena/meshes/arena.dae</uri>
<scale>1 0.01 1</scale>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
</sdf>
0 gazebo_model/models/arena/meshes/100x60.dae → ..._model/models/arena_old/meshes/100x60.dae
View file
Open in desktop
File renamed without changes.
11 changes: 11 additions & 0 deletions gazebo_model/models/arena_old/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<model>
<name>arena</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>xychen</name>
<email>xychen@jsk.imi.i.u-tokyo.ac.jp</email>
</author>
<description>mbzirc-jsk</description>
</model>
94 changes: 94 additions & 0 deletions gazebo_model/models/arena_old/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,94 @@
<?xml version='1.0'?>
<sdf version='1.5'>
<model name='arena'>
<link name='link_arena'>
<pose>0 0 0 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<inertial>
<mass>10000</mass>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://arena/meshes/100x60.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://arena/meshes/100x60.dae</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
Loading