first commit
This commit is contained in:
Executable
+146
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||||
<?xml version="1.0" ?>
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||||
<sdf version="1.5">
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||||
<world name="default">
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||||
<!-- A global light source -->
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||||
<include>
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||||
<uri>model://sun</uri>
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||||
</include>
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||||
<!-- <include>
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||||
<uri>model://water_level</uri>
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||||
</include> -->
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||||
<include>
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||||
<uri>model://ocean</uri>
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||||
</include>
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||||
<model name="boat">
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||||
<pose>0 0 0 0 0 0.4</pose>
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<include>
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<uri>model://boat</uri>
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</include>
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||||
<!-- add new camera -->
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||||
<link name='camera'>
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||||
<pose>0 -0.01 2.0 1.91986 0 1.57</pose>
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||||
<inertial>
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||||
<pose>0 0 0 0 0 0</pose>
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||||
<mass>0.1</mass>
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||||
<inertia>
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||||
<ixx>0.001</ixx>
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||||
<ixy>0</ixy>
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||||
<ixz>0</ixz>
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||||
<iyy>0.001</iyy>
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||||
<iyz>0</iyz>
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||||
<izz>0.001</izz>
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||||
</inertia>
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</inertial>
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||||
<visual name='visual'>
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||||
<pose>0 0 0 0 0 0</pose>
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||||
<geometry>
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||||
<cylinder>0944
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||||
<radius>0.025</radius>
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||||
<length>0.025</length>
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||||
</cylinder>
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||||
</geometry>
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||||
<material>
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||||
<script>
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||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Grey</name>
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</script>
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</material>
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||||
</visual>
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<sensor name="camera" type="camera">
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<pose>0 0 0 -1.57 -1.57 0</pose>
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<camera>
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||||
<horizontal_fov>1.0472</horizontal_fov>
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<image>
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||||
<width>640</width>
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<height>480</height>
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</image>
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||||
<clip>
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<near>0.05</near>
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<far>1000</far>
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</clip>
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</camera>
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||||
<always_on>1</always_on>
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||||
<update_rate>10</update_rate>
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<visualize>true</visualize>
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||||
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||||
<!-- <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
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<fiducial>irlock_beacon_01</fiducial>
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</plugin> -->
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>webcam</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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||||
<frameName>camera_link</frameName>
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<hackBaseline>0.07</hackBaseline>
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||||
<distortionK1>0.0</distortionK1>
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||||
<distortionK2>0.0</distortionK2>
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||||
<distortionK3>0.0</distortionK3>
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||||
<distortionT1>0.0</distortionT1>
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||||
<distortionT2>0.0</distortionT2>
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||||
</plugin>
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||||
|
||||
</sensor>
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||||
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</link>
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||||
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<!-- attach camera -->
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<joint type="revolute" name="base_camera_joint">
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<pose>0 0 0.0 0 0 0</pose>
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<parent>boat::base_link</parent>
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<child>camera</child>
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<axis>
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||||
<limit>
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<lower>0</lower>
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<upper>0</upper>
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||||
</limit>
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||||
<xyz>0 0 1</xyz>
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||||
<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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||||
</joint>
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||||
</model>
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||||
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||||
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||||
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||||
<physics name='default_physics' default='0' type='ode'>
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||||
<!-- <gravity>0 0 -9.8066</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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||||
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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||||
<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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||||
<contact_max_correcting_vel>100</contact_max_correcting_vel>
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||||
<contact_surface_layer>0.001</contact_surface_layer>
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||||
</constraints>
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||||
</ode>
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||||
<max_step_size>0.004</max_step_size>
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||||
<real_time_factor>1</real_time_factor>
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||||
<real_time_update_rate>0</real_time_update_rate>
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||||
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field> -->
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||||
<ode>
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||||
<solver>
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||||
<type>quick</type>
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<iters>100</iters>
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||||
<sor>1.0</sor>
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||||
</solver>
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||||
<constraints>
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||||
<cfm>0.0</cfm>
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||||
<erp>0.9</erp>
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||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
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||||
<contact_surface_layer>0.0</contact_surface_layer>
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||||
</constraints>
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||||
</ode>
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||||
<real_time_update_rate>-1</real_time_update_rate>
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||||
</physics>
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||||
</world>
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||||
</sdf>
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@@ -0,0 +1,179 @@
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<?xml version="1.0"?>
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<sdf version="1.5">
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||||
<world name="default">
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||||
<physics type="ode">
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||||
<ode>
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||||
<solver>
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||||
<type>quick</type>
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||||
<iters>100</iters>
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||||
<sor>1.0</sor>
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||||
</solver>
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||||
<constraints>
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||||
<cfm>0.0</cfm>
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||||
<erp>0.9</erp>
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||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
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||||
<contact_surface_layer>0.0</contact_surface_layer>
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||||
</constraints>
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||||
</ode>
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||||
<real_time_update_rate>-1</real_time_update_rate>
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||||
</physics>
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||||
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||||
<scene>
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||||
<ambient>0.0 0.0 0.0 1.0</ambient>
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||||
<shadows>0</shadows>
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||||
</scene>
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||||
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||||
<model name="ground_plane">
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||||
<static>true</static>
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||||
<link name="link">
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||||
<collision name="collision">
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||||
<geometry>
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||||
<plane>
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||||
<normal>0 0 1</normal>
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||||
<size>5000 5000</size>
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||||
</plane>
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||||
</geometry>
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||||
<surface>
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||||
<friction>
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||||
<ode>
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||||
<mu>1</mu>
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||||
<mu2>1</mu2>
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||||
</ode>
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||||
</friction>
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||||
</surface>
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||||
</collision>
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<visual name="runway">
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<pose>000 0 0.005 0 0 0</pose>
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||||
<cast_shadows>false</cast_shadows>
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||||
<geometry>
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||||
<plane>
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||||
<normal>0 0 1</normal>
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||||
<size>1829 45</size>
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||||
</plane>
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||||
</geometry>
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||||
<material>
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||||
<script>
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||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Runway</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
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<visual name="grass">
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<pose>0 0 -0.1 0 0 0</pose>
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||||
<cast_shadows>false</cast_shadows>
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||||
<geometry>
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||||
<plane>
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||||
<normal>0 0 1</normal>
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||||
<size>5000 5000</size>
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||||
</plane>
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||||
</geometry>
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||||
<material>
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||||
<script>
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||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Grass</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
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||||
</link>
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||||
</model>
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||||
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||||
<include>
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<uri>model://sun</uri>
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</include>
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||||
<model name="drone1">
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||||
<pose> 0 0 0 0 0 0</pose>
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||||
<include>
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||||
<uri>model://drone1</uri>
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||||
</include>
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</model>
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||||
<!-- <model name="drone2">
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<pose> 0 5 0 0 0 0</pose>
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<include>
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||||
<uri>model://drone1</uri>
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||||
</include>
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</model> -->
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||||
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||||
<!-- <model name="tree">
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||||
<pose> 5 -10 0 0 0 3.14</pose>
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||||
<include>
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||||
<uri>model://oak_tree</uri>
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||||
</include>
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||||
</model> -->
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||||
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||||
<plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
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||||
<frameId>base_link</frameId>
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||||
<robotNamespace/>
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||||
<windVelocityMean>4.0</windVelocityMean>
|
||||
<windVelocityMax>20.0</windVelocityMax>
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||||
<windVelocityVariance>0</windVelocityVariance>
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||||
<windDirectionMean>0 1 0</windDirectionMean>
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||||
<windDirectionVariance>0</windDirectionVariance>
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||||
<windGustStart>0</windGustStart>
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||||
<windGustDuration>0</windGustDuration>
|
||||
<windGustVelocityMean>0</windGustVelocityMean>
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||||
<windGustVelocityMax>20.0</windGustVelocityMax>
|
||||
<windGustVelocityVariance>0</windGustVelocityVariance>
|
||||
<windGustDirectionMean>1 0 0</windGustDirectionMean>
|
||||
<windGustDirectionVariance>0</windGustDirectionVariance>
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||||
<windPubTopic>world_wind</windPubTopic>
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||||
</plugin>
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||||
<!--<model name="drone4">
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||||
<pose> 5 0 0 0 0 4.71</pose>
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||||
<include>
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||||
<uri>model://drone4</uri>
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||||
</include>
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||||
</model>
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||||
<model name="drone5">
|
||||
<pose> 6 0 0 0 0 0</pose>
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||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> 6 2 0 0 0 0</pose>
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||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone7">
|
||||
<pose> 8 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone7</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone8">
|
||||
<pose> 8 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone8</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone9">
|
||||
<pose> 12 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone9</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone10">
|
||||
<pose> 12 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone10</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone11">
|
||||
<pose> 14 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone11</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone12">
|
||||
<pose> 14 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone12</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
Executable
+174
@@ -0,0 +1,174 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
</physics>
|
||||
|
||||
<scene>
|
||||
<ambient>0.0 0.0 0.0 1.0</ambient>
|
||||
<shadows>0</shadows>
|
||||
</scene>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
<visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<model name="drone1">
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone_with_lidar</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
|
||||
<!-- <model name="tree">
|
||||
<pose> 5 -10 0 0 0 3.14</pose>
|
||||
<include>
|
||||
<uri>model://oak_tree</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
<plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
|
||||
<frameId>base_link</frameId>
|
||||
<robotNamespace/>
|
||||
<windVelocityMean>0</windVelocityMean>
|
||||
<windVelocityMax>0</windVelocityMax>
|
||||
<windVelocityVariance>0</windVelocityVariance>
|
||||
<windDirectionMean>0 0 0</windDirectionMean>
|
||||
<windDirectionVariance>0</windDirectionVariance>
|
||||
<windGustStart>0</windGustStart>
|
||||
<windGustDuration>0</windGustDuration>
|
||||
<windGustVelocityMean>0</windGustVelocityMean>
|
||||
<windGustVelocityMax>0</windGustVelocityMax>
|
||||
<windGustVelocityVariance>0</windGustVelocityVariance>
|
||||
<windGustDirectionMean>0 0 0</windGustDirectionMean>
|
||||
<windGustDirectionVariance>0</windGustDirectionVariance>
|
||||
<windPubTopic>world_wind</windPubTopic>
|
||||
</plugin>
|
||||
<!--<model name="drone4">
|
||||
<pose> 5 0 0 0 0 4.71</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 6 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> 6 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone7">
|
||||
<pose> 8 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone7</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone8">
|
||||
<pose> 8 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone8</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone9">
|
||||
<pose> 12 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone9</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone10">
|
||||
<pose> 12 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone10</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone11">
|
||||
<pose> 14 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone11</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone12">
|
||||
<pose> 14 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone12</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
Executable
+170
@@ -0,0 +1,170 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
</physics>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<model name="drone1">
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone_with_lidar</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
|
||||
<model name="tree">
|
||||
<pose> 5 -10 0 0 0 3.14</pose>
|
||||
<include>
|
||||
<uri>model://oak_tree</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
<!-- <plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
|
||||
<frameId>base_link</frameId>
|
||||
<robotNamespace/>
|
||||
<windVelocityMean>4.0</windVelocityMean>
|
||||
<windVelocityMax>20.0</windVelocityMax>
|
||||
<windVelocityVariance>0</windVelocityVariance>
|
||||
<windDirectionMean>0 1 0</windDirectionMean>
|
||||
<windDirectionVariance>0</windDirectionVariance>
|
||||
<windGustStart>0</windGustStart>
|
||||
<windGustDuration>0</windGustDuration>
|
||||
<windGustVelocityMean>0</windGustVelocityMean>
|
||||
<windGustVelocityMax>20.0</windGustVelocityMax>
|
||||
<windGustVelocityVariance>0</windGustVelocityVariance>
|
||||
<windGustDirectionMean>1 0 0</windGustDirectionMean>
|
||||
<windGustDirectionVariance>0</windGustDirectionVariance>
|
||||
<windPubTopic>world_wind</windPubTopic>
|
||||
</plugin>
|
||||
-->
|
||||
<!--<model name="drone4">
|
||||
<pose> 5 0 0 0 0 4.71</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 6 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> 6 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone7">
|
||||
<pose> 8 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone7</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone8">
|
||||
<pose> 8 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone8</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone9">
|
||||
<pose> 12 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone9</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone10">
|
||||
<pose> 12 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone10</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone11">
|
||||
<pose> 14 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone11</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone12">
|
||||
<pose> 14 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone12</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
Executable
+196
@@ -0,0 +1,196 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
<!-- <max_step_size>0.0020</max_step_size> -->
|
||||
</physics>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<model name="iris">
|
||||
<include>
|
||||
<uri>model://iris_with_standoffs_demo</uri>
|
||||
</include>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- add new camera -->
|
||||
<link name='camera'>
|
||||
<pose>0 -0.01 0.070 1.57 0 1.57</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.025</radius>
|
||||
<length>0.025</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="camera" type="camera">
|
||||
<pose>0 0 0 -1.57 -1.57 0</pose>
|
||||
<camera>
|
||||
<horizontal_fov>1.0472</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.05</near>
|
||||
<far>1000</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<always_on>1</always_on>
|
||||
<update_rate>10</update_rate>
|
||||
<visualize>true</visualize>
|
||||
|
||||
<!-- <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
|
||||
<fiducial>irlock_beacon_01</fiducial>
|
||||
</plugin> -->
|
||||
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>webcam</cameraName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
|
||||
</sensor>
|
||||
|
||||
</link>
|
||||
|
||||
<!-- attach camera -->
|
||||
<joint type="revolute" name="base_camera_joint">
|
||||
<pose>0 0 0.0 0 0 0</pose>
|
||||
<parent>iris::iris_demo::gimbal_small_2d::tilt_link</parent>
|
||||
<child>camera</child>
|
||||
<axis>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
|
||||
|
||||
|
||||
|
||||
<model name="irlock_beacon_01">
|
||||
<pose>1.0 -1.0 0.005 0 0 0</pose>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>3.0</mass>
|
||||
<inertia>
|
||||
<ixx>0.019</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.0 1.0 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>1.0</mu2>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+12</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>10</max_vel>
|
||||
<min_depth>0.003</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual2">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1.0 1.0 0.018</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.1 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
Executable
+2673
File diff suppressed because it is too large
Load Diff
Executable
+249
@@ -0,0 +1,249 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
<!-- <max_step_size>0.0020</max_step_size> -->
|
||||
</physics>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<model name="iris">
|
||||
<include>
|
||||
<uri>model://iris_with_standoffs_demo</uri>
|
||||
</include>
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
|
||||
|
||||
<!-- add new camera -->
|
||||
<link name='camera'>
|
||||
<pose>0 -0.01 0.070 1.57 0 1.57</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.025</radius>
|
||||
<length>0.025</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="camera" type="camera">
|
||||
<pose>0 0 0 -1.57 -1.57 0</pose>
|
||||
<camera>
|
||||
<horizontal_fov>1.0472</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.05</near>
|
||||
<far>1000</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<always_on>1</always_on>
|
||||
<update_rate>10</update_rate>
|
||||
<visualize>true</visualize>
|
||||
|
||||
<!-- <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
|
||||
<fiducial>irlock_beacon_01</fiducial>
|
||||
</plugin> -->
|
||||
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>webcam</cameraName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
|
||||
</sensor>
|
||||
|
||||
</link>
|
||||
|
||||
<!-- attach camera -->
|
||||
<joint type="revolute" name="base_camera_joint">
|
||||
<pose>0 0 0.0 0 0 0</pose>
|
||||
<parent>iris::iris_demo::gimbal_small_2d::tilt_link</parent>
|
||||
<child>camera</child>
|
||||
<axis>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<!--add lidar-->
|
||||
<link name="hokuyo_link">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<pose>0 0 0.3 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.1 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<pose>0 0 0.27 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass>0.016</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0001</izz>
|
||||
<!-- low intertia necessary to avoid not disturb the drone -->
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<sensor type="ray" name="laser">
|
||||
<pose>0 0 0.3 0 0 1.57</pose>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>10</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1024</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-3.141593</min_angle>
|
||||
<max_angle>3.141593</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.1</min>
|
||||
<max>30</max>
|
||||
<resolution>0.1</resolution>
|
||||
</range>
|
||||
<!-- <noise>
|
||||
<type>Gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise> -->
|
||||
</ray>
|
||||
<plugin name="hokuyo_node" filename="libgazebo_ros_laser.so">
|
||||
<robotNamespace></robotNamespace>
|
||||
<topicName>/spur/laser/scan</topicName>
|
||||
<frameName>/hokuyo_sensor_link</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<parent>iris::iris_demo::iris::base_link</parent>
|
||||
<child>hokuyo_link</child>
|
||||
</joint>
|
||||
|
||||
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,218 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
</physics>
|
||||
|
||||
<scene>
|
||||
<ambient>0.0 0.0 0.0 1.0</ambient>
|
||||
<shadows>0</shadows>
|
||||
</scene>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
<!-- <visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<!-- <model name="drone1">
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone1</uri>
|
||||
<uri>model://drone_with_camera</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone2">
|
||||
<pose> 0 -5 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone2</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone3">
|
||||
<pose> 0 5 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone3</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone4">
|
||||
<pose> 0 -10 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 0 10 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
|
||||
<model name="drone1">
|
||||
<pose> -10 -10 0 0 0 0</pose>
|
||||
<include>
|
||||
<!-- <uri>model://drone1</uri> -->
|
||||
<uri>model://drone_with_camera</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone2">
|
||||
<pose> -10 -12 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone2</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone3">
|
||||
<pose> -10 -8 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone3</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone4">
|
||||
<pose> -10 -14 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> -10 -6 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- <model name="beer">
|
||||
<pose> 5 -10 0 0 0 3.14</pose>
|
||||
<include>
|
||||
<uri>model://beer</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
<!--<model name="drone4">
|
||||
<pose> 5 0 0 0 0 4.71</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 6 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> 6 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone7">
|
||||
<pose> 8 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone7</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone8">
|
||||
<pose> 8 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone8</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone9">
|
||||
<pose> 12 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone9</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone10">
|
||||
<pose> 12 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone10</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone11">
|
||||
<pose> 14 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone11</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone12">
|
||||
<pose> 14 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone12</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
Executable
+152
@@ -0,0 +1,152 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<!-- A global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<!-- <include>
|
||||
<uri>model://water_level</uri>
|
||||
</include> -->
|
||||
<include>
|
||||
<uri>model://ocean</uri>
|
||||
</include>
|
||||
<model name="terrain">
|
||||
|
||||
<include>
|
||||
<uri>model://winding_valley_heightmap</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="boat">
|
||||
<pose>-20 0 0 0 0 0.4</pose>
|
||||
<include>
|
||||
<uri>model://boat</uri>
|
||||
</include>
|
||||
<!-- add new camera -->
|
||||
<link name='camera'>
|
||||
<pose>0 -0.01 2.0 1.91986 0 1.57</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>0944
|
||||
<radius>0.025</radius>
|
||||
<length>0.025</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="camera" type="camera">
|
||||
<pose>0 0 0 -1.57 -1.57 0</pose>
|
||||
<camera>
|
||||
<horizontal_fov>1.0472</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.05</near>
|
||||
<far>1000</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<always_on>1</always_on>
|
||||
<update_rate>10</update_rate>
|
||||
<visualize>true</visualize>
|
||||
|
||||
<!-- <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
|
||||
<fiducial>irlock_beacon_01</fiducial>
|
||||
</plugin> -->
|
||||
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>webcam</cameraName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
|
||||
</sensor>
|
||||
|
||||
</link>
|
||||
|
||||
<!-- attach camera -->
|
||||
<joint type="revolute" name="base_camera_joint">
|
||||
<pose>0 0 0.0 0 0 0</pose>
|
||||
<parent>boat::base_link</parent>
|
||||
<child>camera</child>
|
||||
<axis>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<physics name='default_physics' default='0' type='ode'>
|
||||
<!-- <gravity>0 0 -9.8066</gravity>
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>10</iters>
|
||||
<sor>1.3</sor>
|
||||
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
|
||||
</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>0.004</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>0</real_time_update_rate>
|
||||
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field> -->
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
</physics>
|
||||
</world>
|
||||
</sdf>
|
||||
Executable
+100
@@ -0,0 +1,100 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
<max_step_size>0.0010</max_step_size>
|
||||
</physics>
|
||||
|
||||
<scene>
|
||||
<sky>
|
||||
<clouds>
|
||||
<speed>12</speed>
|
||||
</clouds>
|
||||
</sky>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.25 0.25 0.25 1</background>
|
||||
</scene>
|
||||
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<model name="iris">
|
||||
<include>
|
||||
<uri>model://drone_with_camera</uri>
|
||||
</include>
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
@@ -0,0 +1,223 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
</physics>
|
||||
|
||||
<scene>
|
||||
<ambient>0.0 0.0 0.0 1.0</ambient>
|
||||
<shadows>0</shadows>
|
||||
</scene>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
<!-- <visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<!-- <model name="drone1">
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone1</uri>
|
||||
<uri>model://drone_with_camera</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone2">
|
||||
<pose> 0 -5 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone2</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone3">
|
||||
<pose> 0 5 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone3</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone4">
|
||||
<pose> 0 -10 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 0 10 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
|
||||
<model name="drone1">
|
||||
<pose> -10 -10 0 0 0 0</pose>
|
||||
<include>
|
||||
<!-- <uri>model://drone1</uri> -->
|
||||
<uri>model://drone_with_camera</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone2">
|
||||
<pose> -10 -12 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone2</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone3">
|
||||
<pose> -10 -8 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone3</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone4">
|
||||
<pose> -10 -14 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> -10 -6 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> -10 -4 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- <model name="beer">
|
||||
<pose> 5 -10 0 0 0 3.14</pose>
|
||||
<include>
|
||||
<uri>model://beer</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
<!--<model name="drone4">
|
||||
<pose> 5 0 0 0 0 4.71</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 6 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> 6 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone7">
|
||||
<pose> 8 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone7</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone8">
|
||||
<pose> 8 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone8</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone9">
|
||||
<pose> 12 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone9</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone10">
|
||||
<pose> 12 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone10</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone11">
|
||||
<pose> 14 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone11</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone12">
|
||||
<pose> 14 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone12</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
@@ -0,0 +1,179 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>100</iters>
|
||||
<sor>1.0</sor>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<real_time_update_rate>-1</real_time_update_rate>
|
||||
</physics>
|
||||
|
||||
<scene>
|
||||
<ambient>0.0 0.0 0.0 1.0</ambient>
|
||||
<shadows>0</shadows>
|
||||
</scene>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name="runway">
|
||||
<pose>000 0 0.005 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1829 45</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Runway</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
<!-- <visual name="grass">
|
||||
<pose>0 0 -0.1 0 0 0</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>5000 5000</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grass</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual> -->
|
||||
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<model name="drone1">
|
||||
<pose> 0 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<!-- <uri>model://drone1</uri> -->
|
||||
<uri>model://drone_with_camera</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone2">
|
||||
<pose> 0 -5 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone2</uri>
|
||||
</include>
|
||||
</model>
|
||||
<!-- <model name="drone3">
|
||||
<pose> 0 5 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone3</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone4">
|
||||
<pose> 0 -10 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 0 10 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
<!-- <model name="beer">
|
||||
<pose> 5 -10 0 0 0 3.14</pose>
|
||||
<include>
|
||||
<uri>model://beer</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
<!--<model name="drone4">
|
||||
<pose> 5 0 0 0 0 4.71</pose>
|
||||
<include>
|
||||
<uri>model://drone4</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone5">
|
||||
<pose> 6 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone5</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone6">
|
||||
<pose> 6 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone6</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone7">
|
||||
<pose> 8 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone7</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone8">
|
||||
<pose> 8 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone8</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone9">
|
||||
<pose> 12 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone9</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone10">
|
||||
<pose> 12 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone10</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone11">
|
||||
<pose> 14 0 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone11</uri>
|
||||
</include>
|
||||
</model>
|
||||
<model name="drone12">
|
||||
<pose> 14 2 0 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone12</uri>
|
||||
</include>
|
||||
</model> -->
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
Executable
+61
@@ -0,0 +1,61 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<world name="default">
|
||||
<!-- A global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<!-- A ground plane -->
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://asphalt_plane</uri>
|
||||
</include>
|
||||
<plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
|
||||
<frameId>base_link</frameId>
|
||||
<robotNamespace/>
|
||||
<windVelocityMean>4.0</windVelocityMean>
|
||||
<windVelocityMax>20.0</windVelocityMax>
|
||||
<windVelocityVariance>0</windVelocityVariance>
|
||||
<windDirectionMean>0 1 0</windDirectionMean>
|
||||
<windDirectionVariance>0</windDirectionVariance>
|
||||
<windGustStart>0</windGustStart>
|
||||
<windGustDuration>0</windGustDuration>
|
||||
<windGustVelocityMean>0</windGustVelocityMean>
|
||||
<windGustVelocityMax>20.0</windGustVelocityMax>
|
||||
<windGustVelocityVariance>0</windGustVelocityVariance>
|
||||
<windGustDirectionMean>1 0 0</windGustDirectionMean>
|
||||
<windGustDirectionVariance>0</windGustDirectionVariance>
|
||||
<windPubTopic>world_wind</windPubTopic>
|
||||
</plugin>
|
||||
<physics name='default_physics' default='0' type='ode'>
|
||||
<gravity>0 0 -9.8066</gravity>
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>10</iters>
|
||||
<sor>1.3</sor>
|
||||
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
|
||||
</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>0.004</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>250</real_time_update_rate>
|
||||
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
|
||||
</physics>
|
||||
|
||||
<model name="drone1">
|
||||
<pose> 0 0 0.1 0 0 0</pose>
|
||||
<include>
|
||||
<uri>model://drone1</uri>
|
||||
</include>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user