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

Adds Office world #58

Merged
merged 5 commits into from
Jun 27, 2024
Merged

Adds Office world #58

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
4c6d736
Adds the world and models of hq4
Voldivh Jun 18, 2024
f63e171
Modifies the name of the world
Voldivh Jun 18, 2024
44a1d49
env hooks for gazebo resource path.
francocipollone Jun 19, 2024
81f5191
Deletes unnecessary files
Voldivh Jun 24, 2024
8aff527
Modifies the world to be uses in non classic gazebo
Voldivh Jun 25, 2024
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
4 changes: 4 additions & 0 deletions andino_gz/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ find_package(ament_cmake REQUIRED)
install(
DIRECTORY
config
models
launch
rviz
urdf
Expand All @@ -16,4 +17,7 @@ install(
share/${PROJECT_NAME}/
)

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")

ament_package()
1 change: 1 addition & 0 deletions andino_gz/env-hooks/andino_gz.dsv.in
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/models
1 change: 1 addition & 0 deletions andino_gz/env-hooks/andino_gz.sh.in
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/models"
Binary file added andino_gz/models/office.stl
View file
Open in desktop
Binary file not shown.
11 changes: 11 additions & 0 deletions andino_gz/models/office/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>office</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>
101 changes: 101 additions & 0 deletions andino_gz/models/office/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,101 @@
<?xml version='1.0'?>
<sdf version='1.7'>
<model name='office'>
<link name='link_0'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<pose>1e-06 -2e-06 0 0 -0 0</pose>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<enable_wind>0</enable_wind>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://office.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
Voldivh marked this conversation as resolved.
Show resolved Hide resolved
<shader type='pixel'/>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</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://office.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</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>
<collide_bitmask>1</collide_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>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
229 changes: 229 additions & 0 deletions andino_gz/worlds/office.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,229 @@
<?xml version='1.0' encoding='ASCII'?>
<sdf version='1.7'>
<world name='default'>
<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>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<contact>
<collide_bitmask>65535</collide_bitmask>
<ode/>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.0 0.0 1.0 1.0</ambient>
<diffuse>1.0 1.0 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>0 0</sim_time>
<real_time>0 0</real_time>
<wall_time>1695691762 389384964</wall_time>
<iterations>0</iterations>
<model name='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<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='hq'>
<pose>-1.90399 -7.35802 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_1'>
<pose>-1.90399 -7.35802 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>
<light name='sun'>
<pose>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>22.4093 -8.70437 29.0004 0 0.903642 2.52738</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='hq'>
<link name='link_1'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<pose>1e-06 -5e-06 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://office.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>1.0 1.0 1.0 1.0</ambient>
<diffuse>1.0 1.0 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
<shader type='pixel'/>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</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://office.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</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>
<collide_bitmask>1</collide_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>
<pose>-1.90399 -7.35802 0 0 -0 0</pose>
</model>
</world>
</sdf>
Loading