diff --git a/NaviGator/simulation/navigator_gazebo/models/blue_cirucular_buoy/model.config b/NaviGator/simulation/navigator_gazebo/models/blue_cirucular_buoy/model.config new file mode 100644 index 000000000..563f3de91 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/models/blue_cirucular_buoy/model.config @@ -0,0 +1,13 @@ + + + polyform_a2_blue + 1.0 + model.sdf + + Marcin Plaza + marcinplaza@ufl.edu + + + Simplified model of the A-2 blue buoy by Polyform US + + diff --git a/NaviGator/simulation/navigator_gazebo/models/blue_cirucular_buoy/model.sdf b/NaviGator/simulation/navigator_gazebo/models/blue_cirucular_buoy/model.sdf new file mode 100644 index 000000000..9a1fb28e6 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/models/blue_cirucular_buoy/model.sdf @@ -0,0 +1,45 @@ + + + + + false + 0 0 0 0 0 0 + + + + 3.1 + + + + 0.18415 + + + + + + + + 0.18415 + + + + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + 0.18415 + + + + + + diff --git a/NaviGator/simulation/navigator_gazebo/models/green_circular_buoy/model.config b/NaviGator/simulation/navigator_gazebo/models/green_circular_buoy/model.config new file mode 100644 index 000000000..032bb7c5f --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/models/green_circular_buoy/model.config @@ -0,0 +1,13 @@ + + + polyform_a2_green + 1.0 + model.sdf + + Marcin Plaza + marcinplaza@ufl.edu + + + Simplified model of the A-2 black buoy by Polyform US + + diff --git a/NaviGator/simulation/navigator_gazebo/models/green_circular_buoy/model.sdf b/NaviGator/simulation/navigator_gazebo/models/green_circular_buoy/model.sdf new file mode 100644 index 000000000..e803b3cb7 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/models/green_circular_buoy/model.sdf @@ -0,0 +1,45 @@ + + + + + false + 0 0 0 0 0 0 + + + + 3.1 + + + + 0.18415 + + + + + + + + 0.18415 + + + + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + 0.18415 + + + + + + diff --git a/NaviGator/simulation/navigator_gazebo/models/red_circular_buoy/model.config b/NaviGator/simulation/navigator_gazebo/models/red_circular_buoy/model.config new file mode 100644 index 000000000..46d9b070d --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/models/red_circular_buoy/model.config @@ -0,0 +1,13 @@ + + + polyform_a2_red + 1.0 + model.sdf + + Marcin Plaza + marcinplaza@ufl.edu + + + Simplified model of the A-2 black buoy by Polyform US + + diff --git a/NaviGator/simulation/navigator_gazebo/models/red_circular_buoy/model.sdf b/NaviGator/simulation/navigator_gazebo/models/red_circular_buoy/model.sdf new file mode 100644 index 000000000..781d9c0a8 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/models/red_circular_buoy/model.sdf @@ -0,0 +1,45 @@ + + + + + false + 0 0 0 0 0 0 + + + + 3.1 + + + + 0.18415 + + + + + + + + 0.18415 + + + + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + 0.18415 + + + + + + diff --git a/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_1.world b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_1.world new file mode 100644 index 000000000..f6f9265c9 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_1.world @@ -0,0 +1,1991 @@ + + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -494.321 203.089 17.6048 0 0.392344 -2.59032 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse + + + + + + + + + + + file://sydney_regatta/meshes/sydney_regatta_shore.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -527.49 153.855 0.425844 -0.1365 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -544.833 156.672 0.499025 -0.162625 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + + + + + file://antenna/meshes/antenna.dae + + + + + 0 0 0.95 0 -0 0 + + + 0.35 + 1.9 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + + + + + 0.04 + + 2.166e-05 + 0 + 0 + 2166 + 0 + 2166 + + 0 0 0 0 -0 0 + + + + + 0.0285 + + + 10 + + + + + + + + + + + + + + + + + 0.0285 + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + -545 60 0.03 0 -0 0 + + + wamv + station_keeping + /vrx/station_keeping/rms_error + /vrx/station_keeping/pose_error + /vrx/station_keeping/goal + /vrx/task/info + /vrx/debug/contact + 1 + -33.722718 150.674031 0.0 + 10 + 10 + 300 + + + wamv_external_pivot_joint + + + wamv_external_riser + + + + 0.2 0.2 2.0 + 0.5 + + + + 1 + + 0 + 30 + 1000 1000 + 50 50 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + + 1 + 0.1 + 0.2 + 0.2 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 -0 0 + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + 0 + 0 + 0 + + + + + wamv + wamv/base_link + .5 .5 .33 + + 240 + 0.0 + 0 + 2 + 10 + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + 12 + + + 0 + 0 + 0.85 0.85 0.85 1 + 0.7 0.7 0.7 1 + 1 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0 0 0.06 0 -0 0 + + + 0.8 0.4 0.15 + + + 10 + + + + + + + + + + + + + + + + + model://crocodile_buoy/meshes/crocodile.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -554 172 + -552 168 + + + -510.754 183.964 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.02 0 0.05 0 -0 0 + + + 0.75 0.35 0.16 + + + 10 + + + + + + + + + + + + + + + + + model://platypus_buoy/meshes/platypus.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -514 172 + -512 168 + + + -519.061 170.565 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.08 0 0.05 0 -0 0 + + + 0.35 + 0.23 + + + 10 + + + + + + + + + + + + + + + + + model://turtle_buoy/meshes/turtle.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -474 172 + -472 168 + + + -507.567 169.867 0 0 0 -1.44 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + 0 + -522.515 184.985 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -534.625 187.168 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -531.036 180.328 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 296 843000000 + 2186 796268635 + 1726202486 89664378 + 296843 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 1 1 1 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -545 60 0.02334 0 -0 0 + 1 1 1 + + -545 60 0.02334 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -551.635 172.405 -0.027372 2.7e-05 0.000598 -2.93735 + 1 1 1 + + -551.635 172.405 -0.027372 2.7e-05 0.000598 -2.93735 + -0.140783 -0.029247 0 3e-06 1e-06 -0.000156 + -6e-05 0.00029 0 0.000126 2.6e-05 0.00312 + -0.001203 0.005793 0 0 -0 0 + + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 1 1 1 + + -540.743 146.687 1.66777 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -539.972 146.474 1.67444 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.727 146.128 1.67569 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.531 147.215 1.6548 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.049 147.325 1.65735 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 1 1 1 + + -537.569 146.021 1.6782 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.798 145.808 1.68302 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.553 145.462 1.68831 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.357 146.549 1.66717 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.875 146.659 1.66628 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 1 1 1 + + -534.497 145.103 1.71632 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.726 144.89 1.72031 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.481 144.545 1.72896 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.285 145.632 1.70558 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.803 145.741 1.70217 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -513.141 171.444 -0.027373 0.000494 0.00073 -1.23256 + 1 1 1 + + -513.141 171.444 -0.027373 0.000494 0.00073 -1.23256 + 0.049026 -0.134744 1e-06 8.6e-05 -0.000919 -0.000437 + -0.004558 -0.003119 -7e-06 -0.001675 0.003665 -0.001035 + -0.091156 -0.062377 -0.000132 0 -0 0 + + + + -531.036 180.328 0.10507 0 -0 0 + 1 1 1 + + -531.036 180.328 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.625 187.168 0.10507 0 -0 0 + 1 1 1 + + -534.625 187.168 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -522.515 184.985 0.10507 0 -0 0 + 1 1 1 + + -522.515 184.985 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 1 1 1 + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -527.49 153.855 0.425844 -0.1365 0 0 + 1 1 1 + + -527.49 153.855 0.425844 -0.1365 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -544.833 156.672 0.499025 -0.162625 0 0 + 1 1 1 + + -544.833 156.672 0.499025 -0.162625 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0.2 0 -0 0 + 1 1 1 + + 0 0 0.2 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -474.018 171.778 -0.02737 -0.005698 0.000827 -2.86921 + 1 1 1 + + -474.018 171.778 -0.02737 -0.005698 0.000827 -2.86921 + -0.142631 -0.021258 3e-06 -0.000375 0.000425 0.430972 + 0.014382 -0.060603 1.1e-05 0.003374 -0.002701 -0.000313 + 0.287638 -1.21205 0.000223 0 -0 0 + + + + -526.633 167.571 -0.099201 -9.6e-05 -0.00285 1.00001 + 1 1 1 + + -528.603 166.54 0.213428 -0.002083 -0.001947 1.7854 + 0.00123 0.001916 0 0 -0 0 + -0 0 0 5.1e-05 7.9e-05 -3e-06 + -5e-06 3e-06 5e-06 0 -0 0 + + + -528.542 166.27 -0.296483 -0.002083 -0.001947 1.7854 + 0.00123 0.001916 0 0 -0 0 + -0 -0 1e-06 -1e-06 -0 0 + -0 -0 0 0 -0 0 + + + -526.751 165.352 0.213639 0.001947 -0.002083 0.214616 + 0.00123 0.001916 0 0 -0 0 + -0 0 2e-06 -5.1e-05 -7.4e-05 3e-06 + -4e-06 4e-06 3.2e-05 0 -0 0 + + + -527.022 165.294 -0.296309 0.001947 -0.002083 0.214616 + 0.00123 0.001916 0 0 -0 0 + -0 -0 2e-06 -1e-06 -0 0 + -0 -0 1e-06 0 -0 0 + + + -526.3 169.09 0.401657 0.001947 -0.002083 0.214616 + 0.00123 0.001916 -0 0 -0 0 + -0 0 -1e-06 -5.1e-05 -7.4e-05 3e-06 + -7e-06 7e-06 -1.1e-05 0 -0 0 + + + -526.571 169.032 -0.108292 0.001947 -0.002083 0.214616 + 0.00123 0.001916 -0 0 -0 0 + -0 -0 -1e-06 -1e-06 -0 0 + -0 -0 -0 0 -0 0 + + + -525.391 168.507 0.40158 -0.002083 -0.001947 1.7854 + 0.00123 0.001916 -0 0 -0 0 + -0 1e-06 0 5.1e-05 7.9e-05 -3e-06 + -7e-06 8e-06 2e-06 0 -0 0 + + + -525.331 168.236 -0.10833 -0.002083 -0.001947 1.7854 + 0.00123 0.001916 -0 0 -0 0 + -0 0 0 -1e-06 -0 0 + -0 0 0 0 -0 0 + + + -526.596 168.185 1.2023 -0.00038 -0.002826 1.10001 + 0.00123 0.001916 -0 0 -0 3e-06 + 6.8e-05 -3.4e-05 -0 -1.1e-05 -8e-06 0.003837 + 3.4e-05 -1.7e-05 -0 0 -0 0 + + + -526.606 168.166 1.31012 -0.000547 -0.802826 1.1004 + 0.00123 0.001916 -0 0 -0 3e-06 + 6.9e-05 -3.4e-05 -0 0.005987 0.01177 0.017514 + 3.4e-05 -1.7e-05 -0 0 -0 0 + + + -526.633 167.571 -0.099201 -9.6e-05 -0.00285 1.00001 + 0.00123 0.001916 0 0 -0 0 + -0 0 0 -0.362978 -0.259059 -0.007291 + -4.3e-05 1.1e-05 6.6e-05 0 -0 0 + + + -526.649 167.861 1.40146 -9.6e-05 -0.00285 1.00001 + 0.00123 0.001916 -0 0 -0 0 + -1e-06 1e-06 0 -1e-06 -0 0 + -0 0 0 0 -0 0 + + + -526.649 167.861 1.40146 -9.6e-05 -0.00285 1.00001 + 0.00123 0.001916 -0 0 -0 0 + -1e-06 1e-06 0 -1e-06 -0 1e-06 + -1e-06 1e-06 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + diff --git a/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_2.world b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_2.world new file mode 100644 index 000000000..99722fb02 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_2.world @@ -0,0 +1,1991 @@ + + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -494.321 203.089 17.6048 0 0.392344 -2.59032 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse + + + + + + + + + + + file://sydney_regatta/meshes/sydney_regatta_shore.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -527.49 153.855 0.425844 -0.1365 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -544.833 156.672 0.499025 -0.162625 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + + + + + file://antenna/meshes/antenna.dae + + + + + 0 0 0.95 0 -0 0 + + + 0.35 + 1.9 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + + + + + 0.04 + + 2.166e-05 + 0 + 0 + 2166 + 0 + 2166 + + 0 0 0 0 -0 0 + + + + + 0.0285 + + + 10 + + + + + + + + + + + + + + + + + 0.0285 + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + -545 60 0.03 0 -0 0 + + + wamv + station_keeping + /vrx/station_keeping/rms_error + /vrx/station_keeping/pose_error + /vrx/station_keeping/goal + /vrx/task/info + /vrx/debug/contact + 1 + -33.722718 150.674031 0.0 + 10 + 10 + 300 + + + wamv_external_pivot_joint + + + wamv_external_riser + + + + 0.2 0.2 2.0 + 0.5 + + + + 1 + + 0 + 30 + 1000 1000 + 50 50 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + + 1 + 0.1 + 0.2 + 0.2 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 -0 0 + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + 0 + 0 + 0 + + + + + wamv + wamv/base_link + .5 .5 .33 + + 240 + 0.0 + 0 + 2 + 10 + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + 12 + + + 0 + 0 + 0.85 0.85 0.85 1 + 0.7 0.7 0.7 1 + 1 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0 0 0.06 0 -0 0 + + + 0.8 0.4 0.15 + + + 10 + + + + + + + + + + + + + + + + + model://crocodile_buoy/meshes/crocodile.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -554 172 + -552 168 + + + -510.754 183.964 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.02 0 0.05 0 -0 0 + + + 0.75 0.35 0.16 + + + 10 + + + + + + + + + + + + + + + + + model://platypus_buoy/meshes/platypus.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -514 172 + -512 168 + + + -519.061 170.565 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.08 0 0.05 0 -0 0 + + + 0.35 + 0.23 + + + 10 + + + + + + + + + + + + + + + + + model://turtle_buoy/meshes/turtle.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -474 172 + -472 168 + + + -507.567 169.867 0 0 0 -1.44 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + 0 + -522.515 184.985 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -534.625 187.168 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -531.036 180.328 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 303 844000000 + 7 432692051 + 1726881502 299405568 + 7001 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 1 1 1 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -545 60 0.02334 0 -0 0 + 1 1 1 + + -545 60 0.02334 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -552.622 172.209 -0.027372 4.7e-05 0.000598 -2.95656 + 1 1 1 + + -552.622 172.209 -0.027372 4.7e-05 0.000598 -2.95656 + -0.141307 -0.026599 -0 -7e-06 -1e-06 -0.004254 + -9.5e-05 0.000505 -0 -0.000124 -1.8e-05 0.10131 + -0.001904 0.010102 -0 0 -0 0 + + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 1 1 1 + + -540.743 146.687 1.66777 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -539.972 146.474 1.67444 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.727 146.128 1.67569 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.531 147.215 1.6548 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.049 147.325 1.65735 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 1 1 1 + + -537.569 146.021 1.6782 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.798 145.808 1.68302 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.553 145.462 1.68831 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.357 146.549 1.66717 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.875 146.659 1.66628 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 1 1 1 + + -534.497 145.103 1.71632 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.726 144.89 1.72031 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.481 144.545 1.72896 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.285 145.632 1.70558 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.803 145.741 1.70217 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -513.711 171.099 -0.027372 0.005762 0.001371 2.05296 + 1 1 1 + + -513.711 171.099 -0.027372 0.005762 0.001371 2.05296 + -0.081601 0.116887 -0 1e-05 -3.1e-05 -0.431011 + 0.051899 0.03655 2e-06 -0.000678 0.000869 3.6e-05 + 1.03798 0.730992 3.3e-05 0 -0 0 + + + + -522.036 184.328 0.10507 0 -0 0 + 1 1 1 + + -522.036 184.328 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.625 187.168 0.10507 0 -0 0 + 1 1 1 + + -534.625 187.168 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -531.515 180.985 0.10507 0 -0 0 + 1 1 1 + + -531.515 180.985 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 1 1 1 + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -527.49 153.855 0.425844 -0.1365 0 0 + 1 1 1 + + -527.49 153.855 0.425844 -0.1365 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -544.833 156.672 0.499025 -0.162625 0 0 + 1 1 1 + + -544.833 156.672 0.499025 -0.162625 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0.2 0 -0 0 + 1 1 1 + + 0 0 0.2 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -474.06 170.986 -0.027373 -0.000446 0.000739 -0.985265 + 1 1 1 + + -474.06 170.986 -0.027373 -0.000446 0.000739 -0.985265 + 0.078063 -0.120239 1e-06 -0.000771 0.0008 0.000383 + 0.004859 0.001393 -5e-06 0.001875 -0.003635 0.001227 + 0.097178 0.027866 -0.000109 0 -0 0 + + + + -526.624 167.584 -0.0992 -0.000114 -0.002848 1.00001 + 1 1 1 + + -528.594 166.554 0.213412 -0.002094 -0.001934 1.7854 + 0.001244 0.001916 9.9e-05 -1.7e-05 4.1e-05 3e-06 + 0.000773 -0.000634 0.004752 0.0026 0.003951 -0.000114 + 0.0116 -0.009514 0.071276 0 -0 0 + + + -528.533 166.283 -0.296495 -0.002093 -0.001934 1.7854 + 0.001224 0.001908 0.000101 -1.7e-05 4.1e-05 3e-06 + -0.001156 0.000708 0.003812 0.002629 0.003799 3.3e-05 + -0.000578 0.000354 0.001906 0 -0 0 + + + -526.742 165.365 0.213662 0.001934 -0.002094 0.214619 + 0.001245 0.001917 4.3e-05 -1.7e-05 4.1e-05 4e-06 + 0.000869 -0.000488 -0.005405 0.002592 0.00374 -0.000108 + 0.01303 -0.007319 -0.081068 0 -0 0 + + + -527.013 165.307 -0.296289 0.001934 -0.002094 0.214619 + 0.001224 0.001908 5.5e-05 -1.7e-05 4.1e-05 4e-06 + -0.001067 0.000845 -0.004528 0.002629 0.003799 3.3e-05 + -0.000533 0.000423 -0.002264 0 -0 0 + + + -526.291 169.104 0.401645 0.001934 -0.002094 0.214619 + 0.001251 0.00192 -3.8e-05 -1.7e-05 4.1e-05 2e-06 + 0.001286 -0.000946 0.002708 0.002594 0.003742 -7.8e-05 + 0.019288 -0.014194 0.040621 0 -0 0 + + + -526.562 169.046 -0.108307 0.001934 -0.002094 0.214619 + 0.00123 0.001912 -2.6e-05 -1.7e-05 4.1e-05 2e-06 + -0.000648 0.000378 0.003585 0.002629 0.003798 6.4e-05 + -0.000324 0.000189 0.001792 0 -0 0 + + + -525.382 168.52 0.401587 -0.002094 -0.001934 1.7854 + 0.001251 0.001921 -6.6e-05 -1.7e-05 4.1e-05 2e-06 + 0.001332 -0.000874 -0.002278 0.002601 0.003953 -8.3e-05 + 0.01998 -0.013109 -0.034166 0 -0 0 + + + -525.322 168.249 -0.10832 -0.002093 -0.001934 1.7854 + 0.001231 0.001913 -6.4e-05 -1.7e-05 4.1e-05 2e-06 + -0.000589 0.00047 -0.003217 0.002629 0.003798 6.4e-05 + -0.000294 0.000235 -0.001609 0 -0 0 + + + -526.587 168.198 1.2023 -0.000397 -0.002823 1.10001 + 0.001284 0.001934 -1.1e-05 -1.7e-05 4.1e-05 -0 + 0.00459 -0.003207 0.001441 0.003296 0.002044 9.5e-05 + 0.002295 -0.001603 0.00072 0 -0 0 + + + -526.597 168.179 1.31012 -0.000572 -0.802823 1.10042 + 0.001289 0.001935 -1e-05 -1.7e-05 4.1e-05 -0 + 0.00481 -0.003359 0.001441 0.005833 0.014616 0.012666 + 0.002405 -0.001679 0.00072 0 -0 0 + + + -526.624 167.584 -0.0992 -0.000114 -0.002848 1.00001 + 0.001231 0.001912 1e-06 -1.7e-05 4.1e-05 -0 + -0.000397 0.000275 -1.6e-05 -0.361517 -0.258432 -0.007258 + -0.072612 0.050359 -0.002932 0 -0 0 + + + -526.64 167.875 1.40146 -0.000114 -0.002848 1.00001 + 0.001293 0.001937 -3e-06 -1.7e-05 4.1e-05 -0 + 0.005181 -0.003602 0.000805 0.002648 0.003826 9.3e-05 + 0.000518 -0.00036 8.1e-05 0 -0 0 + + + -526.64 167.875 1.40146 -0.000114 -0.002848 1.00001 + 0.001293 0.001937 -3e-06 -1.7e-05 4.1e-05 -0 + 0.005181 -0.003602 0.000805 0.002629 0.003798 8.6e-05 + 0.005181 -0.003602 0.000805 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + diff --git a/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_3.world b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_3.world new file mode 100644 index 000000000..d1df04d6c --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_3.world @@ -0,0 +1,1991 @@ + + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -494.321 203.089 17.6048 0 0.392344 -2.59032 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse + + + + + + + + + + + file://sydney_regatta/meshes/sydney_regatta_shore.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -527.49 153.855 0.425844 -0.1365 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -544.833 156.672 0.499025 -0.162625 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + + + + + file://antenna/meshes/antenna.dae + + + + + 0 0 0.95 0 -0 0 + + + 0.35 + 1.9 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + + + + + 0.04 + + 2.166e-05 + 0 + 0 + 2166 + 0 + 2166 + + 0 0 0 0 -0 0 + + + + + 0.0285 + + + 10 + + + + + + + + + + + + + + + + + 0.0285 + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + -545 60 0.03 0 -0 0 + + + wamv + station_keeping + /vrx/station_keeping/rms_error + /vrx/station_keeping/pose_error + /vrx/station_keeping/goal + /vrx/task/info + /vrx/debug/contact + 1 + -33.722718 150.674031 0.0 + 10 + 10 + 300 + + + wamv_external_pivot_joint + + + wamv_external_riser + + + + 0.2 0.2 2.0 + 0.5 + + + + 1 + + 0 + 30 + 1000 1000 + 50 50 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + + 1 + 0.1 + 0.2 + 0.2 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 -0 0 + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + 0 + 0 + 0 + + + + + wamv + wamv/base_link + .5 .5 .33 + + 240 + 0.0 + 0 + 2 + 10 + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + 12 + + + 0 + 0 + 0.85 0.85 0.85 1 + 0.7 0.7 0.7 1 + 1 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0 0 0.06 0 -0 0 + + + 0.8 0.4 0.15 + + + 10 + + + + + + + + + + + + + + + + + model://crocodile_buoy/meshes/crocodile.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -554 172 + -552 168 + + + -510.754 183.964 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.02 0 0.05 0 -0 0 + + + 0.75 0.35 0.16 + + + 10 + + + + + + + + + + + + + + + + + model://platypus_buoy/meshes/platypus.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -514 172 + -512 168 + + + -519.061 170.565 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.08 0 0.05 0 -0 0 + + + 0.35 + 0.23 + + + 10 + + + + + + + + + + + + + + + + + model://turtle_buoy/meshes/turtle.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -474 172 + -472 168 + + + -507.567 169.867 0 0 0 -1.44 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + 0 + -522.515 184.985 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -534.625 187.168 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -531.036 180.328 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 310 331000000 + 6 900624577 + 1726881749 720362440 + 6487 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 1 1 1 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -545 60 0.02334 0 -0 0 + 1 1 1 + + -545 60 0.02334 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -553.541 172.049 -0.027372 -0.000467 0.000585 -2.90122 + 1 1 1 + + -553.541 172.049 -0.027372 -0.000467 0.000585 -2.90122 + -0.140095 -0.032587 -4e-06 0.00514 0.000672 0.424798 + 0.00152 -0.005661 1.1e-05 0.019625 0.000791 0.025679 + 0.030399 -0.113213 0.000221 0 -0 0 + + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 1 1 1 + + -540.743 146.687 1.66777 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -539.972 146.474 1.67444 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.727 146.128 1.67569 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.531 147.215 1.6548 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.049 147.325 1.65735 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 1 1 1 + + -537.569 146.021 1.6782 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.798 145.808 1.68302 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.553 145.462 1.68831 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.357 146.549 1.66717 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.875 146.659 1.66628 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 1 1 1 + + -534.497 145.103 1.71632 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.726 144.89 1.72031 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.481 144.545 1.72896 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.285 145.632 1.70558 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.803 145.741 1.70217 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -513.743 171.944 -0.027371 0.005702 0.001033 0.453292 + 1 1 1 + + -513.743 171.944 -0.027371 0.005702 0.001033 0.453292 + 0.120215 0.078484 -3e-06 -0.000249 0.000709 -0.430951 + 0.031485 -0.053943 -3e-06 0.000384 0.001077 -7.1e-05 + 0.629708 -1.07887 -6.3e-05 0 -0 0 + + + + -522.036 184.328 0.10507 0 -0 0 + 1 1 1 + + -522.036 184.328 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -531.625 180.168 0.10507 0 -0 0 + 1 1 1 + + -531.625 180.168 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -534.515 187.985 0.10507 0 -0 0 + 1 1 1 + + -534.515 187.985 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 1 1 1 + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -527.49 153.855 0.425844 -0.1365 0 0 + 1 1 1 + + -527.49 153.855 0.425844 -0.1365 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -544.833 156.672 0.499025 -0.162625 0 0 + 1 1 1 + + -544.833 156.672 0.499025 -0.162625 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0.2 0 -0 0 + 1 1 1 + + 0 0 0.2 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -473.427 171.161 -0.027372 -0.005792 0.001362 1.79084 + 1 1 1 + + -473.427 171.161 -0.027372 -0.005792 0.001362 1.79084 + -0.013117 0.141987 -0 -4.7e-05 6.9e-05 0.431042 + -0.063525 -0.005784 0 3.5e-05 -0.001008 -7.6e-05 + -1.27051 -0.115686 8e-06 0 -0 0 + + + + -526.616 167.596 -0.099201 -8.3e-05 -0.002858 1.00001 + 1 1 1 + + -528.585 166.566 0.213426 -0.00208 -0.001962 1.7854 + 0.001139 0.001983 -0.000641 -0.000319 -0.000494 -6e-06 + -0.000511 0.000545 -0.002336 -0.002264 -0.002412 0.00019 + -0.007665 0.00818 -0.035044 0 -0 0 + + + -528.525 166.295 -0.296489 -0.002075 -0.001962 1.7854 + 0.001389 0.00182 -0.000525 -0.000319 -0.000494 -6e-06 + 0.000762 -0.000665 -0.001544 -0.002385 -0.002449 8.8e-05 + 0.000381 -0.000333 -0.000772 0 -0 0 + + + -526.734 165.377 0.213609 0.001962 -0.00208 0.214617 + 0.001127 0.001965 0.000652 -0.000319 -0.000494 -7e-06 + -0.000574 0.00045 0.00503 -0.002443 -0.002534 0.000202 + -0.008607 0.006751 0.075456 0 -0 0 + + + -527.005 165.319 -0.296338 0.001968 -0.00208 0.214617 + 0.001379 0.001804 0.000537 -0.000319 -0.000494 -7e-06 + 0.000681 -0.000792 0.004505 -0.002385 -0.002449 9.4e-05 + 0.00034 -0.000396 0.002253 0 -0 0 + + + -526.282 169.116 0.401675 0.001962 -0.00208 0.214617 + 0.001072 0.002021 -0.000319 -0.000319 -0.000494 -9e-06 + -0.00084 0.000875 -0.002779 -0.002444 -0.002536 0.00011 + -0.012594 0.013121 -0.041678 0 -0 0 + + + -526.553 169.058 -0.108272 0.001968 -0.00208 0.214617 + 0.001323 0.00186 -0.000434 -0.000319 -0.000494 -9e-06 + 0.000409 -0.000343 -0.003303 -0.002384 -0.002448 2e-06 + 0.000205 -0.000171 -0.001652 0 -0 0 + + + -525.374 168.532 0.401585 -0.00208 -0.001962 1.7854 + 0.001066 0.002011 0.000316 -0.000319 -0.000494 -9e-06 + -0.00087 0.000828 0.000838 -0.002265 -0.002413 0.000104 + -0.01305 0.012413 0.012567 0 -0 0 + + + -525.314 168.262 -0.10833 -0.002075 -0.001962 1.7854 + 0.001315 0.001848 0.000432 -0.000319 -0.000494 -9e-06 + 0.00038 -0.000388 0.00163 -0.002384 -0.002448 1e-06 + 0.00019 -0.000194 0.000815 0 -0 0 + + + -526.579 168.21 1.20231 -0.000368 -0.002835 1.10001 + 0.000667 0.002279 -0.000176 -0.000319 -0.000494 -1.1e-05 + -0.00297 0.002919 -0.001325 -0.00314 -0.001152 -2.6e-05 + -0.001485 0.001459 -0.000662 0 -0 0 + + + -526.588 168.191 1.31013 -0.00053 -0.802835 1.10039 + 0.000614 0.002314 -0.000175 -0.000319 -0.000494 -1.1e-05 + -0.003111 0.003057 -0.001324 -0.003853 -0.009433 -0.008146 + -0.001556 0.001528 -0.000662 0 -0 0 + + + -526.616 167.596 -0.099201 -8.3e-05 -0.002858 1.00001 + 0.001304 0.001864 2e-06 -0.000319 -0.000494 -1e-05 + 0.000244 -0.00024 1.8e-05 -0.364773 -0.259356 -0.007316 + 0.044607 -0.043873 0.003356 0 -0 0 + + + -526.632 167.887 1.40146 -8.3e-05 -0.002858 1.00001 + 0.000566 0.002343 -9.9e-05 -0.000319 -0.000494 -1e-05 + -0.003351 0.003277 -0.000704 -0.002398 -0.002466 -6.2e-05 + -0.000335 0.000328 -7e-05 0 -0 0 + + + -526.632 167.887 1.40146 -8.3e-05 -0.002858 1.00001 + 0.000566 0.002343 -9.9e-05 -0.000319 -0.000494 -1e-05 + -0.003351 0.003277 -0.000704 -0.002384 -0.002448 -5.7e-05 + -0.003351 0.003277 -0.000704 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + diff --git a/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_4.world b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_4.world new file mode 100644 index 000000000..897faf2df --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_4.world @@ -0,0 +1,1991 @@ + + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -494.321 203.089 17.6048 0 0.392344 -2.59032 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse + + + + + + + + + + + file://sydney_regatta/meshes/sydney_regatta_shore.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -527.49 153.855 0.425844 -0.1365 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -544.833 156.672 0.499025 -0.162625 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + + + + + file://antenna/meshes/antenna.dae + + + + + 0 0 0.95 0 -0 0 + + + 0.35 + 1.9 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + + + + + 0.04 + + 2.166e-05 + 0 + 0 + 2166 + 0 + 2166 + + 0 0 0 0 -0 0 + + + + + 0.0285 + + + 10 + + + + + + + + + + + + + + + + + 0.0285 + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + -545 60 0.03 0 -0 0 + + + wamv + station_keeping + /vrx/station_keeping/rms_error + /vrx/station_keeping/pose_error + /vrx/station_keeping/goal + /vrx/task/info + /vrx/debug/contact + 1 + -33.722718 150.674031 0.0 + 10 + 10 + 300 + + + wamv_external_pivot_joint + + + wamv_external_riser + + + + 0.2 0.2 2.0 + 0.5 + + + + 1 + + 0 + 30 + 1000 1000 + 50 50 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + + 1 + 0.1 + 0.2 + 0.2 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 -0 0 + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + 0 + 0 + 0 + + + + + wamv + wamv/base_link + .5 .5 .33 + + 240 + 0.0 + 0 + 2 + 10 + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + 12 + + + 0 + 0 + 0.85 0.85 0.85 1 + 0.7 0.7 0.7 1 + 1 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0 0 0.06 0 -0 0 + + + 0.8 0.4 0.15 + + + 10 + + + + + + + + + + + + + + + + + model://crocodile_buoy/meshes/crocodile.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -554 172 + -552 168 + + + -510.754 183.964 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.02 0 0.05 0 -0 0 + + + 0.75 0.35 0.16 + + + 10 + + + + + + + + + + + + + + + + + model://platypus_buoy/meshes/platypus.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -514 172 + -512 168 + + + -519.061 170.565 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.08 0 0.05 0 -0 0 + + + 0.35 + 0.23 + + + 10 + + + + + + + + + + + + + + + + + model://turtle_buoy/meshes/turtle.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -474 172 + -472 168 + + + -507.567 169.867 0 0 0 -1.44 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + 0 + -522.515 184.985 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -534.625 187.168 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -531.036 180.328 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 310 331000000 + 6 900624577 + 1726881827 423711251 + 6487 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 1 1 1 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -545 60 0.02334 0 -0 0 + 1 1 1 + + -545 60 0.02334 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -553.541 172.049 -0.027372 -0.000467 0.000585 -2.90122 + 1 1 1 + + -553.541 172.049 -0.027372 -0.000467 0.000585 -2.90122 + -0.140095 -0.032587 -4e-06 0.00514 0.000672 0.424798 + 0.00152 -0.005661 1.1e-05 0.019625 0.000791 0.025679 + 0.030399 -0.113213 0.000221 0 -0 0 + + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 1 1 1 + + -540.743 146.687 1.66777 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -539.972 146.474 1.67444 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.727 146.128 1.67569 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.531 147.215 1.6548 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.049 147.325 1.65735 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 1 1 1 + + -537.569 146.021 1.6782 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.798 145.808 1.68302 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.553 145.462 1.68831 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.357 146.549 1.66717 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.875 146.659 1.66628 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 1 1 1 + + -534.497 145.103 1.71632 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.726 144.89 1.72031 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.481 144.545 1.72896 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.285 145.632 1.70558 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.803 145.741 1.70217 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -513.743 171.944 -0.027371 0.005702 0.001033 0.453292 + 1 1 1 + + -513.743 171.944 -0.027371 0.005702 0.001033 0.453292 + 0.120215 0.078484 -3e-06 -0.000249 0.000709 -0.430951 + 0.031485 -0.053943 -3e-06 0.000384 0.001077 -7.1e-05 + 0.629708 -1.07887 -6.3e-05 0 -0 0 + + + + -531.036 180.328 0.10507 0 -0 0 + 1 1 1 + + -531.036 180.328 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -522.625 184.168 0.10507 0 -0 0 + 1 1 1 + + -522.625 184.168 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -534.515 187.985 0.10507 0 -0 0 + 1 1 1 + + -534.515 187.985 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 1 1 1 + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -527.49 153.855 0.425844 -0.1365 0 0 + 1 1 1 + + -527.49 153.855 0.425844 -0.1365 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -544.833 156.672 0.499025 -0.162625 0 0 + 1 1 1 + + -544.833 156.672 0.499025 -0.162625 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0.2 0 -0 0 + 1 1 1 + + 0 0 0.2 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -473.427 171.161 -0.027372 -0.005792 0.001362 1.79084 + 1 1 1 + + -473.427 171.161 -0.027372 -0.005792 0.001362 1.79084 + -0.013117 0.141987 -0 -4.7e-05 6.9e-05 0.431042 + -0.063525 -0.005784 0 3.5e-05 -0.001008 -7.6e-05 + -1.27051 -0.115686 8e-06 0 -0 0 + + + + -526.616 167.596 -0.099201 -8.3e-05 -0.002858 1.00001 + 1 1 1 + + -528.585 166.566 0.213426 -0.00208 -0.001962 1.7854 + 0.001139 0.001983 -0.000641 -0.000319 -0.000494 -6e-06 + -0.000511 0.000545 -0.002336 -0.002264 -0.002412 0.00019 + -0.007665 0.00818 -0.035044 0 -0 0 + + + -528.525 166.295 -0.296489 -0.002075 -0.001962 1.7854 + 0.001389 0.00182 -0.000525 -0.000319 -0.000494 -6e-06 + 0.000762 -0.000665 -0.001544 -0.002385 -0.002449 8.8e-05 + 0.000381 -0.000333 -0.000772 0 -0 0 + + + -526.734 165.377 0.213609 0.001962 -0.00208 0.214617 + 0.001127 0.001965 0.000652 -0.000319 -0.000494 -7e-06 + -0.000574 0.00045 0.00503 -0.002443 -0.002534 0.000202 + -0.008607 0.006751 0.075456 0 -0 0 + + + -527.005 165.319 -0.296338 0.001968 -0.00208 0.214617 + 0.001379 0.001804 0.000537 -0.000319 -0.000494 -7e-06 + 0.000681 -0.000792 0.004505 -0.002385 -0.002449 9.4e-05 + 0.00034 -0.000396 0.002253 0 -0 0 + + + -526.282 169.116 0.401675 0.001962 -0.00208 0.214617 + 0.001072 0.002021 -0.000319 -0.000319 -0.000494 -9e-06 + -0.00084 0.000875 -0.002779 -0.002444 -0.002536 0.00011 + -0.012594 0.013121 -0.041678 0 -0 0 + + + -526.553 169.058 -0.108272 0.001968 -0.00208 0.214617 + 0.001323 0.00186 -0.000434 -0.000319 -0.000494 -9e-06 + 0.000409 -0.000343 -0.003303 -0.002384 -0.002448 2e-06 + 0.000205 -0.000171 -0.001652 0 -0 0 + + + -525.374 168.532 0.401585 -0.00208 -0.001962 1.7854 + 0.001066 0.002011 0.000316 -0.000319 -0.000494 -9e-06 + -0.00087 0.000828 0.000838 -0.002265 -0.002413 0.000104 + -0.01305 0.012413 0.012567 0 -0 0 + + + -525.314 168.262 -0.10833 -0.002075 -0.001962 1.7854 + 0.001315 0.001848 0.000432 -0.000319 -0.000494 -9e-06 + 0.00038 -0.000388 0.00163 -0.002384 -0.002448 1e-06 + 0.00019 -0.000194 0.000815 0 -0 0 + + + -526.579 168.21 1.20231 -0.000368 -0.002835 1.10001 + 0.000667 0.002279 -0.000176 -0.000319 -0.000494 -1.1e-05 + -0.00297 0.002919 -0.001325 -0.00314 -0.001152 -2.6e-05 + -0.001485 0.001459 -0.000662 0 -0 0 + + + -526.588 168.191 1.31013 -0.00053 -0.802835 1.10039 + 0.000614 0.002314 -0.000175 -0.000319 -0.000494 -1.1e-05 + -0.003111 0.003057 -0.001324 -0.003853 -0.009433 -0.008146 + -0.001556 0.001528 -0.000662 0 -0 0 + + + -526.616 167.596 -0.099201 -8.3e-05 -0.002858 1.00001 + 0.001304 0.001864 2e-06 -0.000319 -0.000494 -1e-05 + 0.000244 -0.00024 1.8e-05 -0.364773 -0.259356 -0.007316 + 0.044607 -0.043873 0.003356 0 -0 0 + + + -526.632 167.887 1.40146 -8.3e-05 -0.002858 1.00001 + 0.000566 0.002343 -9.9e-05 -0.000319 -0.000494 -1e-05 + -0.003351 0.003277 -0.000704 -0.002398 -0.002466 -6.2e-05 + -0.000335 0.000328 -7e-05 0 -0 0 + + + -526.632 167.887 1.40146 -8.3e-05 -0.002858 1.00001 + 0.000566 0.002343 -9.9e-05 -0.000319 -0.000494 -1e-05 + -0.003351 0.003277 -0.000704 -0.002384 -0.002448 -5.7e-05 + -0.003351 0.003277 -0.000704 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + diff --git a/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_5.world b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_5.world new file mode 100644 index 000000000..10108cd05 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_5.world @@ -0,0 +1,1991 @@ + + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -494.321 203.089 17.6048 0 0.392344 -2.59032 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse + + + + + + + + + + + file://sydney_regatta/meshes/sydney_regatta_shore.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -527.49 153.855 0.425844 -0.1365 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -544.833 156.672 0.499025 -0.162625 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + + + + + file://antenna/meshes/antenna.dae + + + + + 0 0 0.95 0 -0 0 + + + 0.35 + 1.9 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + + + + + 0.04 + + 2.166e-05 + 0 + 0 + 2166 + 0 + 2166 + + 0 0 0 0 -0 0 + + + + + 0.0285 + + + 10 + + + + + + + + + + + + + + + + + 0.0285 + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + -545 60 0.03 0 -0 0 + + + wamv + station_keeping + /vrx/station_keeping/rms_error + /vrx/station_keeping/pose_error + /vrx/station_keeping/goal + /vrx/task/info + /vrx/debug/contact + 1 + -33.722718 150.674031 0.0 + 10 + 10 + 300 + + + wamv_external_pivot_joint + + + wamv_external_riser + + + + 0.2 0.2 2.0 + 0.5 + + + + 1 + + 0 + 30 + 1000 1000 + 50 50 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + + 1 + 0.1 + 0.2 + 0.2 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 -0 0 + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + 0 + 0 + 0 + + + + + wamv + wamv/base_link + .5 .5 .33 + + 240 + 0.0 + 0 + 2 + 10 + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + 12 + + + 0 + 0 + 0.85 0.85 0.85 1 + 0.7 0.7 0.7 1 + 1 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0 0 0.06 0 -0 0 + + + 0.8 0.4 0.15 + + + 10 + + + + + + + + + + + + + + + + + model://crocodile_buoy/meshes/crocodile.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -554 172 + -552 168 + + + -510.754 183.964 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.02 0 0.05 0 -0 0 + + + 0.75 0.35 0.16 + + + 10 + + + + + + + + + + + + + + + + + model://platypus_buoy/meshes/platypus.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -514 172 + -512 168 + + + -519.061 170.565 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.08 0 0.05 0 -0 0 + + + 0.35 + 0.23 + + + 10 + + + + + + + + + + + + + + + + + model://turtle_buoy/meshes/turtle.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -474 172 + -472 168 + + + -507.567 169.867 0 0 0 -1.44 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + 0 + -522.515 184.985 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -534.625 187.168 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -531.036 180.328 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 315 993000000 + 5 985722270 + 1726882123 15490563 + 5662 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 1 1 1 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -545 60 0.02334 0 -0 0 + 1 1 1 + + -545 60 0.02334 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -553.726 171.409 -0.02737 0.00182 0.00036 -1.11911 + 1 1 1 + + -553.726 171.409 -0.02737 0.00182 0.00036 -1.11911 + 0.068158 -0.127567 -5e-06 0.000468 0.000773 -0.001773 + -0.018769 -0.006267 -6.6e-05 -0.003795 0.008049 8.7e-05 + -0.375387 -0.125345 -0.001321 0 -0 0 + + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 1 1 1 + + -540.743 146.687 1.66777 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -539.972 146.474 1.67444 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.727 146.128 1.67569 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.531 147.215 1.6548 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.049 147.325 1.65735 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 1 1 1 + + -537.569 146.021 1.6782 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.798 145.808 1.68302 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.553 145.462 1.68831 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.357 146.549 1.66717 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.875 146.659 1.66628 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 1 1 1 + + -534.497 145.103 1.71632 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.726 144.89 1.72031 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.481 144.545 1.72896 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.285 145.632 1.70558 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.803 145.741 1.70217 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -513.178 171.579 -0.027372 -0.001537 0.000578 -1.23546 + 1 1 1 + + -513.178 171.579 -0.027372 -0.001537 0.000578 -1.23546 + 0.042846 -0.137398 -6e-06 0.001288 -0.001699 0.001567 + 0.015575 0.005641 1.7e-05 0.000776 -0.005035 -0.001736 + 0.311502 0.112816 0.00034 0 -0 0 + + + + -534.036 187.328 0.10507 0 -0 0 + 1 1 1 + + -534.036 187.328 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -522.625 184.168 0.10507 0 -0 0 + 1 1 1 + + -522.625 184.168 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -531.515 180.985 0.10507 0 -0 0 + 1 1 1 + + -531.515 180.985 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 1 1 1 + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -527.49 153.855 0.425844 -0.1365 0 0 + 1 1 1 + + -527.49 153.855 0.425844 -0.1365 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -544.833 156.672 0.499025 -0.162625 0 0 + 1 1 1 + + -544.833 156.672 0.499025 -0.162625 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0.2 0 -0 0 + 1 1 1 + + 0 0 0.2 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -473.914 171.772 -0.027374 -0.006421 0.001947 3.04339 + 1 1 1 + + -473.914 171.772 -0.027374 -0.006421 0.001947 3.04339 + -0.136972 0.033729 3e-06 -0.001408 0.001981 0.431714 + -0.02131 -0.068278 2.4e-05 0.001433 0.000544 -0.001516 + -0.426198 -1.36556 0.000484 0 -0 0 + + + + -526.609 167.607 -0.099201 -7.7e-05 -0.002853 1.00001 + 1 1 1 + + -528.578 166.576 0.213442 -0.002072 -0.001963 1.7854 + 0.001264 0.001867 9.6e-05 0.000135 0.000121 -2e-06 + -0.000805 0.000686 -0.004812 -0.002704 -0.003939 7.4e-05 + -0.012075 0.010288 -0.072183 0 -0 0 + + + -528.518 166.305 -0.296473 -0.002067 -0.001963 1.7854 + 0.001202 0.001936 5.2e-05 0.000135 0.000121 -2e-06 + 0.001187 -0.000768 -0.003806 -0.002843 -0.003944 -7.5e-05 + 0.000594 -0.000384 -0.001903 0 -0 0 + + + -526.727 165.387 0.213613 0.001963 -0.002072 0.214618 + 0.001268 0.001874 -0.000288 0.000135 0.000121 -2e-06 + -0.000907 0.000528 0.005868 -0.002908 -0.004033 7.9e-05 + -0.013608 0.007926 0.088015 0 -0 0 + + + -526.998 165.329 -0.296333 0.00197 -0.002072 0.214618 + 0.001206 0.001943 -0.000263 0.000135 0.000121 -2e-06 + 0.0011 -0.000902 0.004964 -0.002843 -0.003944 -7.5e-05 + 0.00055 -0.000451 0.002482 0 -0 0 + + + -526.275 169.126 0.401671 0.001963 -0.002072 0.214618 + 0.001278 0.00185 0.000163 0.000135 0.000121 1e-06 + -0.00133 0.001024 -0.00298 -0.002909 -0.004035 7.1e-05 + -0.019945 0.015366 -0.044693 0 -0 0 + + + -526.546 169.068 -0.108274 0.00197 -0.002072 0.214618 + 0.001216 0.001918 0.000188 0.000135 0.000121 1e-06 + 0.000677 -0.000404 -0.003883 -0.002843 -0.003944 -8.4e-05 + 0.000338 -0.000202 -0.001942 0 -0 0 + + + -525.367 168.542 0.401575 -0.002072 -0.001963 1.7854 + 0.00128 0.001853 -2.6e-05 0.000135 0.000121 1e-06 + -0.001379 0.000947 0.002263 -0.002705 -0.003941 6.5e-05 + -0.020687 0.014198 0.03395 0 -0 0 + + + -525.306 168.272 -0.10834 -0.002067 -0.001963 1.7854 + 0.001219 0.001922 -7e-05 0.000135 0.000121 1e-06 + 0.000611 -0.000508 0.003269 -0.002843 -0.003944 -8.4e-05 + 0.000305 -0.000254 0.001635 0 -0 0 + + + -526.572 168.22 1.20231 -0.000362 -0.002831 1.10001 + 0.001377 0.00174 7.6e-05 0.000135 0.000121 6e-06 + -0.004695 0.003434 -0.001559 -0.003599 -0.002103 0.00376 + -0.002347 0.001717 -0.000779 0 -0 0 + + + -526.581 168.202 1.31013 -0.000521 -0.802831 1.10038 + 0.001391 0.001726 7.5e-05 0.000135 0.000121 6e-06 + -0.004921 0.003597 -0.001559 -5.7e-05 -0.003355 0.004447 + -0.002461 0.001799 -0.000779 0 -0 0 + + + -526.609 167.607 -0.099201 -7.7e-05 -0.002853 1.00001 + 0.001223 0.001916 -2e-06 0.000135 0.000121 3e-06 + 0.000413 -0.000297 2e-05 -0.364634 -0.259694 -0.007328 + 0.075589 -0.054301 0.003638 0 -0 0 + + + -526.625 167.897 1.40146 -7.7e-05 -0.002853 1.00001 + 0.001403 0.001713 3.9e-05 0.000135 0.000121 3e-06 + -0.005378 0.003896 -0.000864 -0.002863 -0.003974 -9.9e-05 + -0.000538 0.00039 -8.6e-05 0 -0 0 + + + -526.625 167.897 1.40146 -7.7e-05 -0.002853 1.00001 + 0.001403 0.001713 3.9e-05 0.000135 0.000121 3e-06 + -0.005378 0.003896 -0.000864 -0.002843 -0.003944 -9.1e-05 + -0.005378 0.003896 -0.000864 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + diff --git a/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_6.world b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_6.world new file mode 100644 index 000000000..7715d6656 --- /dev/null +++ b/NaviGator/simulation/navigator_gazebo/worlds/wildlife/wildlife_encounter_test_case_6.world @@ -0,0 +1,1991 @@ + + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -494.321 203.089 17.6048 0 0.392344 -2.59032 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse + + + + + + + + + + + file://sydney_regatta/meshes/sydney_regatta_shore.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -527.49 153.855 0.425844 -0.1365 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + -544.833 156.672 0.499025 -0.162625 0 0 + + + + + file://post/meshes/post.dae + + + + + 0 0 0.5 0 -0 0 + + + 0.3 + 1 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + + 1 + + + + + file://antenna/meshes/antenna.dae + + + + + 0 0 0.95 0 -0 0 + + + 0.35 + 1.9 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + + + 1 + + 0 0 0 0 -0 0 + + 1 + + + + + model://tent/mesh/tent.dae + + + + + 0 0 1.5 0 -0 0 + + + 3 3 3 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.5 0.9 0 0 -0 0 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 1 -0.5 0 0 -0 1.57 + + 1 + + + + + model://foldable_table/mesh/foldable_table.dae + + + + + 0 0 0.35 0 -0 0 + + + 1.82 0.74 0.67 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 0 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + 0.2 -0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + + -0.6 0.8 0 0 -0 1.57 + + 1 + + + + + 0.1 0.1 0.1 + model://foldable_chair/mesh/foldable_chair.dae + + + + + 0 0.05 0.4 0 -0 0 + + + 0.5 0.5 0.8 + + + 10 + + + + + + + + + + + + + + 0 0 0 0 -0 0 + 0 + 0 + 0 + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + + + + + 0.04 + + 2.166e-05 + 0 + 0 + 2166 + 0 + 2166 + + 0 0 0 0 -0 0 + + + + + 0.0285 + + + 10 + + + + + + + + + + + + + + + + + 0.0285 + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + -545 60 0.03 0 -0 0 + + + wamv + station_keeping + /vrx/station_keeping/rms_error + /vrx/station_keeping/pose_error + /vrx/station_keeping/goal + /vrx/task/info + /vrx/debug/contact + 1 + -33.722718 150.674031 0.0 + 10 + 10 + 300 + + + wamv_external_pivot_joint + + + wamv_external_riser + + + + 0.2 0.2 2.0 + 0.5 + + + + 1 + + 0 + 30 + 1000 1000 + 50 50 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + + 1 + 0.1 + 0.2 + 0.2 + + PMS + 5.0 + 3 + 2.5 + 0.0 + 1.0 0.0 + 0.4 + 2.0 + 0.0 + 0.0 + + + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 -0 0 + + + 2.5 2.5 1 + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + 0 + 0 + 0 + + + + + wamv + wamv/base_link + .5 .5 .33 + + 240 + 0.0 + 0 + 2 + 10 + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + 12 + + + 0 + 0 + 0.85 0.85 0.85 1 + 0.7 0.7 0.7 1 + 1 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0 0 0.06 0 -0 0 + + + 0.8 0.4 0.15 + + + 10 + + + + + + + + + + + + + + + + + model://crocodile_buoy/meshes/crocodile.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -554 172 + -552 168 + + + -510.754 183.964 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.02 0 0.05 0 -0 0 + + + 0.75 0.35 0.16 + + + 10 + + + + + + + + + + + + + + + + + model://platypus_buoy/meshes/platypus.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -514 172 + -512 168 + + + -519.061 170.565 0 0 0 -1.44 + + + + + 0 0 -2 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 0.1 + + + + 0.08 0 0.05 0 -0 0 + + + 0.35 + 0.23 + + + 10 + + + + + + + + + + + + + + + + + model://turtle_buoy/meshes/turtle.dae + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.325 + + + + + + link + 1 + + -474 172 + -472 168 + + + -507.567 169.867 0 0 0 -1.44 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + 0 + -522.515 184.985 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -534.625 187.168 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 0 + -531.036 180.328 0 0 -0 0 + + + 3.1 + 0 0 0 0 -0 0 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + 0.18415 + + + + + + + + + + 0.18415 + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + + ocean_waves + 1000 + 0.0 + 20.0 + 2.0 + + base_link + + + 0.18415 + + + + + + + 310 331000000 + 6 900624577 + 1726881946 885008293 + 6487 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 1 1 1 + + -531.064 147.669 1.59471 -0.068142 0 -0.1 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -545 60 0.02334 0 -0 0 + 1 1 1 + + -545 60 0.02334 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -553.541 172.049 -0.027372 -0.000467 0.000585 -2.90122 + 1 1 1 + + -553.541 172.049 -0.027372 -0.000467 0.000585 -2.90122 + -0.140095 -0.032587 -4e-06 0.00514 0.000672 0.424798 + 0.00152 -0.005661 1.1e-05 0.019625 0.000791 0.025679 + 0.030399 -0.113213 0.000221 0 -0 0 + + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 1 1 1 + + -540.743 146.687 1.66777 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -539.972 146.474 1.67444 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.727 146.128 1.67569 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -541.531 147.215 1.6548 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.049 147.325 1.65735 0.018234 0.008353 2.87188 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -540.796 146.494 1.67142 -0.00834 0.01824 1.30173 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 1 1 1 + + -537.569 146.021 1.6782 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.798 145.808 1.68302 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.553 145.462 1.68831 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -538.357 146.549 1.66717 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -536.875 146.659 1.66628 0.018663 0.006044 2.87168 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -537.623 145.828 1.68193 -0.00603 0.018667 1.30157 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 1 1 1 + + -534.497 145.103 1.71632 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.726 144.89 1.72031 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.481 144.545 1.72896 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -535.285 145.632 1.70558 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -533.803 145.741 1.70217 0.020794 0.005009 2.8716 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -534.551 144.91 1.72047 -0.004994 0.020798 1.30149 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -513.743 171.944 -0.027371 0.005702 0.001033 0.453292 + 1 1 1 + + -513.743 171.944 -0.027371 0.005702 0.001033 0.453292 + 0.120215 0.078484 -3e-06 -0.000249 0.000709 -0.430951 + 0.031485 -0.053943 -3e-06 0.000384 0.001077 -7.1e-05 + 0.629708 -1.07887 -6.3e-05 0 -0 0 + + + + -534.036 187.328 0.10507 0 -0 0 + 1 1 1 + + -534.036 187.328 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -531.625 180.168 0.10507 0 -0 0 + 1 1 1 + + -531.625 180.168 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -523.515 183.985 0.10507 0 -0 0 + 1 1 1 + + -523.515 183.985 0.10507 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + 0 0 -0 0 -0 0 + + + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 1 1 1 + + -535.917 154.363 0.675884 -0.17182 0.030464 -0.005286 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -527.49 153.855 0.425844 -0.1365 0 0 + 1 1 1 + + -527.49 153.855 0.425844 -0.1365 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -544.833 156.672 0.499025 -0.162625 0 0 + 1 1 1 + + -544.833 156.672 0.499025 -0.162625 0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0.2 0 -0 0 + 1 1 1 + + 0 0 0.2 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -473.427 171.161 -0.027372 -0.005792 0.001362 1.79084 + 1 1 1 + + -473.427 171.161 -0.027372 -0.005792 0.001362 1.79084 + -0.013117 0.141987 -0 -4.7e-05 6.9e-05 0.431042 + -0.063525 -0.005784 0 3.5e-05 -0.001008 -7.6e-05 + -1.27051 -0.115686 8e-06 0 -0 0 + + + + -526.616 167.596 -0.099201 -8.3e-05 -0.002858 1.00001 + 1 1 1 + + -528.585 166.566 0.213426 -0.00208 -0.001962 1.7854 + 0.001139 0.001983 -0.000641 -0.000319 -0.000494 -6e-06 + -0.000511 0.000545 -0.002336 -0.002264 -0.002412 0.00019 + -0.007665 0.00818 -0.035044 0 -0 0 + + + -528.525 166.295 -0.296489 -0.002075 -0.001962 1.7854 + 0.001389 0.00182 -0.000525 -0.000319 -0.000494 -6e-06 + 0.000762 -0.000665 -0.001544 -0.002385 -0.002449 8.8e-05 + 0.000381 -0.000333 -0.000772 0 -0 0 + + + -526.734 165.377 0.213609 0.001962 -0.00208 0.214617 + 0.001127 0.001965 0.000652 -0.000319 -0.000494 -7e-06 + -0.000574 0.00045 0.00503 -0.002443 -0.002534 0.000202 + -0.008607 0.006751 0.075456 0 -0 0 + + + -527.005 165.319 -0.296338 0.001968 -0.00208 0.214617 + 0.001379 0.001804 0.000537 -0.000319 -0.000494 -7e-06 + 0.000681 -0.000792 0.004505 -0.002385 -0.002449 9.4e-05 + 0.00034 -0.000396 0.002253 0 -0 0 + + + -526.282 169.116 0.401675 0.001962 -0.00208 0.214617 + 0.001072 0.002021 -0.000319 -0.000319 -0.000494 -9e-06 + -0.00084 0.000875 -0.002779 -0.002444 -0.002536 0.00011 + -0.012594 0.013121 -0.041678 0 -0 0 + + + -526.553 169.058 -0.108272 0.001968 -0.00208 0.214617 + 0.001323 0.00186 -0.000434 -0.000319 -0.000494 -9e-06 + 0.000409 -0.000343 -0.003303 -0.002384 -0.002448 2e-06 + 0.000205 -0.000171 -0.001652 0 -0 0 + + + -525.374 168.532 0.401585 -0.00208 -0.001962 1.7854 + 0.001066 0.002011 0.000316 -0.000319 -0.000494 -9e-06 + -0.00087 0.000828 0.000838 -0.002265 -0.002413 0.000104 + -0.01305 0.012413 0.012567 0 -0 0 + + + -525.314 168.262 -0.10833 -0.002075 -0.001962 1.7854 + 0.001315 0.001848 0.000432 -0.000319 -0.000494 -9e-06 + 0.00038 -0.000388 0.00163 -0.002384 -0.002448 1e-06 + 0.00019 -0.000194 0.000815 0 -0 0 + + + -526.579 168.21 1.20231 -0.000368 -0.002835 1.10001 + 0.000667 0.002279 -0.000176 -0.000319 -0.000494 -1.1e-05 + -0.00297 0.002919 -0.001325 -0.00314 -0.001152 -2.6e-05 + -0.001485 0.001459 -0.000662 0 -0 0 + + + -526.588 168.191 1.31013 -0.00053 -0.802835 1.10039 + 0.000614 0.002314 -0.000175 -0.000319 -0.000494 -1.1e-05 + -0.003111 0.003057 -0.001324 -0.003853 -0.009433 -0.008146 + -0.001556 0.001528 -0.000662 0 -0 0 + + + -526.616 167.596 -0.099201 -8.3e-05 -0.002858 1.00001 + 0.001304 0.001864 2e-06 -0.000319 -0.000494 -1e-05 + 0.000244 -0.00024 1.8e-05 -0.364773 -0.259356 -0.007316 + 0.044607 -0.043873 0.003356 0 -0 0 + + + -526.632 167.887 1.40146 -8.3e-05 -0.002858 1.00001 + 0.000566 0.002343 -9.9e-05 -0.000319 -0.000494 -1e-05 + -0.003351 0.003277 -0.000704 -0.002398 -0.002466 -6.2e-05 + -0.000335 0.000328 -7e-05 0 -0 0 + + + -526.632 167.887 1.40146 -8.3e-05 -0.002858 1.00001 + 0.000566 0.002343 -9.9e-05 -0.000319 -0.000494 -1e-05 + -0.003351 0.003277 -0.000704 -0.002384 -0.002448 -5.7e-05 + -0.003351 0.003277 -0.000704 0 -0 0 + + + + 0 0 10 0 -0 0 + + + +