Skip to content

2024 task6 testworld #1290

New issue

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

Sign up for GitHub

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

Already on GitHub? Sign in to your account

Open
maxhv1 wants to merge 4 commits into
base: master
Choose a base branch
from
Open

2024 task6 testworld #1290

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
a8fd0bb
test world for task 6 2024 created, shufflable placards for 2024
maxhv1 Sep 13, 2024
2dda834
scan dock fling world name change
maxhv1 Oct 2, 2024
47d74d5
pulled my files out of VRX submodule, now moved into navigator_gazebo
maxhv1 Oct 4, 2024
1907662
merged master into my branch in order to reset VRX submodule
maxhv1 Oct 4, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 20 additions & 0 deletions NaviGator/simulation/navigator_gazebo/models/dock_2024/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
<?xml version="1.0"?>
<model>
<name>robotx_dock_2024</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Max Vu</name>
<email>[email protected]</email>
</author>

<author>
<name>Carlos Agüero</name>
<email>[email protected]</email>
</author>

<description>
The dock used in RobotX 2024.
</description>
</model>
349 changes: 349 additions & 0 deletions NaviGator/simulation/navigator_gazebo/models/dock_2024/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,349 @@
<?xml version="1.0" ?>
<sdf version="1.6">

<model name="robotx_dock_2024">
<static>true</static>

<!-- The 2024 dock base -->
<include>
<uri>model://dock_2024_base</uri>
</include>


<!-- Placard #1 -->
<model name="dock_2024_placard1">
<pose>5.75 3 1.5 0 0 1.5707963267948966</pose>
<include>
<static>true</static>
<pose>0 -0.2 0.25 0 0 3.14159</pose>
<uri>model://placard_2024</uri>
</include>
<link name="link_symbols">
<static>true</static>
<pose>0 0.07 0 0 0 0 </pose>



<visual name="visual_square">
<pose> 0 0 0 1.571 0 0</pose>
<geometry>
<box>
<size>1 1 0.001</size>
</box>
</geometry>
<transparency>1</transparency>
<plugin name="placard1_plugin_2024" filename="libplacard_plugin.so">
<visuals>
<visual>robotx_dock_2024::dock_2024_placard1::link_symbols::visual_square</visual>
</visuals>
<shuffle>true</shuffle>
<robot_namespace>vrx/dock_2024_placard1</robot_namespace>
<ros_shuffle_topic>shuffle</ros_shuffle_topic>
</plugin>
</visual>

<!-- Uncomment to see the activation areas -->
<!-- <visual name="visual_activation_big_box_1">
<pose>0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>

<visual name="visual_activation_small_box_1">
<pose>-0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual> -->

</link>

<joint name="placard_to_visual" type="fixed">
<pose> 0 0 0 0 0 0 </pose>
<parent>placard::link</parent>
<child>link_symbols</child>
</joint>

<!-- Uncomment to see the activation areas -->
<!-- For visualizing ContainPlugin volume
Make sure that the size and location are consistent with plugin -->
<!-- <link name="bay_visualization">
<visual name="bay_box">
<pose frame="placard::link">0 -4.5 -1.5 0 0 0</pose>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
<geometry>
<box>
<size>1.5 4 2</size>
</box>
</geometry>
<transparency>0.0</transparency>
</visual>
<visual name="bay_box_exterior">
<pose frame="placard::link">0 -9.5 -1.5 0 0 0</pose>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<geometry>
<box>
<size>5.5 1.5 2</size>
</box>
</geometry>
</visual>
</link>
<joint name="placard_to_bay" type="fixed">
<child>placard::link</child>
<parent>bay_visualization</parent>
</joint> -->

</model>


<!-- Placard #2 -->
<model name="dock_2024_placard2">
<pose>5.75 9 1.5 0 0 1.5707963267948966</pose>
<include>
<static>true</static>
<pose>0 -0.2 0.25 0 0 3.14159</pose>
<uri>model://placard_2024</uri>
</include>
<link name="link_symbols">
<static>true</static>
<pose>0 0.07 0 0 0 0 </pose>

<visual name="visual_square">
<pose> 0 0 0 1.571 0 0</pose>
<geometry>
<box>
<size>1 1 0.001</size>
</box>
</geometry>
<transparency>1</transparency>
<plugin name="placard2_plugin" filename="libplacard_plugin.so">
<visuals>
<visual>robotx_dock_2024::dock_2024_placard2::link_symbols::visual_square</visual>
</visuals>
<shuffle>true</shuffle>
<robot_namespace>vrx/dock_2024_placard2</robot_namespace>
<ros_shuffle_topic>shuffle</ros_shuffle_topic>
</plugin>
</visual>

<!-- Uncomment to see the activation areas -->
<!-- <visual name="visual_activation_big_box_2">
<pose>0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>

<visual name="visual_activation_small_box_2">
<pose>-0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual> -->

</link>

<joint name="placard_to_visual" type="fixed">
<pose> 0 0 0 0 0 0 </pose>
<parent>placard::link</parent>
<child>link_symbols</child>
</joint>

<!-- Uncomment to see the activation areas -->
<!-- For visualizing ContainPlugin volume
Make sure that the size and location are consistent with plugin -->
<!-- <link name="bay_visualization">
<visual name="bay_box">
<pose frame="placard::link">0 -4.5 -1.5 0 0 0</pose>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
<geometry>
<box>
<size>1.5 4 2</size>
</box>
</geometry>
<transparency>0.0</transparency>
</visual>
<visual name="bay_box_exterior">
<pose frame="placard::link">0 -9.5 -1.5 0 0 0</pose>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<geometry>
<box>
<size>5.5 1.5 2</size>
</box>
</geometry>
</visual>
</link>
<joint name="placard_to_bay" type="fixed">
<child>placard::link</child>
<parent>bay_visualization</parent>
</joint> -->

</model>


<!-- Placard #3 -->
<model name="dock_2024_placard3">
<pose>5.75 15 1.5 0 0 1.5707963267948966</pose>
<include>
<static>true</static>
<pose>0 -0.2 0.25 0 0 3.14159</pose>
<uri>model://placard_2024</uri>
</include>
<link name="link_symbols">
<static>true</static>
<pose>0 0.07 0 0 0 0 </pose>
<visual name="visual_square">
<pose> 0 0 0 1.571 0 0</pose>
<geometry>
<box>
<size>1 1 0.001</size>
</box>
</geometry>
<transparency>1</transparency>
<plugin name="placard3_plugin" filename="libplacard_plugin.so">
<visuals>
<visual>robotx_dock_2024::dock_2024_placard3::link_symbols::visual_square</visual>

</visuals>
<shuffle>true</shuffle>
<robot_namespace>vrx/dock_2024_placard3</robot_namespace>
<ros_shuffle_topic>shuffle</ros_shuffle_topic>
</plugin>
</visual>

<!-- Uncomment to see the activation areas -->
<!-- <visual name="visual_activation_big_box_3">
<pose>0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>

<visual name="visual_activation_small_box_3">
<pose>-0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual> -->

</link>

<joint name="placard_to_visual" type="fixed">
<pose> 0 0 0 0 0 0 </pose>
<parent>placard::link</parent>
<child>link_symbols</child>
</joint>

<!-- Uncomment to see the activation areas -->
<!-- For visualizing ContainPlugin volume
Make sure that the size and location are consistent with plugin -->
<!-- <link name="bay_visualization">
<visual name="bay_box">
<pose frame="placard::link">0 -4.5 -1.5 0 0 0</pose>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
<geometry>
<box>
<size>1.5 4 2</size>
</box>
</geometry>
<transparency>0.0</transparency>
</visual>
<visual name="bay_box_exterior">
<pose frame="placard::link">0 -9.5 -1.5 0 0 0</pose>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<geometry>
<box>
<size>5.5 1.5 2</size>
</box>
</geometry>
</visual>
</link>
<joint name="placard_to_bay" type="fixed">
<child>placard::link</child>
<parent>bay_visualization</parent>
</joint> -->

</model>


</model>
</sdf>
Loading