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[Solve #1227] New ROS-based worlds for vacuum practices #1228

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fqez merged 1 commit into from
Jun 26, 2018
Merged

[Solve #1227] New ROS-based worlds for vacuum practices #1228

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14 changes: 9 additions & 5 deletions assets/gazebo/worlds/Vacuum.world
100644 → 100755
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Original file line number Diff line number Diff line change
@@ -1,13 +1,17 @@
<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='Vacuum Cleaner'>
<include>
<uri>model://roomba</uri>
<pose>-1 1.5 0 0 0 0</pose>
</include>
<include>
<uri>model://roombaROS</uri>
<pose>-1 1.5 0 0 0 0</pose>
<!--<pose>5.04 3.80 0 0 0 -1.57 </pose> Room-->
<!--<pose>5.04 0.00 0 0 0 -1.57 </pose> Bedroom-->
<!--<pose>-2.35 5.44 0 0 0 -1.57 </pose> Living room-->
<!--<pose>-3.50 1.45 0 0 0 -1.57 </pose> Dining room-->
</include>
<include>
<uri>model://house_int2</uri>
<pose>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
</include>
<include>
<uri>model://ground_plane_sincolor</uri>
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46 changes: 46 additions & 0 deletions assets/gazebo/worlds/vacuumRoom.world
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Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='Vacuum Cleaner'>
<include>
<uri>model://roombaROS</uri>
<pose>5.04 3.80 0 0 0 -1.57</pose>
<!--<pose>5.04 3.80 0 0 0 -1.57 </pose> Room-->
<!--<pose>5.04 0.00 0 0 0 -1.57 </pose> Bedroom-->
<!--<pose>-2.35 5.44 0 0 0 -1.57 </pose> Living room-->
<!--<pose>-3.50 1.45 0 0 0 -1.57 </pose> Dining room-->
</include>
<include>
<uri>model://house_int2</uri>
</include>
<include>
<uri>model://ground_plane_sincolor</uri>
</include>

<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>

<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.126197 6.13852 18.8314 0 1.08764 -2.14299</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>