From 49692e14b4dd2ceb79ecaeb641552a35edced62d Mon Sep 17 00:00:00 2001
From: Julio Vega <julio.vega@urjc.es>
Date: Wed, 23 Jan 2019 21:49:00 +0100
Subject: [PATCH] [Issue #1325] Added follow_line_turtlebot Gazebo world
 configuration files

---
 .../launch/turtlebot-xtion-followline.launch  |  30 ++++++++
 .../turtlebot-xtion-followline.material       |  15 ++++
 .../worlds/turtlebot-xtion-followline.png     | Bin 0 -> 8564 bytes
 .../worlds/turtlebot-xtion-followline.world   |  66 ++++++++++++++++++
 4 files changed, 111 insertions(+)
 create mode 100644 assets/gazebo/launch/turtlebot-xtion-followline.launch
 create mode 100644 assets/gazebo/worlds/turtlebot-xtion-followline.material
 create mode 100644 assets/gazebo/worlds/turtlebot-xtion-followline.png
 create mode 100644 assets/gazebo/worlds/turtlebot-xtion-followline.world

diff --git a/assets/gazebo/launch/turtlebot-xtion-followline.launch b/assets/gazebo/launch/turtlebot-xtion-followline.launch
new file mode 100644
index 000000000..ac7d23771
--- /dev/null
+++ b/assets/gazebo/launch/turtlebot-xtion-followline.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="use_sim_time" value="true"/>
+    <arg name="debug" value="false"/>
+    <arg name="world_name" value="turtlebot-xtion-followline.world"/>
+  </include>
+
+  <include file="$(find turtlebot_gazebo)/launch/includes/kobuki.launch.xml">
+    <arg name="base" value="kobuki"/>
+    <arg name="stacks" value="hexagons"/>
+    <arg name="3d_sensor" value="asus_xtion_pro"/>
+  </include>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="30.0" />
+  </node>
+
+  <!-- Fake laser -->
+  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
+  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
+        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
+    <param name="scan_height" value="10"/>
+    <param name="output_frame_id" value="/camera_depth_frame"/>
+    <param name="range_min" value="0.45"/>
+    <remap from="image" to="/camera/depth/image_raw"/>
+    <remap from="scan" to="/scan"/>
+  </node>
+</launch>
+
diff --git a/assets/gazebo/worlds/turtlebot-xtion-followline.material b/assets/gazebo/worlds/turtlebot-xtion-followline.material
new file mode 100644
index 000000000..544f2bd6c
--- /dev/null
+++ b/assets/gazebo/worlds/turtlebot-xtion-followline.material
@@ -0,0 +1,15 @@
+material turtlebot-xtion-followline
+{
+  receive_shadows on
+  technique
+  {
+    pass
+    {
+      ambient 0.5 0.5 0.5 1.0
+      texture_unit
+      {
+        texture turtlebot-xtion-followline.png
+      }
+    }
+  }
+}
diff --git a/assets/gazebo/worlds/turtlebot-xtion-followline.png b/assets/gazebo/worlds/turtlebot-xtion-followline.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1ce67966a512459497e895bb32ea535a1c91a26
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diff --git a/assets/gazebo/worlds/turtlebot-xtion-followline.world b/assets/gazebo/worlds/turtlebot-xtion-followline.world
new file mode 100644
index 000000000..74607f558
--- /dev/null
+++ b/assets/gazebo/worlds/turtlebot-xtion-followline.world
@@ -0,0 +1,66 @@
+<?xml version="1.0"?> 
+<sdf version="1.4">
+  <world name="default">
+    <scene>
+      <ambient>0 0 0 1</ambient>
+      <shadows>0</shadows>
+      <grid>0</grid>
+      <background>0.7 0.7 0.7 1</background>
+    </scene>
+    <!--
+    <physics type="ode">
+      <gravity>0 0 -9.8</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>10</iters>
+          <sor>1.3</sor>
+        </solver>
+        <constraints>
+          <cfm>0</cfm>
+          <erp>0.1</erp>
+          <contact_max_correcting_vel>10</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+    </physics>
+    -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <model name="ground">
+      <pose>1 2.3 -.1 0 0 0</pose>
+      <static>1</static>
+      <link name="ground">
+        <collision name="ground_coll">
+          <geometry>
+            <box>
+              <size>10 10 .1</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="ground_vis">
+          <geometry>
+            <box>
+              <size>10 10 .1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://turtlebot-xtion-followline.material</uri>
+              <name>turtlebot-xtion-followline</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>