diff --git a/src/drivers/gazeboserver/models/acera/materials/scripts/mud.material b/src/drivers/gazeboserver/models/acera/materials/scripts/mud.material new file mode 100644 index 000000000..6010b5199 --- /dev/null +++ b/src/drivers/gazeboserver/models/acera/materials/scripts/mud.material @@ -0,0 +1,19 @@ +material vrc/acera +{ + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 0.5 0.5 0.5 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture acera.jpg + filtering anistropic + max_anisotropy 16 + } + } + } +} diff --git a/src/drivers/gazeboserver/models/acera/materials/textures/acera.jpg b/src/drivers/gazeboserver/models/acera/materials/textures/acera.jpg new file mode 100644 index 000000000..ce2913f87 Binary files /dev/null and b/src/drivers/gazeboserver/models/acera/materials/textures/acera.jpg differ diff --git a/src/drivers/gazeboserver/models/acera/model.config b/src/drivers/gazeboserver/models/acera/model.config new file mode 100644 index 000000000..0128b49f2 --- /dev/null +++ b/src/drivers/gazeboserver/models/acera/model.config @@ -0,0 +1,17 @@ + + + + acera + 1.0 + model.sdf + + + Thomas Koletschka + thomas.koletschka@gmail.com + + + + A mud textured plane. + + + diff --git a/src/drivers/gazeboserver/models/acera/model.sdf b/src/drivers/gazeboserver/models/acera/model.sdf new file mode 100644 index 000000000..b4904706e --- /dev/null +++ b/src/drivers/gazeboserver/models/acera/model.sdf @@ -0,0 +1,80 @@ + + + + true + + + + + + 60 8 0.2 + + + + + -15 2 0 0 0 0 + false + + + 30 4 0.2 + + + + + + + + 15 2 0 0 0 0 + false + + + 30 4 0.2 + + + + + + + + 15 -2 0 0 0 0 + false + + + 30 4 0.2 + + + + + + + + -15 -2 0 0 0 0 + false + + + 30 4 0.2 + + + + + + + + + diff --git a/src/drivers/gazeboserver/models/carNoMotor/meshes/model.dae b/src/drivers/gazeboserver/models/carNoMotor/meshes/model.dae new file mode 100644 index 000000000..13bd09717 --- /dev/null +++ b/src/drivers/gazeboserver/models/carNoMotor/meshes/model.dae @@ 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8400 3389 2312 8401 2850 2312 8402 2296 2313 8403 2298 2313 8404 2299 2313 8405 3382 2314 8406 3383 2314 8407 2858 2314 8408 2292 2315 8409 2297 2315 8410 2294 2315 8411 3376 2316 8412 3377 2316 8413 2866 2316 8414 2289 2317 8415 2293 2317 8416 2290 2317 8417 3370 2318 8418 3371 2318 8419 2874 2318 8420 2284 2319 8421 2286 2319 8422 2287 2319 8423 3364 2320 8424 3365 2320 8425 2882 2320 8426 2281 2321 8427 2285 2321 8428 2282 2321 8429 3358 2322 8430 3359 2322 8431 2890 2322 8432 2276 2323 8433 2278 2323 8434 2279 2323 8435 3352 2324 8436 3353 2324 8437 2898 2324 8438 2272 2325 8439 2277 2325 8440 2274 2325 8441 3346 2326 8442 3347 2326 8443 2906 2326 8444 2269 2327 8445 2273 2327 8446 2270 2327 8447 3340 2328 8448 3341 2328 8449 2914 2328 8450 2234 2329 8451 2266 2329 8452 2267 2329 8453 3274 2330 8454 3275 2330 8455 2922 2330 8456 2230 2331 8457 2235 2331 8458 2232 2331 8459 3268 2332 8460 3269 2332 8461 2930 2332 8462 2227 2333 8463 2231 2333 8464 2228 2333 8465 3262 2334 8466 3263 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8.133693 11.669 25.27379 0.01732408 1.130554 20.04236 0.01732408 1.130554 20.04236 32.35572 16.84064 20.77986 32.35572 16.84064 20.77986 26.64886 12.02686 23.06313 26.64886 12.02686 23.06313 5.539676 0.6332703 3.617857 5.539676 0.6332703 3.617857 25.23597 21.00212 26.06452 25.23597 21.00212 26.06452 21.89928 23.74844 27.29901 21.89928 23.74844 27.29901 0.01732408 1.130554 20.04236 0.01732408 1.130554 20.04236 8.959627 20.65628 27.43689 8.959627 20.65628 27.43689 0.01732408 0.6521606 18.69192 0.01732408 0.6521606 18.69192 32.96162 19.94078 23.95049 32.96162 19.94078 23.95049 27.65937 18.67332 25.50895 27.65937 18.67332 25.50895 12.97676 1.895248 6.887825 12.97676 1.895248 6.887825 5.539676 0.6332703 3.617857 0.01732408 0.4635925 3.636335 0.01732408 5.501358 2.770609 0.01732408 5.501358 2.770609 0.01732408 0.4635925 3.636335 5.539676 0.6332703 3.617857 16.39303 22.32189 27.32133 16.39303 22.32189 27.32133 0.01732408 4.535492 22.31923 0.01732408 4.535492 22.31923 0.01732408 10.67041 25.33368 0.01732408 10.67041 25.33368 0.01732408 19.37237 27.43689 0.01732408 19.37237 27.43689 36.18368 24.86101 20.67433 36.18368 24.86101 20.67433 32.96162 19.94078 23.95049 32.96162 19.94078 23.95049 12.7925 2.286575 3.661123 12.7925 2.286575 3.661123 5.719203 6.565353 2.37409 5.719203 6.565353 2.37409 26.50386 26.02585 26.93994 26.50386 26.02585 26.93994 28.35105 23.55514 26.80602 28.35105 23.55514 26.80602 17.5444 30.91651 28.10395 17.5444 30.91651 28.10395 9.915075 29.78701 28.44799 9.915075 29.78701 28.44799 0.01732408 28.81888 28.5168 0.01732408 28.81888 28.5168 33.22912 23.54774 26.1266 33.22912 23.54774 26.1266 36.18368 24.86101 20.67433 32.35572 16.84064 20.77986 36.06957 23.07213 19.10759 36.06957 23.07213 19.10759 32.35572 16.84064 20.77986 36.18368 24.86101 20.67433 33.22912 23.54774 26.1266 33.22912 23.54774 26.1266 19.33556 4.197952 7.313316 19.33556 4.197952 7.313316 12.7925 2.286575 3.661123 12.7925 2.286575 3.661123 0.01732408 36.07248 0.7509975 0.01732408 36.07248 0.7509975 28.71988 33.949 27.88412 28.71988 33.949 27.88412 33.463 26.70809 27.23837 33.463 26.70809 27.23837 23.14963 32.20734 28.03514 23.14963 32.20734 28.03514 36.47223 28.09229 23.01437 36.47223 28.09229 23.01437 35.90172 21.46472 16.54067 35.90172 21.46472 16.54067 19.33556 4.821762 4.150702 19.33556 4.821762 4.150702 10.69817 8.439838 2.163301 10.69817 8.439838 2.163301 29.25142 28.60222 27.91779 29.25142 28.60222 27.91779 18.32291 34.78902 28.44799 18.32291 34.78902 28.44799 9.915075 32.20734 28.65441 9.915075 32.20734 28.65441 3.842751 31.40057 28.72322 3.842751 31.40057 28.72322 33.463 26.70809 27.23837 33.463 26.70809 27.23837 31.98887 14.72597 16.60037 31.98887 14.72597 16.60037 23.90967 6.609131 7.957701 23.90967 6.609131 7.957701 19.33556 4.821762 4.150702 12.7925 2.286575 3.661123 19.14955 5.927979 3.384541 19.14955 5.927979 3.384541 12.7925 2.286575 3.661123 19.33556 4.821762 4.150702 19.14955 5.927979 3.384541 19.14955 5.927979 3.384541 16.31942 12.19937 1.876196 16.31942 12.19937 1.876196 25.32944 38.98426 28.31037 25.32944 38.98426 28.31037 30.01248 34.53549 28.10097 30.01248 34.53549 28.10097 33.58997 31.06711 27.97955 33.58997 31.06711 27.97955 0.01732408 31.40649 28.75409 0.01732408 31.40649 28.75409 36.5257 31.48096 23.79438 36.5257 31.48096 23.79438 31.17734 12.84934 12.22434 31.17734 12.84934 12.22434 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 20.4952 15.29782 1.419928 20.4952 15.29782 1.419928 30.30437 41.33823 28.34607 30.30437 41.33823 28.34607 33.58997 31.06711 27.97955 33.58997 31.06711 27.97955 35.64773 20.07924 12.12015 35.64773 20.07924 12.12015 28.19983 9.622585 8.668081 28.19983 9.622585 8.668081 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.06491 18.54899 1.157501 23.06491 18.54899 1.157501 28.59916 43.34084 28.90276 28.59916 43.34084 28.90276 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 30.8465 12.63353 8.681711 30.8465 12.63353 8.681711 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.67302 12.39614 3.191212 27.67302 12.39614 3.191212 25.08728 24.76068 0.424324 25.08728 24.76068 0.424324 30.8837 49.3857 28.89051 30.8837 49.3857 28.89051 33.77119 41.33823 28.04075 33.77119 41.33823 28.04075 36.5174 35.45234 23.96772 36.5174 35.45234 23.96772 35.0245 20.29507 8.369123 35.0245 20.29507 8.369123 29.90914 11.3203 10.01809 29.90914 11.3203 10.01809 27.67302 12.39614 3.191212 27.67302 12.39614 3.191212 29.36076 16.0767 2.482485 29.36076 16.0767 2.482485 25.96924 29.47813 0.02009392 25.96924 29.47813 0.02009392 29.80487 50.36132 29.38431 29.80487 50.36132 29.38431 34.06889 40.50339 27.6933 33.77119 41.33823 28.04075 33.90783 48.15047 28.02781 33.90783 48.15047 28.02781 34.06889 40.50339 27.6933 33.77119 41.33823 28.04075 36.69473 38.76213 23.1127 36.69473 38.76213 23.1127 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 29.84888 15.59991 2.928764 29.36076 16.0767 2.482485 29.36076 16.0767 2.482485 29.84888 15.59991 2.928764 32.53112 23.88538 1.182478 32.53112 23.88538 1.182478 26.55722 34.55847 0 26.55722 34.55847 0 33.90783 48.15047 28.02781 33.90783 48.15047 28.02781 28.17515 49.5972 31.18011 28.17515 49.5972 31.18011 34.73234 44.67173 26.83291 34.73234 44.67173 26.83291 34.42076 21.00725 4.787863 34.42076 21.00725 4.787863 32.53112 23.88538 1.182478 32.53112 23.88538 1.182478 33.40571 29.71944 0.6624908 33.40571 29.71944 0.6624908 26.55722 37.8244 0.1067448 26.55722 37.8244 0.1067448 27.67876 56.92178 33.84628 28.17515 49.5972 31.18011 29.80487 50.36132 29.38431 29.80487 50.36132 29.38431 28.17515 49.5972 31.18011 27.67876 56.92178 33.84628 26.97605 49.33617 32.0392 26.97605 49.33617 32.0392 36.75313 40.66819 22.35336 36.75313 40.66819 22.35336 34.72155 47.55716 26.63409 34.72155 47.55716 26.63409 34.42076 21.00725 4.787863 34.42076 21.00725 4.787863 33.72515 22.99531 2.527016 33.72515 22.99531 2.527016 33.62436 34.2072 0.5758324 33.62436 34.2072 0.5758324 25.08728 43.63051 0.4872818 25.08728 43.63051 0.4872818 26.97605 49.33617 32.0392 25.35295 55.33149 35.17563 26.97605 49.33617 32.0392 25.35295 55.33149 35.17563 35.1521 47.78658 24.97257 35.1521 47.78658 24.97257 36.67932 42.15191 21.33868 36.67932 42.15191 21.33868 33.62436 37.88715 0.8358364 33.62436 37.88715 0.8358364 24.2053 49.7995 1.172668 24.2053 49.7995 1.172668 26.60589 61.3769 35.988 26.60589 61.3769 35.988 32.53112 43.81099 1.355825 32.53112 43.81099 1.355825 23.91131 55.72655 1.337244 23.91131 55.72655 1.337244 24.026 60.34705 37.61276 24.026 60.34705 37.61276 35.5002 48.53375 21.40797 35.5002 48.53375 21.40797 31.16435 49.73483 2.222485 31.16435 49.73483 2.222485 0.01732408 75.64742 2.012491 0.01732408 75.64742 2.012491 24.95775 67.59132 38.26721 24.95775 67.59132 38.26721 36.71499 42.77419 20.67433 36.71499 42.77419 20.67433 31.30176 55.4836 2.588737 31.30176 55.4836 2.588737 25.08728 108.3154 2.526443 25.08728 108.3154 2.526443 22.4186 66.66177 40.04262 22.4186 66.66177 40.04262 35.49524 48.83092 20.53708 35.49524 48.83092 20.53708 0.01732408 117.6361 2.365835 0.01732408 117.6361 2.365835 23.9703 73.91222 39.42123 23.9703 73.91222 39.42123 31.43799 108.4264 3.529703 31.43799 108.4264 3.529703 25.10455 112.8335 2.138649 25.10455 112.8335 2.138649 21.14902 73.7263 41.10789 21.14902 73.7263 41.10789 24.91512 120.4642 0.6414661 24.91512 120.4642 0.6414661 23.37666 80.14017 39.68754 23.37666 80.14017 39.68754 31.64484 112.5306 3.123249 31.64484 112.5306 3.123249 24.91512 124.38 0.2806721 24.91512 124.38 0.2806721 20.53452 79.8613 41.28543 20.53452 79.8613 41.28543 33.20318 120.3667 1.664471 33.20318 120.3667 1.664471 24.72568 129.1994 0.1137714 24.72568 129.1994 0.1137714 22.95561 86.97244 39.54751 22.95561 86.97244 39.54751 33.0759 123.9106 1.392708 33.0759 123.9106 1.392708 24.3468 135.1232 0.7879448 24.3468 135.1232 0.7879448 20.0082 87.57309 41.3831 20.0082 87.57309 41.3831 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 21.69028 138.5307 1.475531 21.69028 138.5307 1.475531 23.19167 95.86207 38.28555 23.19167 95.86207 38.28555 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 0.01732408 143.1813 2.324995 0.01732408 143.1813 2.324995 19.90293 96.58286 40.35057 19.90293 96.58286 40.35057 31.30774 140.623 2.53583 31.30774 140.623 2.53583 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 27.73262 146.369 4.460705 27.73262 146.369 4.460705 19.67302 104.146 39.39626 19.67302 104.146 39.39626 23.99911 102.2564 36.39268 23.19167 95.86207 38.28555 22.79338 101.4603 36.18625 22.79338 101.4603 36.18625 23.19167 95.86207 38.28555 23.99911 102.2564 36.39268 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 27.73262 146.369 4.460705 32.29693 142.5865 5.593904 31.30774 140.623 2.53583 31.30774 140.623 2.53583 32.29693 142.5865 5.593904 27.73262 146.369 4.460705 23.99911 102.2564 36.39268 22.38427 105.339 37.55378 19.67302 104.146 39.39626 19.67302 104.146 39.39626 22.38427 105.339 37.55378 23.99911 102.2564 36.39268 0.01732408 151.0473 5.510754 0.01732408 151.0473 5.510754 27.41127 150.4362 8.26239 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 27.41127 150.4362 8.26239 29.76774 147.5849 7.338314 29.76774 147.5849 7.338314 24.53456 106.6109 35.60532 24.53456 106.6109 35.60532 19.51855 111.1897 37.7155 19.51855 111.1897 37.7155 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 24.70265 152.4842 9.079033 24.70265 152.4842 9.079033 31.05642 148.3021 9.438362 31.05642 148.3021 9.438362 25.23449 110.4741 34.66489 25.23449 110.4741 34.66489 19.67302 104.146 39.39626 19.51855 111.1897 37.7155 11.91964 104.9896 40.33684 11.91964 104.9896 40.33684 19.51855 111.1897 37.7155 19.67302 104.146 39.39626 23.69834 115.0917 35.59087 23.69834 115.0917 35.59087 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 25.18781 153.2656 11.03045 25.18781 153.2656 11.03045 28.23828 151.3377 10.51933 28.23828 151.3377 10.51933 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 11.91964 111.6871 38.9412 11.91964 111.6871 38.9412 16.05735 104.3158 39.88282 16.05735 104.3158 39.88282 19.51855 115.2555 36.63683 19.51855 115.2555 36.63683 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 21.16669 154.2804 9.628283 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 21.16669 154.2804 9.628283 29.21564 151.6238 13.6038 29.21564 151.6238 13.6038 31.81787 148.4829 13.18936 31.81787 148.4829 13.18936 25.86606 110.8528 34.01383 25.86606 110.8528 34.01383 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 22.73357 127.3419 32.40066 22.73357 127.3419 32.40066 12.60029 155.9414 10.5307 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 12.60029 155.9414 10.5307 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 26.80167 153.0591 13.74062 26.80167 153.0591 13.74062 21.43284 155.0355 11.49525 21.43284 155.0355 11.49525 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.06107 110.4741 32.85638 27.06107 110.4741 32.85638 5.173338 111.9987 39.18817 5.173338 111.9987 39.18817 16.8182 104.2282 39.81262 16.05735 104.3158 39.88282 16.05735 96.78149 41.10141 16.05735 96.78149 41.10141 16.05735 104.3158 39.88282 16.8182 104.2282 39.81262 25.56661 127.0134 31.1842 25.56661 127.0134 31.1842 18.51447 127.3813 33.39807 18.51447 127.3813 33.39807 0.01732408 156.5454 10.6435 0.01732408 156.5454 10.6435 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 24.96136 153.8958 13.11053 24.96136 153.8958 13.11053 23.0241 154.598 12.78191 23.0241 154.598 12.78191 28.46382 152.1935 15.10843 28.46382 152.1935 15.10843 34.47943 142.1725 17.0416 34.47943 142.1725 17.0416 27.99894 113.4138 31.45474 27.99894 113.4138 31.45474 0.01732408 104.9896 40.46027 0.01732408 104.9896 40.46027 16.98727 96.78149 40.9714 16.98727 96.78149 40.9714 21.63851 135.3071 30.3913 21.63851 135.3071 30.3913 17.74178 132.8673 31.70741 17.74178 132.8673 31.70741 12.57364 156.367 12.41226 12.57364 156.367 12.41226 26.58567 153.134 14.03027 26.58567 153.134 14.03027 29.33259 150.9796 17.0416 29.33259 150.9796 17.0416 28.14407 152.2727 15.32235 28.14407 152.2727 15.32235 32.05687 146.689 17.11428 32.05687 146.689 17.11428 28.83634 109.4894 31.19256 28.83634 109.4894 31.19256 0.01732408 111.9987 39.22229 0.01732408 111.9987 39.22229 5.238796 104.9896 40.42731 0.01732408 104.9896 40.46027 0.01732408 97.00176 41.80266 0.01732408 97.00176 41.80266 0.01732408 104.9896 40.46027 5.238796 104.9896 40.42731 15.80374 87.58262 42.19233 15.80374 87.58262 42.19233 26.73454 127.515 30.42475 26.73454 127.515 30.42475 17.15057 135.1874 31.14555 17.15057 135.1874 31.14555 0.01732408 156.9984 12.33554 0.01732408 156.9984 12.33554 24.83005 153.9859 13.48764 24.83005 153.9859 13.48764 23.04027 154.5383 13.1465 23.04027 154.5383 13.1465 28.85646 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0 1 2 6 1 0 0 2 8 10 11 12 6 16 1 8 2 18 20 12 21 10 24 11 10 12 26 6 28 16 8 18 30 20 21 32 26 12 20 34 24 10 24 36 11 28 38 16 8 30 40 8 40 42 20 32 44 46 26 20 24 48 36 28 50 38 40 30 52 42 40 54 56 20 44 32 58 44 60 46 20 48 62 36 50 64 38 40 52 66 40 68 54 42 54 70 56 72 20 74 56 44 58 76 44 78 60 20 48 80 62 50 82 64 82 50 83 52 86 66 40 66 68 72 78 20 88 72 56 90 56 74 74 44 92 94 44 76 80 96 62 82 98 64 96 100 62 66 86 102 66 102 68 72 104 78 90 88 56 88 106 72 90 74 108 44 94 92 108 74 92 98 110 64 86 112 102 68 102 114 72 116 104 118 119 120 106 116 72 124 125 119 128 90 108 98 130 110 86 132 112 114 102 112 116 134 104 118 136 119 118 120 138 140 116 106 142 124 119 124 144 125 138 120 146 130 148 110 132 150 112 112 152 114 116 154 134 136 142 119 156 118 138 140 158 116 124 160 144 138 146 162 130 164 148 132 166 150 158 154 116 168 118 156 156 138 170 172 158 140 160 174 144 138 162 170 164 176 148 166 178 150 180 154 158 182 168 156 156 170 184 172 180 158 186 174 160 164 188 176 166 190 178 180 192 154 182 156 194 156 184 196 198 180 172 186 200 174 176 188 202 190 204 178 196 194 156 196 184 206 208 180 198 210 200 186 188 212 202 190 214 204 216 194 196 196 206 216 210 218 200 202 212 220 222 204 214 216 224 194 226 216 206 228 218 210 212 230 220 222 232 204 226 224 216 228 234 218 220 230 236 238 232 222 226 240 224 228 242 234 220 236 238 238 236 232 244 240 226 246 242 228 244 248 240 250 242 246 244 252 248 254 250 246 244 256 252 258 250 254 256 260 252 258 254 262 256 264 260 266 258 262 264 268 260 266 262 270 264 272 268 272 266 270 272 270 268

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3 4 5 5 4 7 9 3 5 13 14 15 4 17 7 19 3 9 22 13 23 14 25 15 27 13 15 17 29 7 31 19 9 33 22 23 23 13 27 15 25 35 14 37 25 17 39 29 41 31 9 43 41 9 45 33 23 23 27 47 37 49 25 39 51 29 53 31 41 55 41 43 45 23 57 45 59 33 23 47 61 37 63 49 39 65 51 67 53 41 55 69 41 71 55 43 23 73 57 45 57 75 45 77 59 23 61 79 63 81 49 84 51 85 65 85 51 67 87 53 69 67 41 23 79 73 57 73 89 75 57 91 93 45 75 77 45 95 63 97 81 65 99 85 63 101 97 103 87 67 69 103 67 79 105 73 57 89 91 73 107 89 109 75 91 93 95 45 93 75 109 65 111 99 103 113 87 115 103 69 105 117 73 121 122 123 73 117 107 122 126 127 109 91 129 111 131 99 113 133 87 113 103 115 105 135 117 122 137 123 139 121 123 107 117 141 122 127 143 126 145 127 147 121 139 111 149 131 113 151 133 115 153 113 135 155 117 122 143 137 139 123 157 117 159 141 145 161 127 163 147 139 149 165 131 151 167 133 117 155 159 157 123 169 171 139 157 141 159 173 145 175 161 171 163 139 149 177 165 151 179 167 159 155 181 157 169 183 185 171 157 159 181 173 161 175 187 177 189 165 179 191 167 155 193 181 195 157 183 197 185 157 173 181 199 175 201 187 203 189 177 179 205 191 157 195 197 207 185 197 199 181 209 187 201 211 203 213 189 205 215 191 197 195 217 217 207 197 201 219 211 221 213 203 215 205 223 195 225 217 207 217 227 211 219 229 221 231 213 205 233 223 217 225 227 219 235 229 237 231 221 223 233 239 225 241 227 235 243 229 239 237 221 233 237 239 227 241 245 229 243 247 241 249 245 247 243 251 249 253 245 247 251 255 253 257 245 255 251 259 253 261 257 263 255 259 261 265 257 263 259 267 261 269 265 271 263 267 269 273 265 271 267 273 269 271 273

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0 1 2

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3 4 5

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0 1 2 2 1 6 8 0 2 2 6 10 8 2 12 2 10 14 12 2 16 14 10 18 2 14 16 14 18 20 20 18 22 22 18 24

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3 4 5 7 4 3 3 5 9 11 7 3 13 3 9 15 11 3 17 3 13 19 11 15 17 15 3 21 19 15 23 19 21 25 19 23

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3 4 5 3 7 4 7 9 4

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8.133693 11.669 25.27379 0.01732408 1.130554 20.04236 0.01732408 1.130554 20.04236 32.35572 16.84064 20.77986 32.35572 16.84064 20.77986 26.64886 12.02686 23.06313 26.64886 12.02686 23.06313 5.539676 0.6332703 3.617857 5.539676 0.6332703 3.617857 25.23597 21.00212 26.06452 25.23597 21.00212 26.06452 21.89928 23.74844 27.29901 21.89928 23.74844 27.29901 0.01732408 1.130554 20.04236 0.01732408 1.130554 20.04236 8.959627 20.65628 27.43689 8.959627 20.65628 27.43689 0.01732408 0.6521606 18.69192 0.01732408 0.6521606 18.69192 32.96162 19.94078 23.95049 32.96162 19.94078 23.95049 27.65937 18.67332 25.50895 27.65937 18.67332 25.50895 12.97676 1.895248 6.887825 12.97676 1.895248 6.887825 0.01732408 5.501358 2.770609 0.01732408 0.4635925 3.636335 5.539676 0.6332703 3.617857 5.539676 0.6332703 3.617857 0.01732408 0.4635925 3.636335 0.01732408 5.501358 2.770609 16.39303 22.32189 27.32133 16.39303 22.32189 27.32133 0.01732408 4.535492 22.31923 0.01732408 4.535492 22.31923 0.01732408 10.67041 25.33368 0.01732408 10.67041 25.33368 0.01732408 19.37237 27.43689 0.01732408 19.37237 27.43689 36.18368 24.86101 20.67433 36.18368 24.86101 20.67433 32.96162 19.94078 23.95049 32.96162 19.94078 23.95049 12.7925 2.286575 3.661123 12.7925 2.286575 3.661123 5.719203 6.565353 2.37409 5.719203 6.565353 2.37409 26.50386 26.02585 26.93994 26.50386 26.02585 26.93994 28.35105 23.55514 26.80602 28.35105 23.55514 26.80602 17.5444 30.91651 28.10395 17.5444 30.91651 28.10395 9.915075 29.78701 28.44799 9.915075 29.78701 28.44799 0.01732408 28.81888 28.5168 0.01732408 28.81888 28.5168 33.22912 23.54774 26.1266 33.22912 23.54774 26.1266 36.06957 23.07213 19.10759 32.35572 16.84064 20.77986 36.18368 24.86101 20.67433 36.18368 24.86101 20.67433 32.35572 16.84064 20.77986 36.06957 23.07213 19.10759 33.22912 23.54774 26.1266 33.22912 23.54774 26.1266 19.33556 4.197952 7.313316 19.33556 4.197952 7.313316 12.7925 2.286575 3.661123 12.7925 2.286575 3.661123 0.01732408 36.07248 0.7509975 0.01732408 36.07248 0.7509975 28.71988 33.949 27.88412 28.71988 33.949 27.88412 33.463 26.70809 27.23837 33.463 26.70809 27.23837 23.14963 32.20734 28.03514 23.14963 32.20734 28.03514 36.47223 28.09229 23.01437 36.47223 28.09229 23.01437 35.90172 21.46472 16.54067 35.90172 21.46472 16.54067 19.33556 4.821762 4.150702 19.33556 4.821762 4.150702 10.69817 8.439838 2.163301 10.69817 8.439838 2.163301 29.25142 28.60222 27.91779 29.25142 28.60222 27.91779 18.32291 34.78902 28.44799 18.32291 34.78902 28.44799 9.915075 32.20734 28.65441 9.915075 32.20734 28.65441 3.842751 31.40057 28.72322 3.842751 31.40057 28.72322 33.463 26.70809 27.23837 33.463 26.70809 27.23837 31.98887 14.72597 16.60037 31.98887 14.72597 16.60037 23.90967 6.609131 7.957701 23.90967 6.609131 7.957701 19.14955 5.927979 3.384541 12.7925 2.286575 3.661123 19.33556 4.821762 4.150702 19.33556 4.821762 4.150702 12.7925 2.286575 3.661123 19.14955 5.927979 3.384541 19.14955 5.927979 3.384541 19.14955 5.927979 3.384541 16.31942 12.19937 1.876196 16.31942 12.19937 1.876196 25.32944 38.98426 28.31037 25.32944 38.98426 28.31037 30.01248 34.53549 28.10097 30.01248 34.53549 28.10097 33.58997 31.06711 27.97955 33.58997 31.06711 27.97955 0.01732408 31.40649 28.75409 0.01732408 31.40649 28.75409 36.5257 31.48096 23.79438 36.5257 31.48096 23.79438 31.17734 12.84934 12.22434 31.17734 12.84934 12.22434 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 20.4952 15.29782 1.419928 20.4952 15.29782 1.419928 30.30437 41.33823 28.34607 30.30437 41.33823 28.34607 33.58997 31.06711 27.97955 33.58997 31.06711 27.97955 35.64773 20.07924 12.12015 35.64773 20.07924 12.12015 28.19983 9.622585 8.668081 28.19983 9.622585 8.668081 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.06491 18.54899 1.157501 23.06491 18.54899 1.157501 28.59916 43.34084 28.90276 28.59916 43.34084 28.90276 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 30.8465 12.63353 8.681711 30.8465 12.63353 8.681711 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.67302 12.39614 3.191212 27.67302 12.39614 3.191212 25.08728 24.76068 0.424324 25.08728 24.76068 0.424324 30.8837 49.3857 28.89051 30.8837 49.3857 28.89051 33.77119 41.33823 28.04075 33.77119 41.33823 28.04075 36.5174 35.45234 23.96772 36.5174 35.45234 23.96772 35.0245 20.29507 8.369123 35.0245 20.29507 8.369123 29.90914 11.3203 10.01809 29.90914 11.3203 10.01809 27.67302 12.39614 3.191212 27.67302 12.39614 3.191212 29.36076 16.0767 2.482485 29.36076 16.0767 2.482485 25.96924 29.47813 0.02009392 25.96924 29.47813 0.02009392 29.80487 50.36132 29.38431 29.80487 50.36132 29.38431 33.90783 48.15047 28.02781 34.06889 40.50339 27.6933 33.77119 41.33823 28.04075 34.06889 40.50339 27.6933 33.77119 41.33823 28.04075 33.90783 48.15047 28.02781 36.69473 38.76213 23.1127 36.69473 38.76213 23.1127 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 29.36076 16.0767 2.482485 29.84888 15.59991 2.928764 29.84888 15.59991 2.928764 29.36076 16.0767 2.482485 32.53112 23.88538 1.182478 32.53112 23.88538 1.182478 26.55722 34.55847 0 26.55722 34.55847 0 33.90783 48.15047 28.02781 33.90783 48.15047 28.02781 28.17515 49.5972 31.18011 28.17515 49.5972 31.18011 34.73234 44.67173 26.83291 34.73234 44.67173 26.83291 34.42076 21.00725 4.787863 34.42076 21.00725 4.787863 32.53112 23.88538 1.182478 32.53112 23.88538 1.182478 33.40571 29.71944 0.6624908 33.40571 29.71944 0.6624908 26.55722 37.8244 0.1067448 26.55722 37.8244 0.1067448 29.80487 50.36132 29.38431 28.17515 49.5972 31.18011 27.67876 56.92178 33.84628 27.67876 56.92178 33.84628 28.17515 49.5972 31.18011 29.80487 50.36132 29.38431 26.97605 49.33617 32.0392 26.97605 49.33617 32.0392 36.75313 40.66819 22.35336 36.75313 40.66819 22.35336 34.72155 47.55716 26.63409 34.72155 47.55716 26.63409 34.42076 21.00725 4.787863 34.42076 21.00725 4.787863 33.72515 22.99531 2.527016 33.72515 22.99531 2.527016 33.62436 34.2072 0.5758324 33.62436 34.2072 0.5758324 25.08728 43.63051 0.4872818 25.08728 43.63051 0.4872818 26.97605 49.33617 32.0392 25.35295 55.33149 35.17563 26.97605 49.33617 32.0392 25.35295 55.33149 35.17563 35.1521 47.78658 24.97257 35.1521 47.78658 24.97257 36.67932 42.15191 21.33868 36.67932 42.15191 21.33868 33.62436 37.88715 0.8358364 33.62436 37.88715 0.8358364 24.2053 49.7995 1.172668 24.2053 49.7995 1.172668 26.60589 61.3769 35.988 26.60589 61.3769 35.988 32.53112 43.81099 1.355825 32.53112 43.81099 1.355825 23.91131 55.72655 1.337244 23.91131 55.72655 1.337244 24.026 60.34705 37.61276 24.026 60.34705 37.61276 35.5002 48.53375 21.40797 35.5002 48.53375 21.40797 31.16435 49.73483 2.222485 31.16435 49.73483 2.222485 0.01732408 75.64742 2.012491 0.01732408 75.64742 2.012491 24.95775 67.59132 38.26721 24.95775 67.59132 38.26721 36.71499 42.77419 20.67433 36.71499 42.77419 20.67433 31.30176 55.4836 2.588737 31.30176 55.4836 2.588737 25.08728 108.3154 2.526443 25.08728 108.3154 2.526443 22.4186 66.66177 40.04262 22.4186 66.66177 40.04262 35.49524 48.83092 20.53708 35.49524 48.83092 20.53708 0.01732408 117.6361 2.365835 0.01732408 117.6361 2.365835 23.9703 73.91222 39.42123 23.9703 73.91222 39.42123 31.43799 108.4264 3.529703 31.43799 108.4264 3.529703 25.10455 112.8335 2.138649 25.10455 112.8335 2.138649 21.14902 73.7263 41.10789 21.14902 73.7263 41.10789 24.91512 120.4642 0.6414661 24.91512 120.4642 0.6414661 23.37666 80.14017 39.68754 23.37666 80.14017 39.68754 31.64484 112.5306 3.123249 31.64484 112.5306 3.123249 24.91512 124.38 0.2806721 24.91512 124.38 0.2806721 20.53452 79.8613 41.28543 20.53452 79.8613 41.28543 33.20318 120.3667 1.664471 33.20318 120.3667 1.664471 24.72568 129.1994 0.1137714 24.72568 129.1994 0.1137714 22.95561 86.97244 39.54751 22.95561 86.97244 39.54751 33.0759 123.9106 1.392708 33.0759 123.9106 1.392708 24.3468 135.1232 0.7879448 24.3468 135.1232 0.7879448 20.0082 87.57309 41.3831 20.0082 87.57309 41.3831 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 21.69028 138.5307 1.475531 21.69028 138.5307 1.475531 23.19167 95.86207 38.28555 23.19167 95.86207 38.28555 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 0.01732408 143.1813 2.324995 0.01732408 143.1813 2.324995 19.90293 96.58286 40.35057 19.90293 96.58286 40.35057 31.30774 140.623 2.53583 31.30774 140.623 2.53583 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 27.73262 146.369 4.460705 27.73262 146.369 4.460705 19.67302 104.146 39.39626 19.67302 104.146 39.39626 22.79338 101.4603 36.18625 23.19167 95.86207 38.28555 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 23.19167 95.86207 38.28555 22.79338 101.4603 36.18625 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 31.30774 140.623 2.53583 32.29693 142.5865 5.593904 27.73262 146.369 4.460705 27.73262 146.369 4.460705 32.29693 142.5865 5.593904 31.30774 140.623 2.53583 19.67302 104.146 39.39626 22.38427 105.339 37.55378 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 22.38427 105.339 37.55378 19.67302 104.146 39.39626 0.01732408 151.0473 5.510754 0.01732408 151.0473 5.510754 26.06353 149.4663 5.673576 27.41127 150.4362 8.26239 27.41127 150.4362 8.26239 26.06353 149.4663 5.673576 29.76774 147.5849 7.338314 29.76774 147.5849 7.338314 24.53456 106.6109 35.60532 24.53456 106.6109 35.60532 19.51855 111.1897 37.7155 19.51855 111.1897 37.7155 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 24.70265 152.4842 9.079033 24.70265 152.4842 9.079033 31.05642 148.3021 9.438362 31.05642 148.3021 9.438362 25.23449 110.4741 34.66489 25.23449 110.4741 34.66489 11.91964 104.9896 40.33684 19.51855 111.1897 37.7155 19.67302 104.146 39.39626 19.67302 104.146 39.39626 19.51855 111.1897 37.7155 11.91964 104.9896 40.33684 23.69834 115.0917 35.59087 23.69834 115.0917 35.59087 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 25.18781 153.2656 11.03045 25.18781 153.2656 11.03045 28.23828 151.3377 10.51933 28.23828 151.3377 10.51933 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 11.91964 111.6871 38.9412 11.91964 111.6871 38.9412 16.05735 104.3158 39.88282 16.05735 104.3158 39.88282 19.51855 115.2555 36.63683 19.51855 115.2555 36.63683 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 20.8693 153.6167 7.859514 21.16669 154.2804 9.628283 21.16669 154.2804 9.628283 20.8693 153.6167 7.859514 29.21564 151.6238 13.6038 29.21564 151.6238 13.6038 31.81787 148.4829 13.18936 31.81787 148.4829 13.18936 25.86606 110.8528 34.01383 25.86606 110.8528 34.01383 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 22.73357 127.3419 32.40066 22.73357 127.3419 32.40066 12.70316 155.3146 8.588158 12.60029 155.9414 10.5307 12.60029 155.9414 10.5307 12.70316 155.3146 8.588158 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 26.80167 153.0591 13.74062 26.80167 153.0591 13.74062 21.43284 155.0355 11.49525 21.43284 155.0355 11.49525 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.06107 110.4741 32.85638 27.06107 110.4741 32.85638 5.173338 111.9987 39.18817 5.173338 111.9987 39.18817 16.05735 96.78149 41.10141 16.05735 104.3158 39.88282 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 16.05735 104.3158 39.88282 16.05735 96.78149 41.10141 25.56661 127.0134 31.1842 25.56661 127.0134 31.1842 18.51447 127.3813 33.39807 18.51447 127.3813 33.39807 0.01732408 156.5454 10.6435 0.01732408 156.5454 10.6435 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 24.96136 153.8958 13.11053 24.96136 153.8958 13.11053 23.0241 154.598 12.78191 23.0241 154.598 12.78191 28.46382 152.1935 15.10843 28.46382 152.1935 15.10843 34.47943 142.1725 17.0416 34.47943 142.1725 17.0416 27.99894 113.4138 31.45474 27.99894 113.4138 31.45474 0.01732408 104.9896 40.46027 0.01732408 104.9896 40.46027 16.98727 96.78149 40.9714 16.98727 96.78149 40.9714 21.63851 135.3071 30.3913 21.63851 135.3071 30.3913 17.74178 132.8673 31.70741 17.74178 132.8673 31.70741 12.57364 156.367 12.41226 12.57364 156.367 12.41226 26.58567 153.134 14.03027 26.58567 153.134 14.03027 29.33259 150.9796 17.0416 29.33259 150.9796 17.0416 28.14407 152.2727 15.32235 28.14407 152.2727 15.32235 32.05687 146.689 17.11428 32.05687 146.689 17.11428 28.83634 109.4894 31.19256 28.83634 109.4894 31.19256 0.01732408 111.9987 39.22229 0.01732408 111.9987 39.22229 0.01732408 97.00176 41.80266 0.01732408 104.9896 40.46027 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 0.01732408 104.9896 40.46027 0.01732408 97.00176 41.80266 15.80374 87.58262 42.19233 15.80374 87.58262 42.19233 26.73454 127.515 30.42475 26.73454 127.515 30.42475 17.15057 135.1874 31.14555 17.15057 135.1874 31.14555 0.01732408 156.9984 12.33554 0.01732408 156.9984 12.33554 24.83005 153.9859 13.48764 24.83005 153.9859 13.48764 23.04027 154.5383 13.1465 23.04027 154.5383 13.1465 29.33259 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3 4 5 7 4 3 3 5 9 13 14 15 7 17 4 9 5 19 22 15 23 13 25 14 13 15 27 7 29 17 9 19 31 22 23 33 27 15 22 35 25 13 25 37 14 29 39 17 9 31 41 9 41 43 22 33 45 47 27 22 25 49 37 29 51 39 41 31 53 43 41 55 57 22 45 33 59 45 61 47 22 49 63 37 51 65 39 41 53 67 41 69 55 43 55 71 57 73 22 75 57 45 59 77 45 79 61 22 49 81 63 51 84 65 84 51 85 53 87 67 41 67 69 73 79 22 89 73 57 91 57 75 75 45 93 95 45 77 81 97 63 84 99 65 97 101 63 67 87 103 67 103 69 73 105 79 91 89 57 89 107 73 91 75 109 45 95 93 109 75 93 99 111 65 87 113 103 69 103 115 73 117 105 121 122 123 107 117 73 126 127 122 129 91 109 99 131 111 87 133 113 115 103 113 117 135 105 121 137 122 121 123 139 141 117 107 143 126 122 126 145 127 139 123 147 131 149 111 133 151 113 113 153 115 117 155 135 137 143 122 157 121 139 141 159 117 126 161 145 139 147 163 131 165 149 133 167 151 159 155 117 169 121 157 157 139 171 173 159 141 161 175 145 139 163 171 165 177 149 167 179 151 181 155 159 183 169 157 157 171 185 173 181 159 187 175 161 165 189 177 167 191 179 181 193 155 183 157 195 157 185 197 199 181 173 187 201 175 177 189 203 191 205 179 197 195 157 197 185 207 209 181 199 211 201 187 189 213 203 191 215 205 217 195 197 197 207 217 211 219 201 203 213 221 223 205 215 217 225 195 227 217 207 229 219 211 213 231 221 223 233 205 227 225 217 229 235 219 221 231 237 239 233 223 227 241 225 229 243 235 221 237 239 239 237 233 245 241 227 247 243 229 245 249 241 251 243 247 245 253 249 255 251 247 245 257 253 259 251 255 257 261 253 259 255 263 257 265 261 267 259 263 265 269 261 267 263 271 265 273 269 273 267 271 273 271 269

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0 1 2

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3 4 5

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0 1 2 6 1 0 0 2 8 10 6 0 12 0 8 14 10 0 16 0 12 18 10 14 16 14 0 20 18 14 22 18 20 24 18 22

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3 4 5 5 4 7 9 3 5 5 7 11 9 5 13 5 11 15 13 5 17 15 11 19 5 15 17 15 19 21 21 19 23 23 19 25

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3 4 5 3 5 7 9 3 7

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0 1 2 0 6 1 6 8 1

+ + + +

3 4 5 4 7 5 4 9 7

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1 0

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a/src/drivers/gazeboserver/models/taxi_holo_Laser/model.sdf b/src/drivers/gazeboserver/models/taxi_holo_Laser/model.sdf new file mode 100644 index 000000000..85e75aeab --- /dev/null +++ b/src/drivers/gazeboserver/models/taxi_holo_Laser/model.sdf @@ -0,0 +1,332 @@ + + + + 0 0 0 0 0 0 + false + + false + + 750.0 + + 1 + 0.0 + 0.0 + 1 + 0.0 + 1 + + + + + + model://taxi_holo_Laser/meshes/taxi_holo.dae + + + + + + + model://taxi_holo_Laser/meshes/taxi_holo.dae + + + + + + + 2.000000 0.000000 0.572000 0.000000 0.000000 0.000000 + 0 + + 0.100000 + + 1.000000 + 0.000000 + 0.000000 + 1.000000 + 0.000000 + 1.000000 + + + + + + model://hokuyo/meshes/hokuyo.dae + + + + + 0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000 + + + 0.050000 0.050000 0.041000 + + + 10 + + + + + + + + + + + + 0.000000 0.000000 0.020500 0.000000 0.000000 0.000000 + + + 0.021000 + 0.029000 + + + 10 + + + + + + + + + + + + + + + 180 + 1.000000 + -1.570000 + 1.570000 + + + + 0.080000 + 10.000000 + 0.010000 + + + 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0.000000 0.000000 + + + 0.021000 + 0.029000 + + + 10 + + + + + + + + + + + + + + + 180 + 1.000000 + -1.570000 + 1.570000 + + + + 0.080000 + 10.000000 + 0.010000 + + + 20.000000 + + 1 + 1 + + + 0.000000 + 0.000000 + + 0 + 0 + + + + + + 0 0 0 0 0 0 + laser1 + taxiholoLaser + + 0 0 0 + + + + + + 0 0 0 0 0 0 + laser2 + taxiholoLaser + + 0 0 0 + + + + + + 0 0 0 0 0 0 + laser3 + taxiholoLaser + + 0 0 0 + + + + + + + diff --git a/src/drivers/gazeboserver/plugins/taxiholoLaser/CMakeLists.txt b/src/drivers/gazeboserver/plugins/taxiholoLaser/CMakeLists.txt new file mode 100644 index 000000000..025c0cd07 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/taxiholoLaser/CMakeLists.txt @@ -0,0 +1,30 @@ + +include_directories( + ${GAZEBO_INCLUDE_DIRS} + ${INTERFACES_CPP_DIR} + ${LIBS_DIR} + ${CMAKE_CURRENT_SOURCE_DIR} + ${easyiceconfig_INCLUDE_DIRS} +) + +link_directories( + ${GAZEBO_LIBRARY_DIRS} + ${easyiceconfig_LIBRARY_DIRS} +) +#boost_system +add_library(lasertaxi SHARED laser.cc) +target_link_libraries(lasertaxi + RayPlugin + ${GAZEBO_libraries} + ${ZeroCIce_LIBRARIES} + colorspacesmm + JderobotInterfaces + ${easyiceconfig_LIBRARIES} +) + +INSTALL (TARGETS lasertaxi + DESTINATION share/jderobot/gazebo/plugins/taxiholoLaser/ + COMPONENT core) + +FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg) +INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/conf/ COMPONENT core) diff --git a/src/drivers/gazeboserver/plugins/taxiholoLaser/laser.cc b/src/drivers/gazeboserver/plugins/taxiholoLaser/laser.cc new file mode 100644 index 000000000..dc3c93f54 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/taxiholoLaser/laser.cc @@ -0,0 +1,165 @@ +#include +#include "gazebo.hh" +#include "physics/physics.hh" +#include "physics/MultiRayShape.hh" +#include "common/common.hh" +#include "transport/transport.hh" + +#include "plugins/RayPlugin.hh" + +#include + + +#include + +// ICE utils includes +#include +#include +#include + +#include + +void *mainLaser(void* v); + +namespace gazebo +{ + class LaserDump : public RayPlugin + { + + public: LaserDump() : RayPlugin() + { + std::cout << "LaserDump Constructor" <parentSensor = std::dynamic_pointer_cast(_parent); + + } + + // Update the controller + public: void OnNewLaserScans() + { + if(count == 0){ + count++; + + std::string name = this->parentSensor->ParentName(); + std::cout <<" laser: " << name << std::endl; + + std::vector strs; + boost::split(strs, name, boost::is_any_of("::")); + + std::cout << "strs[2]: " << strs[2] << std::endl; + + nameLaser = std::string("--Ice.Config=" + strs[0] + "_" + strs[2] + ".cfg"); + + pthread_t thr_gui; + pthread_create(&thr_gui, NULL, &mainLaser, (void*)this); + } + + physics::MultiRayShapePtr laser = this->parentSensor->LaserShape(); + + pthread_mutex_lock (&mutex); + laserValues.resize(laser->GetSampleCount ()); + for (int i = 0; i< laser->GetSampleCount (); i++){ + laserValues[i] = laser->GetRange(i); + } + pthread_mutex_unlock (&mutex); + } + sensors::RaySensorPtr parentSensor; + int count; + std::string nameLaser; + std::vector laserValues; + pthread_mutex_t mutex; + }; + + // Register this plugins with the simulator + GZ_REGISTER_SENSOR_PLUGIN(LaserDump) +} + +class LaserI: virtual public jderobot::Laser { + public: + LaserI (gazebo::LaserDump* laser) + { + this->laser = laser; + } + + virtual ~LaserI(){}; + + virtual jderobot::LaserDataPtr getLaserData(const Ice::Current&) { + jderobot::LaserDataPtr laserData (new jderobot::LaserData()); + pthread_mutex_lock (&laser->mutex); + laserData->numLaser = laser->laserValues.size(); + laserData->distanceData.resize(sizeof(int)*laserData->numLaser); + + //Update laser values + for(int i = 0 ; i < laserData->numLaser; i++){ + laserData->distanceData[i] = laser->laserValues[i]*1000; + } + pthread_mutex_unlock (&laser->mutex); + return laserData; + }; + + virtual jderobot::LaserDataPtr getLaserDataN(Ice::Int n, const Ice::Current&) { + jderobot::LaserDataPtr laserData (new jderobot::LaserData()); + pthread_mutex_lock (&laser->mutex); + laserData->numLaser = laser->laserValues.size(); + laserData->distanceData.resize(sizeof(int)*laserData->numLaser); + + //Update laser values + for(int i = 0 ; i < laserData->numLaser; i++){ + laserData->distanceData[i] = laser->laserValues[i]*1000; + } + pthread_mutex_unlock (&laser->mutex); + return laserData; + }; + + private: + int laser_num_readings; + gazebo::LaserDump* laser; +}; + +void *mainLaser(void* v) +{ + + gazebo::LaserDump* laser = (gazebo::LaserDump*)v; + + char* name = (char*)laser->nameLaser.c_str(); + + Ice::CommunicatorPtr ic; + int argc = 1; + + Ice::PropertiesPtr prop; + char* argv[] = {name}; + try { + + ic = EasyIce::initialize(argc, argv); + prop = ic->getProperties(); + + std::string Endpoints = prop->getProperty("Laser.Endpoints"); + std::cout << "Laser Endpoints > " << Endpoints << std::endl; + + Ice::ObjectAdapterPtr adapter = + ic->createObjectAdapterWithEndpoints("Laser", Endpoints); + Ice::ObjectPtr object = new LaserI(laser); + adapter->add(object, ic->stringToIdentity("Laser")); + adapter->activate(); + ic->waitForShutdown(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } catch (const char* msg) { + std::cerr << msg << std::endl; + } + if (ic) { + try { + ic->destroy(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } + } + +} diff --git a/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser1.cfg b/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser1.cfg new file mode 100644 index 000000000..f8153e008 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser1.cfg @@ -0,0 +1,2 @@ +#without registry +Laser.Endpoints=default -h 0.0.0.0 -p 8996:ws -h 0.0.0.0 -p 11004 diff --git a/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser2.cfg b/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser2.cfg new file mode 100644 index 000000000..78a2b6974 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser2.cfg @@ -0,0 +1,2 @@ +#without registry +Laser.Endpoints=default -h 0.0.0.0 -p 8997:ws -h 0.0.0.0 -p 11005 diff --git a/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser3.cfg b/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser3.cfg new file mode 100644 index 000000000..96d6652f6 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/taxiholoLaser/taxiholoLaser_laser3.cfg @@ -0,0 +1,2 @@ +#without registry +Laser.Endpoints=default -h 0.0.0.0 -p 8998:ws -h 0.0.0.0 -p 11006 diff --git a/src/drivers/gazeboserver/worlds/Vacuum.world b/src/drivers/gazeboserver/worlds/Vacuum.world index 489161576..e5cf3b81e 100644 --- a/src/drivers/gazeboserver/worlds/Vacuum.world +++ b/src/drivers/gazeboserver/worlds/Vacuum.world @@ -1,6 +1,6 @@ - + model://roomba -1 1.5 0 0 0 0 @@ -10,7 +10,7 @@ 0 0 0 0 0 0 - model://ground_plane + model://ground_plane_sincolor @@ -41,4 +41,3 @@ - diff --git a/src/drivers/gazeboserver/worlds/autopark.world b/src/drivers/gazeboserver/worlds/autopark.world new file mode 100644 index 000000000..4587189b7 --- /dev/null +++ b/src/drivers/gazeboserver/worlds/autopark.world @@ -0,0 +1,75 @@ + + + + + + true + + + + + model://sun + + + + + + model://ground_plane_sincolor + + + model://acera + 5 9 0 0 0 0 + + + model://acera + 5 -9 0 0 0 0 + + + + + + model://taxi_holo_Laser + -7 2.5 0 0 0 0 + + + + + + model://carNoMotor + -20 -3 0 0 0 1.57 + + + model://carNoMotor + -13.5 -3 0 0 0 1.57 + + + model://carNoMotor + -7 -3 0 0 0 1.57 + + + model://carNoMotor + 0.5 -3 0 0 0 1.57 + + + model://carNoMotor + 14 -3 0 0 0 1.57 + + + model://carNoMotor + 21.5 -3 0 0 0 1.57 + + + model://carNoMotor + 29 -3 0 0 0 1.57 + + + + + + 10 + -25 0 0.02 + 35 0 0.02 + + + +