Revision: 8610
http://playerstage.svn.sourceforge.net/playerstage/?rev=8610&view=rev
Author: natepak
Date: 2010-04-12 14:29:07 +0000 (Mon, 12 Apr 2010)
Log Message:
-----------
Added a pioneer2dx world with ramps.
Added Paths:
-----------
code/gazebo/trunk/worlds/pioneer2dx.world
code/gazebo/trunk/worlds/pioneer2dx_ramp.world
Removed Paths:
-------------
code/gazebo/trunk/worlds/pioneer2dx.world
Deleted: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2010-04-11 16:14:50 UTC (rev
8609)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2010-04-12 14:29:07 UTC (rev
8610)
@@ -1,217 +0,0 @@
-<?xml version="1.0"?>
-
-<gazebo:world
- xmlns:xi="http://www.w3.org/2001/XInclude";
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
- xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
- xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
-
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
- xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
-
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
-
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
-
- <verbosity>4</verbosity>
-
- <physics:ode>
- <stepTime>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>10e-5</cfm>
- <erp>0.3</erp>
- <!-- updateRate: <0 == throttle simTime to match realTime.
- 0 == No throttling
- >0 == Frequency at which to throttle the sim -->
- <updateRate>0</updateRate>
- </physics:ode>
-
- <rendering:gui>
- <type>fltk</type>
- <size>800 600</size>
- <pos>0 0</pos>
- <xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- </rendering:gui>
-
- <rendering:ogre>
- <ambient>0.1 0.1 0.1 1.0</ambient>
- <sky>
- <material>Gazebo/CloudySky</material>
- </sky>
-
- <fog>
- <color>1.0 1.0 1.0</color>
- <linearStart>10</linearStart>
- <linearEnd>100</linearEnd>
- </fog>
-
- <grid>false</grid>
-
- <shadowTechnique>stencilModulative</shadowTechnique>
- <shadowColor>0.4 0.4 0.4</shadowColor>
- </rendering:ogre>
-
- <!-- Ground Plane -->
- <model:physical name="plane1_model">
- <xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- <static>true</static>
-
- <body:plane name="plane1_body">
- <geom:plane name="plane1_geom">
- <normal>0 0 1</normal>
- <size>2000 2000</size>
- <segments>10 10</segments>
- <uvTile>2000 2000</uvTile>
- <material>Gazebo/Grey</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
- <model:physical name="sphere1_model">
- <xyz>2.15 -1.68 1.2</xyz>
- <rpy>0.0 0.0 0.0</rpy>
- <static>false</static>
- <laserFiducialId>1</laserFiducialId>
- <laserRetro>0.5</laserRetro>
-
- <body:sphere name="sphere1_body">
- <geom:sphere name="sphere1_geom">
- <size>0.2</size>
- <mass>1</mass>
- <visual>
- <scale>0.2 0.2 0.2</scale>
- <mesh>unit_sphere</mesh>
- <material>Gazebo/Grey</material>
- </visual>
- </geom:sphere>
- </body:sphere>
- </model:physical>
-
- <!--
- Include the complete model described in the .model file
- This assumes the root node is a <model:...>
- -->
- <!-- <include embedded="false">
- <xi:include href="pioneer2dx.model" />
- </include>
- -->
-
- <model:physical name="pioneer2dx_model1">
- <xyz>0 0 1.145</xyz>
- <rpy>0.0 0.0 90.0</rpy>
-
- <model:physical name="laser">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- </model:physical>
-
- <model:physical name="pioneer2dx_model2">
- <xyz>-0.5 -1 1.145</xyz>
- <rpy>0.0 0.0 0.0</rpy>
-
- <model:physical name="laser">
- <xyz>0.15 0 0.18</xyz>
-
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
-
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
-
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- </model:physical>
-
- <model:physical name="ramp_model">
- <xyz>0 2 0.0725</xyz>
- <rpy>-20 0 0</rpy>
- <static>true</static>
- <body:box name="ramp_body">
- <geom:box name="ramp_geom">
- <size>2 5 .1</size>
- <visual>
- <scale>2 5 .1</scale>
- <mesh>unit_box</mesh>
- <material>Gazebo/Grey</material>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
- <model:physical name="ramp_model2">
- <xyz>1.5 -1.2 0.0725</xyz>
- <rpy>0 20 0</rpy>
- <static>true</static>
- <body:box name="ramp2_body">
- <geom:box name="ramp2_geom">
- <size>5 2 .1</size>
- <visual>
- <scale>5 2 .1</scale>
- <mesh>unit_box</mesh>
- <material>Gazebo/Grey</material>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
-
- <model:physical name="box1_model">
- <xyz>1 1.5 0.5</xyz>
- <canonicalBody>box1_body</canonicalBody>
- <static>true</static>
- <laserFiducialId>2</laserFiducialId>
- <laserRetro>0.5</laserRetro>
-
- <body:box name="box1_body">
- <geom:box name="box1_geom">
- <size>1 1 1</size>
- <mass>0.1</mass>
- <visual>
- <size>1 1 1</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/Grey</material>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
- <!-- White Point light -->
- <model:renderable name="point_white">
- <xyz>0 0 5</xyz>
- <static>true</static>
-
- <light>
- <type>point</type>
- <diffuseColor>0.8 0.8 0.8</diffuseColor>
- <specularColor>0.1 0.1 0.1</specularColor>
- <range>10</range>
-
- <!-- Constant(0-1) Linear(0-1) Quadratic -->
- <attenuation>0.5 0.01 0</attenuation>
- </light>
- </model:renderable>
-
-</gazebo:world>
Added: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world (rev 0)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2010-04-12 14:29:07 UTC (rev
8610)
@@ -0,0 +1,142 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>4</verbosity>
+
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-5</cfm>
+ <erp>0.3</erp>
+ <!-- updateRate: <0 == throttle simTime to match realTime.
+ 0 == No throttling
+ >0 == Frequency at which to throttle the sim -->
+ <updateRate>0</updateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.1 0.1 0.1 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+
+ <fog>
+ <color>1.0 1.0 1.0</color>
+ <linearStart>10</linearStart>
+ <linearEnd>100</linearEnd>
+ </fog>
+
+ <grid>false</grid>
+
+ <shadowTechnique>stencilModulative</shadowTechnique>
+ <shadowColor>0.4 0.4 0.4</shadowColor>
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>2000 2000</uvTile>
+ <material>Gazebo/GrayGrid</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="sphere1_model">
+ <xyz>2.15 -1.68 1.2</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>false</static>
+ <laserFiducialId>1</laserFiducialId>
+ <laserRetro>0.5</laserRetro>
+
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <size>0.2</size>
+ <mass>1</mass>
+ <visual>
+ <scale>0.2 0.2 0.2</scale>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Grey</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!--
+ Include the complete model described in the .model file
+ This assumes the root node is a <model:...>
+ -->
+ <!-- <include embedded="false">
+ <xi:include href="pioneer2dx.model" />
+ </include>
+ -->
+
+ <model:physical name="pioneer2dx_model1">
+ <xyz>0 0 1.145</xyz>
+ <rpy>0.0 0.0 90.0</rpy>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>-5 5 10</xyz>
+ <static>true</static>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <range>30</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.01 0</attenuation>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
Copied: code/gazebo/trunk/worlds/pioneer2dx_ramp.world (from rev 8609,
code/gazebo/trunk/worlds/pioneer2dx.world)
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_ramp.world
(rev 0)
+++ code/gazebo/trunk/worlds/pioneer2dx_ramp.world 2010-04-12 14:29:07 UTC
(rev 8610)
@@ -0,0 +1,217 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>4</verbosity>
+
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-5</cfm>
+ <erp>0.3</erp>
+ <!-- updateRate: <0 == throttle simTime to match realTime.
+ 0 == No throttling
+ >0 == Frequency at which to throttle the sim -->
+ <updateRate>0</updateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.1 0.1 0.1 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+
+ <fog>
+ <color>1.0 1.0 1.0</color>
+ <linearStart>10</linearStart>
+ <linearEnd>100</linearEnd>
+ </fog>
+
+ <grid>false</grid>
+
+ <shadowTechnique>stencilModulative</shadowTechnique>
+ <shadowColor>0.4 0.4 0.4</shadowColor>
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>2000 2000</uvTile>
+ <material>Gazebo/Grey</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="sphere1_model">
+ <xyz>2.15 -1.68 1.2</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>false</static>
+ <laserFiducialId>1</laserFiducialId>
+ <laserRetro>0.5</laserRetro>
+
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <size>0.2</size>
+ <mass>1</mass>
+ <visual>
+ <scale>0.2 0.2 0.2</scale>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Grey</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!--
+ Include the complete model described in the .model file
+ This assumes the root node is a <model:...>
+ -->
+ <!-- <include embedded="false">
+ <xi:include href="pioneer2dx.model" />
+ </include>
+ -->
+
+ <model:physical name="pioneer2dx_model1">
+ <xyz>0 0 1.145</xyz>
+ <rpy>0.0 0.0 90.0</rpy>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <model:physical name="pioneer2dx_model2">
+ <xyz>-0.5 -1 1.145</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <model:physical name="ramp_model">
+ <xyz>0 2 0.0725</xyz>
+ <rpy>-20 0 0</rpy>
+ <static>true</static>
+ <body:box name="ramp_body">
+ <geom:box name="ramp_geom">
+ <size>2 5 .1</size>
+ <visual>
+ <scale>2 5 .1</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Grey</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="ramp_model2">
+ <xyz>1.5 -1.2 0.0725</xyz>
+ <rpy>0 20 0</rpy>
+ <static>true</static>
+ <body:box name="ramp2_body">
+ <geom:box name="ramp2_geom">
+ <size>5 2 .1</size>
+ <visual>
+ <scale>5 2 .1</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Grey</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+ <model:physical name="box1_model">
+ <xyz>1 1.5 0.5</xyz>
+ <canonicalBody>box1_body</canonicalBody>
+ <static>true</static>
+ <laserFiducialId>2</laserFiducialId>
+ <laserRetro>0.5</laserRetro>
+
+ <body:box name="box1_body">
+ <geom:box name="box1_geom">
+ <size>1 1 1</size>
+ <mass>0.1</mass>
+ <visual>
+ <size>1 1 1</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Grey</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0 0 5</xyz>
+ <static>true</static>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <range>10</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.01 0</attenuation>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
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