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.gitignore 0 → 100644
View file @ ff30910c
build/
devel/
.catkin_workspace
src/CMakeLists.txt
**/__pycache__/
.DS_Store
src/.DS_Store
*.DS_Store
src/.gitkeep 0 → 100644
View file @ ff30910c
src/CMakeLists.txt 0 → 120000
View file @ ff30910c
/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
src/actor_collision/ActorCollisionsPlugin.cc 0 → 100644
View file @ ff30910c
/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <ignition/math/Vector3.hh>
#include <gazebo/physics/Actor.hh>
#include <gazebo/physics/BoxShape.hh>
#include <gazebo/physics/Collision.hh>
#include <gazebo/physics/Link.hh>
#include "ActorCollisionsPlugin.hh"
using namespace gazebo;
GZ_REGISTER_MODEL_PLUGIN(ActorCollisionsPlugin)
/////////////////////////////////////////////////
ActorCollisionsPlugin::ActorCollisionsPlugin()
{
}
/////////////////////////////////////////////////
void ActorCollisionsPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
// Get a pointer to the actor
auto actor = boost::dynamic_pointer_cast<physics::Actor>(_model);
// Map of collision scaling factors
std::map<std::string, ignition::math::Vector3d> scaling;
std::map<std::string, ignition::math::Pose3d> offsets;
// Read in the collision scaling factors, if present
if (_sdf->HasElement("scaling"))
{
auto elem = _sdf->GetElement("scaling");
while (elem)
{
if (!elem->HasAttribute("collision"))
{
gzwarn << "Skipping element without collision attribute" << std::endl;
elem = elem->GetNextElement("scaling");
continue;
}
auto name = elem->Get<std::string>("collision");
if (elem->HasAttribute("scale"))
{
auto scale = elem->Get<ignition::math::Vector3d>("scale");
scaling[name] = scale;
}
if (elem->HasAttribute("pose"))
{
auto pose = elem->Get<ignition::math::Pose3d>("pose");
offsets[name] = pose;
}
elem = elem->GetNextElement("scaling");
}
}
for (const auto &link : actor->GetLinks())
{
// Init the links, which in turn enables collisions
link->Init();
if (scaling.empty())
continue;
// Process all the collisions in all the links
for (const auto &collision : link->GetCollisions())
{
auto name = collision->GetName();
if (scaling.find(name) != scaling.end())
{
auto boxShape = boost::dynamic_pointer_cast<gazebo::physics::BoxShape>(
collision->GetShape());
// Make sure we have a box shape.
if (boxShape)
boxShape->SetSize(boxShape->Size() * scaling[name]);
}
if (offsets.find(name) != offsets.end())
{
collision->SetInitialRelativePose(
offsets[name] + collision->InitialRelativePose());
}
}
}
}
src/actor_collision/ActorCollisionsPlugin.hh 0 → 100644
View file @ ff30910c
/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_EXAMPLES_PLUGINS_ACTORCOLLISIONSPLUGIN_HH_
#define GAZEBO_EXAMPLES_PLUGINS_ACTORCOLLISIONSPLUGIN_HH_
#include <gazebo/common/Plugin.hh>
namespace gazebo
{
/// \brief This plugin enables collisions on an Actor, and
/// optionally applies a scaling factor and pose offset to each of the
/// Actor's box collisions.
/// Collisions only work on enabled objects. ODE has a auto-disable
/// feature that "disables" an object when it comes to rest. An actor will
/// pass through these objects.
///
/// See actor_collisions.world for an example world file.
///
class ActorCollisionsPlugin : public ModelPlugin
{
/// \brief Constructor
public: ActorCollisionsPlugin();
/// \brief Load the actor plugin.
/// \param[in] _model Pointer to the parent model.
/// \param[in] _sdf Pointer to the plugin's SDF elements.
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
};
}
#endif
src/actor_collision/CMakeLists.txt 0 → 100644
View file @ ff30910c
cmake_minimum_required(VERSION 2.8.3)
project(actor_collision)
# Check for c++11 / c++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "-std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "-std=c++0x")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
roscpp
gazebo_ros
)
# Depend on system install of Gazebo
find_package(gazebo REQUIRED)
link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
catkin_package(
DEPENDS
roscpp
gazebo_ros
)
add_library(ActorCollisionsPlugin SHARED ActorCollisionsPlugin.cc)
target_link_libraries(ActorCollisionsPlugin ${GAZEBO_LIBRARIES})
src/actor_collision/actor_collisions.world 0 → 100644
View file @ ff30910c
This diff is collapsed.
src/actor_collision/actor_collisions.world.erb 0 → 100644
View file @ ff30910c
<%
# Random seed
seed = rand(0..10000000)
srand(seed)
# Number of models
n = 30
# Boundaries to spawn
x_min = -2.5
x_max = 2.5
y_min = -2.5
y_max = 2.5
z_min = 0.5
z_max = 5
# Limit sizes
size_min = 0.01
size_max = 0.5
# Limit density
$density_min = 0.1
$density_max = 5.0
# Print inertia
# Parameters:
# _geom: box, cylinder or sphere
# _sizeX: X size
# _sizeY: Y size
# _sizeZ: Z size
def printInertia(_geom, _sizeX, _sizeY = 0, _sizeZ = 0)
density = rand($density_min..$density_max)
radius = _sizeX * 0.5
if (_geom == 'box')
mass = density * _sizeX * _sizeY * _sizeZ
ixx = 1.0 / 12 * mass * (_sizeY*_sizeY + _sizeZ*_sizeZ)
iyy = 1.0 / 12 * mass * (_sizeZ*_sizeZ + _sizeX*_sizeX)
izz = 1.0 / 12 * mass * (_sizeX*_sizeX + _sizeY*_sizeY)
elsif (_geom == 'sphere')
mass = density * 4.0 * Math::PI / 3.0 * radius**3
ixx = mass * 0.4 * radius**2
iyy = ixx
izz = ixx
elsif (_geom == 'cylinder')
mass = density * Math::PI * radius**2 * _sizeY
izz = mass * 0.5 * radius**2
ixx = (1.0/12.0) * mass * (3 * radius**2 + _sizeY**2)
iyy = ixx
else
return
end
"<inertial>\n"\
" <mass>" + mass.to_s() + "</mass>\n"\
" <inertia>\n"\
" <ixx>" + ixx.to_s() + "</ixx>\n"\
" <iyy>" + iyy.to_s() + "</iyy>\n"\
" <izz>" + izz.to_s() + "</izz>\n"\
" <ixy>0.0</ixy>\n"\
" <ixz>0.0</ixz>\n"\
" <iyz>0.0</iyz>\n"\
" </inertia>\n"\
" </inertial>\n"
end
# Print geometry
# Parameters:
# _geom: box, cylinder or sphere
# _sizeX: X size
# _sizeY: Y size
# _sizeZ: Z size
def printGeom(_geom, _sizeX, _sizeY = 0, _sizeZ = 0)
if (_geom == 'box')
"<box>\n"\
" <size>\n"\
" " + _sizeX.to_s() + "\n"\
" " + _sizeY.to_s() + "\n"\
" " + _sizeZ.to_s() + "\n"\
" </size>\n"\
" </box>\n"
elsif (_geom == 'sphere')
"<sphere>\n"\
" <radius>\n"\
" " + (_sizeX * 0.5).to_s() + "\n"\
" </radius>\n"\
" </sphere>\n"
elsif (_geom == 'cylinder')
"<cylinder>\n"\
" <radius>\n"\
" " + (_sizeX * 0.5).to_s() + "\n"\
" </radius>\n"\
" <length>\n"\
" " + _sizeY.to_s() + "\n"\
" </length>\n"\
" </cylinder>\n"
end
end
%>
<!--
Generated from actor_collisions.world.erb
Seed: <%= seed %>
-->
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<actor name="actor">
<%
# Scaling chosen by trial and error
legs = [8.0, 8.0, 1.0]
arms = [5.0, 5.0, 1.0]
feet = [4.0, 4.0, 1.5]
hands = [4.0, 4.0, 3.0]
neck = [5.0, 5.0, 3.0]
torso = [12.0, 20.0, 5.0]
zero = [0.01, 0.001, 0.001]
%>
<plugin name="actor_collisions_plugin" filename="libActorCollisionsPlugin.so">
<scaling collision="LHipJoint_LeftUpLeg_collision" scale="
<%= zero[0] %>
<%= zero[1] %>
<%= zero[2] %>
"/>
<scaling collision="LeftUpLeg_LeftLeg_collision" scale="
<%= legs[0] %>
<%= legs[1] %>
<%= legs[2] %>
"/>
<scaling collision="LeftLeg_LeftFoot_collision" scale="
<%= legs[0] %>
<%= legs[1] %>
<%= legs[2] %>
"/>
<scaling collision="LeftFoot_LeftToeBase_collision" scale="
<%= feet[0] %>
<%= feet[1] %>
<%= feet[2] %>
"/>
<scaling collision="RHipJoint_RightUpLeg_collision" scale="
<%= zero[0] %>
<%= zero[1] %>
<%= zero[2] %>
"/>
<scaling collision="RightUpLeg_RightLeg_collision" scale="
<%= legs[0] %>
<%= legs[1] %>
<%= legs[2] %>
"/>
<scaling collision="RightLeg_RightFoot_collision" scale="
<%= legs[0] %>
<%= legs[1] %>
<%= legs[2] %>
"/>
<scaling collision="RightFoot_RightToeBase_collision" scale="
<%= feet[0] %>
<%= feet[1] %>
<%= feet[2] %>
"/>
<scaling collision="LowerBack_Spine_collision" scale="
<%= torso[0] %>
<%= torso[1] %>
<%= torso[2] %>
" pose="0.05 0 0 0 -0.2 0"/>
<scaling collision="Spine_Spine1_collision" scale="
<%= zero[0] %>
<%= zero[1] %>
<%= zero[2] %>
"/>
<scaling collision="Neck_Neck1_collision" scale="
<%= zero[0] %>
<%= zero[1] %>
<%= zero[2] %>
"/>
<scaling collision="Neck1_Head_collision" scale="
<%= neck[0] %>
<%= neck[1] %>
<%= neck[2] %>
"/>
<scaling collision="LeftShoulder_LeftArm_collision" scale="
<%= zero[0] %>
<%= zero[1] %>
<%= zero[2] %>
"/>
<scaling collision="LeftArm_LeftForeArm_collision" scale="
<%= arms[0] %>
<%= arms[1] %>
<%= arms[2] %>
"/>
<scaling collision="LeftForeArm_LeftHand_collision" scale="
<%= arms[0] %>
<%= arms[1] %>
<%= arms[2] %>
"/>
<scaling collision="LeftFingerBase_LeftHandIndex1_collision" scale="
<%= hands[0] %>
<%= hands[1] %>
<%= hands[2] %>
"/>
<scaling collision="RightShoulder_RightArm_collision" scale="
<%= zero[0] %>
<%= zero[1] %>
<%= zero[2] %>
"/>
<scaling collision="RightArm_RightForeArm_collision" scale="
<%= arms[0] %>
<%= arms[1] %>
<%= arms[2] %>
"/>
<scaling collision="RightForeArm_RightHand_collision" scale="
<%= arms[0] %>
<%= arms[1] %>
<%= arms[2] %>
"/>
<scaling collision="RightFingerBase_RightHandIndex1_collision" scale="
<%= hands[0] %>
<%= hands[1] %>
<%= hands[2] %>
"/>
</plugin>
<skin>
<filename>walk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>walk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<delay_start>0.000000</delay_start>
<auto_start>true</auto_start>
<trajectory id="0" type="walking">
<waypoint>
<time>0.000000</time>
<pose>0.000000 1.000000 0.000000 0.000000 0.000000 0.000000</pose>
</waypoint>
<waypoint>
<time>0.500000</time>
<pose>0.195090 0.980785 0.000000 0.000000 0.000000 -0.196350</pose>
</waypoint>
<waypoint>
<time>1.000000</time>
<pose>0.382683 0.923880 0.000000 0.000000 0.000000 -0.392699</pose>
</waypoint>
<waypoint>
<time>1.500000</time>
<pose>0.555570 0.831470 0.000000 0.000000 0.000000 -0.589049</pose>
</waypoint>
<waypoint>
<time>2.000000</time>
<pose>0.707107 0.707107 0.000000 0.000000 0.000000 -0.785398</pose>
</waypoint>
<waypoint>
<time>2.500000</time>
<pose>0.831470 0.555570 0.000000 0.000000 0.000000 -0.981748</pose>
</waypoint>
<waypoint>
<time>3.000000</time>
<pose>0.923880 0.382683 0.000000 0.000000 0.000000 -1.178100</pose>
</waypoint>
<waypoint>
<time>3.500000</time>
<pose>0.980785 0.195090 0.000000 0.000000 0.000000 -1.374450</pose>
</waypoint>
<waypoint>
<time>4.000000</time>
<pose>1.000000 0.000000 0.000000 0.000000 0.000000 -1.570800</pose>
</waypoint>
<waypoint>
<time>4.500000</time>
<pose>0.980785 -0.195090 0.000000 0.000000 0.000000 -1.767150</pose>
</waypoint>
<waypoint>
<time>5.000000</time>
<pose>0.923880 -0.382683 0.000000 0.000000 0.000000 -1.963500</pose>
</waypoint>
<waypoint>
<time>5.500000</time>
<pose>0.831470 -0.555570 0.000000 0.000000 0.000000 -2.159840</pose>
</waypoint>
<waypoint>
<time>6.000000</time>
<pose>0.707107 -0.707107 0.000000 0.000000 0.000000 -2.356190</pose>
</waypoint>
<waypoint>
<time>6.500000</time>
<pose>0.555570 -0.831470 0.000000 0.000000 0.000000 -2.552540</pose>
</waypoint>
<waypoint>
<time>7.500000</time>
<pose>0.382683 -0.923880 0.000000 0.000000 0.000000 -2.748890</pose>
</waypoint>
<waypoint>
<time>8.500000</time>
<pose>0.195090 -0.980785 0.000000 0.000000 0.000000 -2.945240</pose>
</waypoint>
<waypoint>
<time>9.500000</time>
<pose>0.000000 -1.000000 0.000000 0.000000 0.000000 -3.141590</pose>
</waypoint>
<waypoint>
<time>10.500000</time>
<pose>-0.195090 -0.980785 0.000000 0.000000 0.000000 2.945245</pose>
</waypoint>
<waypoint>
<time>11.500000</time>
<pose>-0.382683 -0.923880 0.000000 0.000000 0.000000 2.748895</pose>
</waypoint>
<waypoint>
<time>12.000000</time>
<pose>-0.555570 -0.831470 0.000000 0.000000 0.000000 2.552545</pose>
</waypoint>
<waypoint>
<time>12.500000</time>
<pose>-0.707107 -0.707107 0.000000 0.000000 0.000000 2.356195</pose>
</waypoint>
<waypoint>
<time>13.000000</time>
<pose>-0.831470 -0.555570 0.000000 0.000000 0.000000 2.159845</pose>
</waypoint>
<waypoint>
<time>13.500000</time>
<pose>-0.923880 -0.382683 0.000000 0.000000 0.000000 1.963495</pose>
</waypoint>
<waypoint>
<time>14.000000</time>
<pose>-0.980785 -0.195090 0.000000 0.000000 0.000000 1.767145</pose>
</waypoint>
<waypoint>
<time>14.500000</time>
<pose>-1.000000 0.000000 0.000000 0.000000 0.000000 1.570795</pose>
</waypoint>
<waypoint>
<time>15.000000</time>
<pose>-0.980785 0.195090 0.000000 0.000000 0.000000 1.374445</pose>
</waypoint>
<waypoint>
<time>15.500000</time>
<pose>-0.923880 0.382683 0.000000 0.000000 0.000000 1.178095</pose>
</waypoint>
<waypoint>
<time>16.000000</time>
<pose>-0.831470 0.555570 0.000000 0.000000 0.000000 0.981745</pose>
</waypoint>
<waypoint>
<time>16.500000</time>
<pose>-0.707107 0.707107 0.000000 0.000000 0.000000 0.785395</pose>
</waypoint>
<waypoint>
<time>17.000000</time>
<pose>-0.555570 0.831470 0.000000 0.000000 0.000000 0.589045</pose>
</waypoint>
<waypoint>
<time>17.500000</time>
<pose>-0.382683 0.923880 0.000000 0.000000 0.000000 0.392695</pose>
</waypoint>
<waypoint>
<time>18.000000</time>
<pose>-0.195090 0.980785 0.000000 0.000000 0.000000 0.196345</pose>
</waypoint>
</trajectory>
</script>
</actor>
<%
for m in (0..n)
geom = ['box', 'sphere', 'cylinder'].sample()
sizeX = rand(size_min..size_max)
sizeY = rand(size_min..size_max)
sizeZ = rand(size_min..size_max)
%>
<model name="model_<%= m.to_s %>">
<!-- important to allow collisions with actor -->
<allow_auto_disable>false</allow_auto_disable>
<pose>
<%= rand(x_min..x_max) %>
<%= rand(y_min..y_max) %>
<%= rand(z_min..z_max) %>
<%= rand(0..Math::PI) %>
<%= rand(0..Math::PI) %>
<%= rand(0..Math::PI) %>
</pose>
<link name="link">
<%= printInertia(geom, sizeX, sizeY, sizeZ) %>
<collision name="collision">
<geometry>
<%= printGeom(geom, sizeX, sizeY, sizeZ) %>
</geometry>
<surface>
<bounce>
<restitution_coefficient><%= rand(0..1) %></restitution_coefficient>
<threshold>5.0</threshold>
</bounce>
<friction>
<ode>
<mu><%= rand(0..10) %></mu>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<%= printGeom(geom, sizeX, sizeY, sizeZ) %>
</geometry>
<material>
<diffuse>
<%= rand(0..1) %>
<%= rand(0..1) %>
<%= rand(0..1) %>
<%= 1 %>
</diffuse>
<specular>
<%= rand(0..1) %>
<%= rand(0..1) %>
<%= rand(0..1) %>
<%= 1 %>
</specular>
<ambient>
<%= rand(0..1) %>
<%= rand(0..1) %>
<%= rand(0..1) %>
<%= 1 %>
</ambient>
</material>
</visual>
</link>
</model>
<%
end
%>
</world>
</sdf>
src/actor_collision/package.xml 0 → 100644
View file @ ff30910c
<?xml version="1.0"?>
<package format="2">
<name>actor_collision</name>
<version>0.0.0</version>
<description>The actor_collision package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="pricejiang@todo.todo">pricejiang</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/actor_collision</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>gazebo</build_depend>
<build_depend>gazebo_ros</build_depend>
<build_export_depend>gazebo</build_export_depend>
<exec_depend>gazebo</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_plugins</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
src/gem_simulator/gem_description/CMakeLists.txt 0 → 100644
View file @ ff30910c
cmake_minimum_required(VERSION 2.8.3)
project(gem_description)
find_package(roslaunch)
find_package(catkin REQUIRED)
catkin_package()
install(DIRECTORY launch urdf meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
src/gem_simulator/gem_description/LICENSE 0 → 100644
View file @ ff30910c
Software License Agreement (BSD License)
Copyright (c) 2015-2018, Dataspeed Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of Dataspeed Inc. nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
src/gem_simulator/gem_description/config_rviz/gem.rviz 0 → 100644
View file @ ff30910c
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
Splitter Ratio: 0.5
Tree Height: 675
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chair_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
door_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_head_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_turn_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_head_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_turn_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_I_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_antenna_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_blue_outer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_fixed_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_steering_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_stop_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_light_bar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_stop_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_I_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_antenna_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_blue_outer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_fixed_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_steering_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_footprint
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 4.564784049987793
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.03143683075904846
Y: 0.3718608319759369
Z: 0.6975626349449158
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.6103980541229248
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.073588848114014
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 972
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001a00000032efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000032e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000032efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000032e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c50000032e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 27
src/gem_simulator/gem_description/config_rviz/gem_mp3.rviz 0 → 100644
View file @ ff30910c
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /RobotModel1
- /Image1
- /TF1/Frames1
- /Image2
Splitter Ratio: 0.789709151
Tree Height: 945
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: VLP-16
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
GPS_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
IMU_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chair_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
door_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_head_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_turn_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_head_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_turn_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_single_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_sonar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_I_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_antenna_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_blue_outer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_steering_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_left_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_stop_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_light_bar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_stop_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_sonar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_I_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_antenna_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_blue_outer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_steering_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: ring
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 12
Min Color: 0; 0; 0
Min Intensity: 0
Name: VLP-16
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0299999993
Style: Flat Squares
Topic: /velodyne_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /gem/front_single_camera/front_single_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 239; 41; 41
Enabled: true
Name: Range
Queue Size: 100
Topic: /front_sonar_distance
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 32; 74; 135
Enabled: true
Name: Range
Queue Size: 100
Topic: /rear_sonar_distance
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /gem/sensor_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /mp3/BirdsEye
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /gem/front_single_camera/front_single_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /mp3/BirdsEye
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_footprint
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 19.6898708
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 2.17067647
Y: 0.565239549
Z: 1.12271512
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.544797599
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.06989479
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001dc00000396fc020000000efb0000001200530065006c0065006300740069006f006e00000000280000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001e3000001d500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000002a200000018000004de000003f4fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000028000001c00000001600fffffffb0000000a0049006d0061006700650000000186000001680000001600fffffffb0000000c00430061006d00650072006101000001cb000001a00000000000000000fb0000000a0049006d006100670065000000018d000001610000001600fffffffb0000000a0049006d00610067006500000001ca000001240000001600fffffffb0000000a0049006d00610067006501000001ee000001d00000001600ffffff000000010000010f00000342fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000342000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000055d0000039600000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24
src/gem_simulator/gem_description/config_rviz/gem_velodyne.rviz 0 → 100644
View file @ ff30910c
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /RobotModel1
- /Image1
- /TF1/Frames1
- /Image2
Splitter Ratio: 0.7897091507911682
Tree Height: 949
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: VLP-16
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
GPS_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
IMU_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chair_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
door_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_head_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_turn_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_head_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_turn_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_single_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_sonar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_I_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_antenna_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_blue_outer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_steering_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_left_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_stop_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_light_bar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_emergency_button_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_stop_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_sonar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_I_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_antenna_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_blue_outer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_steering_hinge_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_rack_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: ring
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 7
Min Color: 0; 0; 0
Min Intensity: 0
Name: VLP-16
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.029999999329447746
Style: Flat Squares
Topic: /velodyne_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /gem/front_single_camera/front_single_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 239; 41; 41
Enabled: true
Name: Range
Queue Size: 100
Topic: /front_sonar_distance
Unreliable: false
Value: true
- Alpha: 0.5
Buffer Length: 1
Class: rviz/Range
Color: 32; 74; 135
Enabled: true
Name: Range
Queue Size: 100
Topic: /rear_sonar_distance
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /gem/sensor_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_footprint
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 25.42597007751465
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 2.1706764698028564
Y: 0.5652395486831665
Z: 1.1227151155471802
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5447975993156433
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.069894790649414
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 972
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001dc0000032efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000008af00000009000004de000003f4fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d0000018b0000001600fffffffb0000000a0049006d00610067006501000001ce0000019d0000001600fffffffb0000000c00430061006d00650072006101000001cb000001a00000000000000000000000010000010f0000037efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000037e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000059e0000032e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 27
src/gem_simulator/gem_description/launch/gem_vehicle.launch 0 → 100644
View file @ ff30910c
<?xml version="1.0"?>
<launch>
<arg name="namespace" default="gem_vehicle"/>
<group ns="$(arg namespace)">
<!-- robot_description is used by nodes that publish to joint_states. -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find gem_description)/urdf/gem.urdf.xacro'"/>
<!-- Read joint positions from joint_states, then publish the vehicle's state to tf. -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
</group>
</launch>
src/gem_simulator/gem_description/meshes/base_link.STL 0 → 100644
View file @ ff30910c
File added
src/gem_simulator/gem_description/meshes/chair_link.STL 0 → 100644
View file @ ff30910c
File added
src/gem_simulator/gem_description/meshes/door_link.STL 0 → 100644
View file @ ff30910c
File added
src/gem_simulator/gem_description/meshes/front_camera_link.STL 0 → 100644
View file @ ff30910c
File added