Skip to content
Snippets Groups Projects
Commit 9f27ab91 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Initial commit

parents
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
CMakeLists.txt 0 → 100644
+ 195
− 0
View file @ 9f27ab91
cmake_minimum_required(VERSION 2.8.3)
project(iri_gazebo_worlds)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES iri_gazebo_worlds
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/iri_gazebo_worlds.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/iri_gazebo_worlds_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_gazebo_worlds.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
meshes/willow.dae 0 → 100644
+ 255
− 0
View file @ 9f27ab91
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
</contributor>
<created>2019-02-07T14:51:22</created>
<modified>2019-02-07T14:51:22</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">49.13434</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
<extra>
<technique profile="blender">
<shiftx sid="shiftx" type="float">0</shiftx>
<shifty sid="shifty" type="float">0</shifty>
<YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
</technique>
</extra>
</camera>
<camera id="Camera_001-camera" name="Camera.001">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">49.13434</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
<extra>
<technique profile="blender">
<shiftx sid="shiftx" type="float">0</shiftx>
<shifty sid="shifty" type="float">0</shifty>
<YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
</technique>
</extra>
</camera>
</library_cameras>
<library_lights>
<light id="Lamp-light" name="Lamp">
<technique_common>
<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<type sid="type" type="int">0</type>
<flag sid="flag" type="int">0</flag>
<mode sid="mode" type="int">8192</mode>
<gamma sid="blender_gamma" type="float">1</gamma>
<red sid="red" type="float">1</red>
<green sid="green" type="float">1</green>
<blue sid="blue" type="float">1</blue>
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
<energy sid="blender_energy" type="float">1</energy>
<dist sid="blender_dist" type="float">29.99998</dist>
<spotsize sid="spotsize" type="float">75</spotsize>
<spotblend sid="spotblend" type="float">0.15</spotblend>
<halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
<att1 sid="att1" type="float">0</att1>
<att2 sid="att2" type="float">1</att2>
<falloff_type sid="falloff_type" type="int">2</falloff_type>
<clipsta sid="clipsta" type="float">1.000799</clipsta>
<clipend sid="clipend" type="float">30.002</clipend>
<bias sid="bias" type="float">1</bias>
<soft sid="soft" type="float">3</soft>
<compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
<bufsize sid="bufsize" type="int">2880</bufsize>
<samp sid="samp" type="int">3</samp>
<buffers sid="buffers" type="int">1</buffers>
<filtertype sid="filtertype" type="int">0</filtertype>
<bufflag sid="bufflag" type="int">0</bufflag>
<buftype sid="buftype" type="int">2</buftype>
<ray_samp sid="ray_samp" type="int">1</ray_samp>
<ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
<ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
<ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
<area_shape sid="area_shape" type="int">1</area_shape>
<area_size sid="area_size" type="float">0.1</area_size>
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
<area_sizez sid="area_sizez" type="float">1</area_sizez>
<adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
<ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
<shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
<sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
<skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
<horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
<spread sid="spread" type="float">1</spread>
<sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
<sun_size sid="sun_size" type="float">1</sun_size>
<backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
<sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
<atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
<atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
<atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
<skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
<sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
<sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
</technique>
</extra>
</light>
<light id="Lamp_001-light" name="Lamp.001">
<technique_common>
<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<type sid="type" type="int">0</type>
<flag sid="flag" type="int">0</flag>
<mode sid="mode" type="int">8192</mode>
<gamma sid="blender_gamma" type="float">1</gamma>
<red sid="red" type="float">1</red>
<green sid="green" type="float">1</green>
<blue sid="blue" type="float">1</blue>
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
<energy sid="blender_energy" type="float">1</energy>
<dist sid="blender_dist" type="float">29.99998</dist>
<spotsize sid="spotsize" type="float">75</spotsize>
<spotblend sid="spotblend" type="float">0.15</spotblend>
<halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
<att1 sid="att1" type="float">0</att1>
<att2 sid="att2" type="float">1</att2>
<falloff_type sid="falloff_type" type="int">2</falloff_type>
<clipsta sid="clipsta" type="float">1.000799</clipsta>
<clipend sid="clipend" type="float">30.002</clipend>
<bias sid="bias" type="float">1</bias>
<soft sid="soft" type="float">3</soft>
<compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
<bufsize sid="bufsize" type="int">2880</bufsize>
<samp sid="samp" type="int">3</samp>
<buffers sid="buffers" type="int">1</buffers>
<filtertype sid="filtertype" type="int">0</filtertype>
<bufflag sid="bufflag" type="int">0</bufflag>
<buftype sid="buftype" type="int">2</buftype>
<ray_samp sid="ray_samp" type="int">1</ray_samp>
<ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
<ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
<ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
<area_shape sid="area_shape" type="int">1</area_shape>
<area_size sid="area_size" type="float">0.1</area_size>
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
<area_sizez sid="area_sizez" type="float">1</area_sizez>
<adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
<ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
<shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
<sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
<skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
<horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
<spread sid="spread" type="float">1</spread>
<sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
<sun_size sid="sun_size" type="float">1</sun_size>
<backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
<sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
<atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
<atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
<atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
<skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
<sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
<sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
</technique>
</extra>
</light>
</library_lights>
<library_images/>
<library_geometries>
<geometry id="Plane_004-mesh" name="Plane.004">
<mesh>
<source id="Plane_004-mesh-positions">
<float_array id="Plane_004-mesh-positions-array" count="288">-1 23 0 1 23 0 -1 25 0 1 25 0 -1 23 0 -1 25 0 -128 23 0 -128 25 0 -130 23 0 -130 25 0 -128 21 0 -130 21 0 -1 1.90735e-6 0 1 1.90735e-6 0 -1 -19 0 1 -19 0 -1 -17 0 1 -17 0 -1 -39 0 1 -39 0 15 -1.000002 0 17 -1.000002 0 15 0.9999981 0 17 0.9999981 0 15 -37 0 17 -37 0 -128 23 0 -128 25 0 -130 23 0 -130 25 0 -128 11 0 -128 13 0 -130 11 0 -130 13 0 -83 -60.99998 0 -83 -58.99998 0 -84.99998 -60.99998 0 -84.99998 -58.99998 0 -3 -60.99998 0 -3 -58.99998 0 -128 -23 0 -130 -23 0 -128 -23 0 -130 -23 0 -99 -51.99999 0 -101 -51.99999 0 -99 -53.99999 0 -101 -53.99999 0 -1 25 20 -1 23 20 1 23 20 1 25 20 -1 25 20 -1 23 20 -128 25 20 -128 23 20 -130 25 20 -130 23 20 -130 21 20 -128 21 20 -1 1.90735e-6 20 1 1.90735e-6 20 -1 -17 20 -1 -19 20 1 -19 20 1 -17 20 -1 -39 20 1 -39 20 15 0.9999981 20 15 -1.000002 20 17 -1.000002 20 17 0.9999981 20 15 -37 20 17 -37 20 -128 25 20 -128 23 20 -130 25 20 -130 23 20 -128 13 20 -128 11 20 -130 13 20 -130 11 20 -83 -58.99998 20 -83 -60.99998 20 -84.99998 -58.99998 20 -84.99998 -60.99998 20 -3 -58.99998 20 -3 -60.99998 20 -130 -23 20 -128 -23 20 -130 -23 20 -128 -23 20 -101 -51.99999 20 -99 -51.99999 20 -101 -53.99999 20 -99 -53.99999 20</float_array>
<technique_common>
<accessor source="#Plane_004-mesh-positions-array" count="96" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Plane_004-mesh-normals">
<float_array id="Plane_004-mesh-normals-array" count="27">0 0 -1 0 0 1 1 0 0 -1 0 0 0 1 0 0 -1 0 0.7071065 0.7071071 0 -0.7071067 -0.707107 0 0.7071067 0.707107 0</float_array>
<technique_common>
<accessor source="#Plane_004-mesh-normals-array" count="9" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Plane_004-mesh-vertices">
<input semantic="POSITION" source="#Plane_004-mesh-positions"/>
</vertices>
<triangles count="168">
<input semantic="VERTEX" source="#Plane_004-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Plane_004-mesh-normals" offset="1"/>
<p>2 0 1 0 0 0 4 1 2 1 0 1 6 0 5 0 4 0 8 0 7 0 6 0 10 0 8 0 6 0 13 0 0 0 1 0 16 0 15 0 14 0 19 0 14 0 15 0 22 0 21 0 20 0 25 0 20 0 21 0 28 0 27 0 26 0 32 0 31 0 30 0 36 0 35 0 34 0 39 0 34 0 35 0 40 0 32 0 30 0 42 1 41 1 40 1 42 0 45 0 43 0 46 0 45 0 44 0 50 1 48 1 49 1 48 1 53 1 49 1 52 1 55 1 53 1 54 1 57 1 55 1 57 1 59 1 55 1 49 1 61 1 50 1 64 1 62 1 63 1 63 1 67 1 64 1 70 1 68 1 69 1 69 1 73 1 70 1 74 1 77 1 75 1 78 1 81 1 79 1 82 1 85 1 83 1 83 1 86 1 82 1 81 1 89 1 79 1 88 1 91 1 89 1 91 1 92 1 93 1 92 1 95 1 93 1 21 2 73 2 25 2 44 2 95 2 46 2 12 3 49 3 0 3 39 2 87 2 38 2 0 1 53 1 4 1 24 3 69 3 20 3 47 3 92 3 45 3 14 3 62 3 16 3 35 4 86 4 39 4 5 1 48 1 2 1 27 2 75 2 26 2 38 5 83 5 34 5 28 3 76 3 29 3 17 2 64 2 15 2 4 5 55 5 6 5 26 5 77 5 28 5 16 4 65 4 17 4 30 2 89 2 40 2 7 4 52 4 5 4 29 4 74 4 27 4 19 5 66 5 18 5 41 3 81 3 32 3 8 3 56 3 9 3 31 2 79 2 30 2 15 2 67 2 19 2 32 3 80 3 33 3 18 3 63 3 14 3 40 1 91 1 42 1 9 4 54 4 7 4 20 3 68 3 22 3 43 1 88 1 41 1 10 5 58 5 11 5 33 4 78 4 31 4 6 2 59 2 10 2 23 2 70 2 21 2 42 6 93 6 44 6 11 3 57 3 8 3 36 3 84 3 37 3 3 2 50 2 1 2 22 4 71 4 23 4 45 7 90 7 43 7 13 5 60 5 12 5 34 5 85 5 36 5 2 4 51 4 3 4 25 5 72 5 24 5 46 5 94 5 47 5 1 2 61 2 13 2 37 4 82 4 35 4 2 0 3 0 1 0 4 1 5 1 2 1 6 0 7 0 5 0 8 0 9 0 7 0 10 0 11 0 8 0 13 0 12 0 0 0 16 0 17 0 15 0 19 0 18 0 14 0 22 0 23 0 21 0 25 0 24 0 20 0 28 0 29 0 27 0 32 0 33 0 31 0 36 0 37 0 35 0 39 0 38 0 34 0 40 0 41 0 32 0 42 1 43 1 41 1 42 0 44 0 45 0 46 0 47 0 45 0 50 1 51 1 48 1 48 1 52 1 53 1 52 1 54 1 55 1 54 1 56 1 57 1 57 1 58 1 59 1 49 1 60 1 61 1 64 1 65 1 62 1 63 1 66 1 67 1 70 1 71 1 68 1 69 1 72 1 73 1 74 1 76 1 77 1 78 1 80 1 81 1 82 1 84 1 85 1 83 1 87 1 86 1 81 1 88 1 89 1 88 1 90 1 91 1 91 1 90 1 92 1 92 1 94 1 95 1 21 2 70 2 73 2 44 2 93 2 95 2 12 3 60 3 49 3 39 2 86 2 87 2 0 1 49 1 53 1 24 3 72 3 69 3 47 3 94 3 92 3 14 3 63 3 62 3 35 4 82 4 86 4 5 1 52 1 48 1 27 2 74 2 75 2 38 5 87 5 83 5 28 3 77 3 76 3 17 2 65 2 64 2 4 5 53 5 55 5 26 5 75 5 77 5 16 4 62 4 65 4 30 2 79 2 89 2 7 4 54 4 52 4 29 4 76 4 74 4 19 5 67 5 66 5 41 3 88 3 81 3 8 3 57 3 56 3 31 2 78 2 79 2 15 2 64 2 67 2 32 3 81 3 80 3 18 3 66 3 63 3 40 1 89 1 91 1 9 4 56 4 54 4 20 3 69 3 68 3 43 1 90 1 88 1 10 5 59 5 58 5 33 4 80 4 78 4 6 2 55 2 59 2 23 2 71 2 70 2 42 8 91 8 93 8 11 3 58 3 57 3 36 3 85 3 84 3 3 2 51 2 50 2 22 4 68 4 71 4 45 7 92 7 90 7 13 5 61 5 60 5 34 5 83 5 85 5 2 4 48 4 51 4 25 5 73 5 72 5 46 5 95 5 94 5 1 2 50 2 61 2 37 4 84 4 82 4</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp-light"/>
</node>
<node id="Camera_001" name="Camera_001" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -12.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
<node id="Lamp_001" name="Lamp_001" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 -4.994546 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp_001-light"/>
</node>
<node id="Plane" name="Plane" type="NODE">
<matrix sid="transform">0.1 0 0 5.4 0 0.1 0 3.1 0 0 0.1 0 0 0 0 1</matrix>
<instance_geometry url="#Plane_004-mesh" name="Plane"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
meshes/willow.stl 0 → 100644
+ 0
− 0
View file @ 9f27ab91
File added
package.xml 0 → 100644
+ 65
− 0
View file @ 9f27ab91
<?xml version="1.0"?>
<package format="2">
<name>iri_gazebo_worlds</name>
<version>0.0.0</version>
<description>The iri_gazebo_worlds package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fherrero@todo.todo">fherrero</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/iri_gazebo_worlds</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>
<exec_depend>gazebo_ros</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<!-- gazebo_ros_paths_plugin automatically adds these to
GAZEBO_PLUGIN_PATH and GAZEBO_MODEL_PATH when you do this export inside
the package.xml file. You can than use URIs of type model://my_package/stuff. -->
<gazebo_ros gazebo_model_path="${prefix}"
gazebo_resource_path="${prefix}"/>
</export>
</package>
worlds/empty.world 0 → 100644
+ 14
− 0
View file @ 9f27ab91
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
</world>
</sdf>
worlds/willow.world 0 → 100644
+ 45
− 0
View file @ 9f27ab91
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="willow">
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="willow">
<static>true</static>
<link name="link">
<pose>0 0 0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://meshes/willow.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://meshes/willow.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>10.0958 -9.41664 10.969 0 0.667643 2.2282</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
\ No newline at end of file
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment