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Commit a8bf0342 authored by Fernando Herrero's avatar Fernando Herrero
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Update launch and ramps.dae

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launch/test.launch
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<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<launch> <launch>
<arg name="world_name" default="empty"/> <arg name="world_name" default="empty"/> <!-- empty, willow, rooms, brl, brl_ext, ramps -->
<arg name="world" default="$(find iri_gazebo_worlds)/worlds/$(arg world_name).world"/> <arg name="world" default="$(find iri_gazebo_worlds)/worlds/$(arg world_name).world"/>
<arg name="description" default="true"/> <arg name="description" default="true"/>
<arg name="rviz" default="false"/> <arg name="rviz" default="true"/>
<arg name="gui" default="true"/> <arg name="gui" default="true"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched --> <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
...@@ -26,11 +26,14 @@ ...@@ -26,11 +26,14 @@
<group if="$(arg description)"> <group if="$(arg description)">
<include file="$(find iri_gazebo_worlds)/launch/description.launch"> <include file="$(find iri_gazebo_worlds)/launch/description.launch">
<arg name="ns" value="world"/>
<arg name="parent_frame" value="/map"/>
<arg name="model_frame" value="/world"/>
<arg name="model_mesh" value="$(arg world_name).dae"/> <arg name="model_mesh" value="$(arg world_name).dae"/>
</include> </include>
</group> </group>
<node name="rviz" <node name="rviz_world"
pkg="rviz" pkg="rviz"
type="rviz" type="rviz"
if="$(arg rviz)" if="$(arg rviz)"
......
meshes/ramps.dae
+ 32
− 29
View file @ a8bf0342
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meshes/world_all.dae deleted 100644 → 0
+ 0
− 209
View file @ 1973aa4e
<?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>2019-04-09T10:50:56</created>
<modified>2019-04-09T10:50:56</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>
</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>
</library_lights>
<library_images>
<image id="grey_tile_jpg" name="grey_tile_jpg">
<init_from>grey_tile.jpg</init_from>
</image>
</library_images>
<library_effects>
<effect id="Material-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.3696795 0.1837991 1</color>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Material-material" name="Material">
<instance_effect url="#Material-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
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652 326 652 342 652 360 653 361 653 363 653 361 654 358 654 359 654 358 655 361 655 396 655 81 276 364 276 365 276 92 656 94 656 364 656 84 657 359 657 358 657 364 277 376 277 371 277 368 658 373 658 372 658 359 659 368 659 367 659 362 660 363 660 367 660 362 661 366 661 94 661 359 662 84 662 370 662 94 663 366 663 374 663 370 664 371 664 373 664 366 665 367 665 372 665 94 666 323 666 376 666 376 667 323 667 375 667 374 668 372 668 379 668 380 115 384 115 383 115 377 289 381 289 384 289 373 669 371 669 377 669 373 115 380 115 379 115 376 670 322 670 377 670 374 671 378 671 375 671 381 672 325 672 383 672 325 673 324 673 382 673 322 674 325 674 381 674 375 675 378 675 382 675 379 115 383 115 382 115 387 676 91 676 90 676 87 677 388 677 389 677 387 201 389 201 295 201 389 201 391 201 392 201 388 678 390 678 391 678 387 679 393 679 397 679 394 680 396 680 400 680 358 681 394 681 393 681 361 682 360 682 395 682 360 683 385 683 87 683 386 276 83 276 393 276 397 684 398 684 402 684 400 685 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127 603 127 602 127 603 127 616 127 601 127 604 127 602 127 606 127 605 127 607 127 603 127 607 127 618 127 607 127 610 127 608 127 605 127 611 127 610 127 612 127 614 127 626 127 610 127 612 127 609 127 611 127 613 127 612 127 613 127 615 127 614 127 314 805 471 805 593 805 472 806 598 806 589 806 516 806 589 806 622 806 472 430 490 430 597 430 470 807 616 807 618 807 565 808 617 808 619 808 627 809 618 809 608 809 623 810 619 810 621 810 500 807 621 807 620 807 551 807 608 807 609 807 624 809 620 809 616 809 529 806 622 806 617 806 628 809 609 809 626 809</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="Cube" name="Cube" type="NODE">
<matrix sid="transform">2 0 0 0.04299395 0 2 0 -0.0177025 0 0 1 -1.024252 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube">
<bind_material>
<technique_common>
<instance_material symbol="Material-material" target="#Material-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
worlds/brl2.world deleted 100644 → 0
+ 0
− 46
View file @ 1973aa4e
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="brl_big">
<include>
<uri>model://sun</uri>
</include>
<!--
<include>
<uri>model://ground_plane</uri>
</include>
-->
<model name="brl_big">
<static>true</static>
<link name="link">
<pose>0 0 0 0 0 0</pose>
<collision name="collision">
<geometry>
<mesh>
<uri>model://meshes/brl2.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://meshes/brl2.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
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