From 8224b6daae29115d13b4947ccbee73e7d003bcc8 Mon Sep 17 00:00:00 2001
From: Darby Lim <thlim@robotis.com>
Date: Thu, 28 Feb 2019 12:03:00 +0900
Subject: [PATCH] include models

---
 .../worlds/empty_worlds/waffle.model          |  3 +-
 .../worlds/empty_worlds/waffle_pi.model       | 51 ++++++++++++++++
 .../burger.model}                             | 10 ++--
 .../worlds/turtlebot3_worlds/waffle.model     | 59 +++++++++++++++++++
 .../worlds/turtlebot3_worlds/waffle_pi.model  | 59 +++++++++++++++++++
 5 files changed, 175 insertions(+), 7 deletions(-)
 create mode 100644 turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model
 rename turtlebot3_gazebo/worlds/{turtlebot3.world => turtlebot3_worlds/burger.model} (91%)
 create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model
 create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model

diff --git a/turtlebot3_gazebo/worlds/empty_worlds/waffle.model b/turtlebot3_gazebo/worlds/empty_worlds/waffle.model
index b56ffdd..8b0e0dd 100644
--- a/turtlebot3_gazebo/worlds/empty_worlds/waffle.model
+++ b/turtlebot3_gazebo/worlds/empty_worlds/waffle.model
@@ -42,8 +42,9 @@
         </constraints>
       </ode>
     </physics>
-
+     
     <include>
+      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
       <uri>model://turtlebot3_waffle</uri>
     </include>
 
diff --git a/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model b/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model
new file mode 100644
index 0000000..3da4700
--- /dev/null
+++ b/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <include>
+      <uri>model://turtlebot3_waffle_pi</uri>
+    </include>
+
+  </world>
+</sdf>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3.world b/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model
similarity index 91%
rename from turtlebot3_gazebo/worlds/turtlebot3.world
rename to turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model
index ca030d1..ab33cc7 100644
--- a/turtlebot3_gazebo/worlds/turtlebot3.world
+++ b/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model
@@ -49,13 +49,11 @@
         <uri>model://turtlebot3_world</uri>
       </include>
     </model>
-
-    <model name="turtlebot3_burger">
+     
+    <include>
       <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
-      <include>
-        <uri>model://turtlebot3_burger</uri>
-      </include>
-    </model>
+      <uri>model://turtlebot3_burger</uri>
+    </include>
 
   </world>
 </sdf>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model
new file mode 100644
index 0000000..19747b6
--- /dev/null
+++ b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_world</uri>
+      </include>
+    </model>
+     
+    <include>
+      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
+      <uri>model://turtlebot3_waffle</uri>
+    </include>
+
+  </world>
+</sdf>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model
new file mode 100644
index 0000000..a712f8e
--- /dev/null
+++ b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_world</uri>
+      </include>
+    </model>
+     
+    <include>
+      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
+      <uri>model://turtlebot3_waffle_pi</uri>
+    </include>
+
+  </world>
+</sdf>