ROS_Robot/turtlebot3_simulations
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include models

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This commit is contained in:
Darby Lim 2019-02-28 12:03:00 +09:00
parent cb9c382121
commit 8224b6daae
5 changed files with 175 additions and 7 deletions
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3
turtlebot3_gazebo/worlds/empty_worlds/waffle.model
View File

@ -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>

51
turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model Normal file
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@ -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>

10
turtlebot3_gazebo/worlds/turtlebot3.world → turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model
View File

@ -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>

59
turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model Normal file
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@ -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>

59
turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model Normal file
View File

@ -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>