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srmainwaringsrmainwaring
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Gazebo: update rover playpen model and add example world
1. Make some models static - Do not force the fire-hydrant model to be static - Make all items in the rover playpen model static to improve performance - Add rover playpen world (no robot models as these are to be dynamically spawned in) 2. Add ENU axes and modify mode pose - Correct pose to account for difference between Gazebo ENU and ArduPilot NED frames - Add axes to aid orienting model and robots 3. Migration from Ignition to Gazebo. Signed-off-by: Rhys Mainwaring <[email protected]>
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4 files changed

+127
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‎Gazebo/models/fire_hydrant/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="fire_hydrant">
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<static>true</static>
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<link name="link">
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<collision name="body_collision">
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<pose>0 0 0.45 0 0 0</pose>

‎Gazebo/models/rover_playpen/model.sdf‎

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<include>
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<!-- <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Barrel</uri> -->
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel</name>
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<pose>-5.8477 6.65935 0 0 -0 0</pose>
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<name>construction barrel</name>
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<static>1</static>
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<pose>-5.8477 6.65935 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_0</name>
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<pose>-4.77864 6.69017 0 0 -0 0</pose>
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<name>construction barrel 1</name>
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<static>1</static>
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<pose>-4.77864 6.69017 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_1</name>
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<pose>-3.70543 6.70547 0 0 -0 0</pose>
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<name>construction barrel 2</name>
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<static>1</static>
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<pose>-3.70543 6.70547 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_2</name>
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<pose>-2.64657 6.70111 0 0 -0 0</pose>
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<name>construction barrel 3</name>
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<static>1</static>
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<pose>-2.64657 6.70111 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_3</name>
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<pose>-5.85728 5.61427 0 0 -0 0</pose>
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<name>construction barrel 4</name>
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<static>1</static>
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<pose>-5.85728 5.61427 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_4</name>
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<pose>-5.85482 4.59002 0 0 -0 0</pose>
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<name>construction barrel 5</name>
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<static>1</static>
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<pose>-5.85482 4.59002 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_5</name>
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<pose>-5.83657 3.55284 0 0 -0 0</pose>
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<name>construction barrel 6</name>
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<static>1</static>
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<pose>-5.83657 3.55284 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_6</name>
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<pose>6.61681 -1.82026 0 0 -0 0</pose>
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<name>construction barrel 7</name>
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<static>1</static>
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<pose>6.61681 -1.82026 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_7</name>
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<pose>4.21069 -6.40863 0 0 -0 0</pose>
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<name>construction barrel 8</name>
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<static>1</static>
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<pose>4.21069 -6.40863 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_8</name>
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<pose>-4.76366 -6.5527 0 0 -0 0</pose>
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<name>construction barrel 9</name>
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<static>1</static>
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<pose>-4.76366 -6.5527 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://construction_barrel</uri>
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<name>Construction Barrel_9</name>
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<pose>6.33891 4.79707 0 0 -0 0</pose>
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<name>construction barrel 10</name>
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<static>1</static>
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<pose>6.33891 4.79707 0 0 0 0</pose>
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</include>
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</model>

‎Gazebo/worlds/rover_playpen.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="rover_playpen">
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<plugin filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<background>0.8 0.8 0.8</background>
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<sky></sky>
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</scene>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.6 0.6 0.6 1</specular>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<!-- ENU axes -->
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<model name="axes">
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<static>1</static>
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<link name="link">
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<visual name="r">
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<pose>5 0 0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>10 0.01 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>1 0 0 1</diffuse>
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<emissive>1 0 0 1</emissive>
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<specular>0.5 0.5 0.5 1</specular>
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</material>
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</visual>
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<visual name="g">
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<pose>0 5 0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 10 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0 1 0 1</ambient>
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<diffuse>0 1 0 1</diffuse>
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<emissive>0 1 0 1</emissive>
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<specular>0.5 0.5 0.5 1</specular>
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</material>
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</visual>
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<visual name="b">
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<pose>0 0 5.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 10</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 1 1</ambient>
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<diffuse>0 0 1 1</diffuse>
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<emissive>0 0 1 1</emissive>
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<specular>0.5 0.5 0.5 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<include>
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<pose>0 0 0 0 0 1.570796</pose>
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<uri>model://rover_playpen</uri>
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</include>
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</world>
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</sdf>

‎Gazebo/worlds/wildthumper_playpen.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.7">
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<world name="wildthumper_playpen">
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<plugin filename="libgz-sim-physics-system.so"
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<plugin filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin filename="libgz-sim-user-commands-system.so"
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<plugin filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin filename="libgz-sim-scene-broadcaster-system.so"
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<plugin filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin filename="libgz-sim-imu-system.so"
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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