diff --git a/CustomRobots/drone_assets/models/dirt_path/materials/textures/dirt.png b/CustomRobots/drone_assets/models/dirt_path/materials/textures/dirt.png new file mode 100644 index 000000000..a22cabf3d Binary files /dev/null and b/CustomRobots/drone_assets/models/dirt_path/materials/textures/dirt.png differ diff --git a/CustomRobots/drone_assets/models/dirt_path/model.config b/CustomRobots/drone_assets/models/dirt_path/model.config new file mode 100644 index 000000000..e67b6a726 --- /dev/null +++ b/CustomRobots/drone_assets/models/dirt_path/model.config @@ -0,0 +1,17 @@ + + + dirt_path + 1.0 + model.sdf + + RoboticsAcademy + + + + Procedurally generated tileable-ish dirt texture (materials/textures/dirt.png), + used as the albedo map for the trail segments in position_control.world. + This model.sdf is a trivial 1x1 static tile so the folder is a valid + model package; the actual trail is built from inline boxes in the + world file that reference this same texture directly. + + diff --git a/CustomRobots/drone_assets/models/dirt_path/model.sdf b/CustomRobots/drone_assets/models/dirt_path/model.sdf new file mode 100644 index 000000000..5f51a4f7d --- /dev/null +++ b/CustomRobots/drone_assets/models/dirt_path/model.sdf @@ -0,0 +1,25 @@ + + + + true + + + false + + + 1 1 0.01 + + + + 1.0 1.0 1.0 1.0 + 1.0 1.0 1.0 1.0 + + + model://dirt_path/materials/textures/dirt.png + + + + + + + diff --git a/CustomRobots/drone_assets/models/falling_rock/materials/scripts/model.material b/CustomRobots/drone_assets/models/falling_rock/materials/scripts/model.material new file mode 100644 index 000000000..367fefdea --- /dev/null +++ b/CustomRobots/drone_assets/models/falling_rock/materials/scripts/model.material @@ -0,0 +1,13 @@ +material FallingRocks/FallingRocks_Diffuse +{ + technique + { + pass + { + texture_unit + { + texture FallingRocks_Albedo.jpg + } + } + } +} diff --git a/CustomRobots/drone_assets/models/falling_rock/materials/textures/FallingRocks_Albedo.jpg 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123 708 90 102 709 16 115 710 90 102 711 94 42 712 16 115 713 94 42 714 69 41 715 128 114 716 69 41 717 38 96 718 128 114 719 105 126 720 57 12 721 135 127 722 74 129 723 110 128 724 82 90 725 105 126 726 135 127 727 74 129 728 16 115 729 128 114 730 33 119 731 128 114 732 132 117 733 33 119 734 132 117 735 105 126 736 47 118 737 105 126 738 74 129 739 47 118 740 74 129 741 82 90 742 47 118 743 47 118 744 35 24 745 33 119 746 35 24 747 96 23 748 33 119 749 126 104 750 43 87 751 21 122 752 121 57 753 77 59 754 0 101 755 77 59 756 15 49 757 60 9 758 97 107 759 60 9 760 51 11 761 126 104 762 21 122 763 121 57 764 58 4 765 124 3 766 126 104 767 0 101 768 89 20 769 121 57 770 89 20 771 58 4 772 121 57 773 113 105 774 97 107 775 51 11 776 97 107 777 0 101 778 77 59 779 72 10 780 80 22 781 51 11 782 80 22 783 113 105 784 51 11 785 77 59 786 60 9 787 97 107 788 13 88 789 46 25 790 44 74 791 46 25 792 55 35 793 44 74 794 44 74 795 14 73 796 131 78 797 97 107 798 84 106 799 131 78 800 84 106 801 83 130 802 131 78 803 83 130 804 13 88 805 44 74 806 131 78 807 123 79 808 56 121 809 123 79 810 5 36 811 56 121 812 83 130 813 44 74 814 131 78 815 0 101 816 97 107 817 131 78 818 68 120 819 92 100 820 56 121 821 56 121 822 0 101 823 131 78 824 5 36 825 136 18 826 56 121 827</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="FallingRock01" name="FallingRock01" type="NODE"> + <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> + <instance_geometry url="#FallingRock01Mesh-mesh" name="FallingRock01"> + <bind_material> + <technique_common> + <instance_material symbol="default_001-material" target="#default_001-material"> + <bind_vertex_input semantic="FallingRock01-UV0" input_semantic="TEXCOORD" input_set="0"/> + </instance_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 diff --git a/CustomRobots/drone_assets/models/falling_rock/model.config b/CustomRobots/drone_assets/models/falling_rock/model.config new file mode 100644 index 000000000..1bc8951a5 --- /dev/null +++ b/CustomRobots/drone_assets/models/falling_rock/model.config @@ -0,0 +1,18 @@ +<?xml version="1.0"?> +<model> + <name>falling_rock</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + <author> + <name>OpenRobotics</name> + <email></email> + </author> + <description> + Decorative rock. Vendored locally from the OpenRobotics Fuel model + "Falling Rock 1" (no network dependency at runtime), with + cast_shadows disabled to keep RTF cheap when several of these are + scattered around a world. Despite the name it ships with real + mass/inertia (meant to actually fall in demos) so it must be forced + static in the world file's include tag when used purely as decoration. + </description> +</model> diff --git a/CustomRobots/drone_assets/models/falling_rock/model.sdf b/CustomRobots/drone_assets/models/falling_rock/model.sdf new file mode 100644 index 000000000..43867a22c --- /dev/null +++ b/CustomRobots/drone_assets/models/falling_rock/model.sdf @@ -0,0 +1,50 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="falling_rock"> + <link name="base_link"> + <inertial> + <pose>-0.056101 0.007340 0.020250 0 0 0</pose> + <mass>2569.46</mass> + <inertia> + <ixx>466.314</ixx> + <ixy>6.554</ixy> + <ixz>-0.846</ixz> + <iyy>479.238</iyy> + <iyz>-5.226</iyz> + <izz>499.184</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://falling_rock/meshes/FallingRock01_Collider.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <cast_shadows>false</cast_shadows> + <geometry> + <mesh> + <uri>model://falling_rock/meshes/FallingRock01.dae</uri> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>model://falling_rock/materials/textures/FallingRocks_Albedo.jpg</albedo_map> + <normal_map>model://falling_rock/materials/textures/FallingRocks_Normal.jpg</normal_map> + <roughness_map>model://falling_rock/materials/textures/FallingRocks_Roughness.jpg</roughness_map> + </metal> + </pbr> + <script> + <uri>model://falling_rock/materials/scripts</uri> + <uri>model://falling_rock/materials/textures</uri> + <name>FallingRocks/FallingRocks_Diffuse</name> + </script> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/CustomRobots/drone_assets/models/number5/materials/textures/number5.png b/CustomRobots/drone_assets/models/number5/materials/textures/number5.png new file mode 100644 index 000000000..33538885a Binary files /dev/null and b/CustomRobots/drone_assets/models/number5/materials/textures/number5.png differ diff --git a/CustomRobots/drone_assets/models/number5/model.config b/CustomRobots/drone_assets/models/number5/model.config new file mode 100644 index 000000000..a869e3a46 --- /dev/null +++ b/CustomRobots/drone_assets/models/number5/model.config @@ -0,0 +1,20 @@ +<?xml version="1.0"?> + +<model> + <name>Number5</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>RoboticsAcademy</name> + <email></email> + </author> + + <description> + A box that displays the number 5. Same mesh and cube-net texture + layout as number1-4 (materials/textures/number5.png generated by + detecting each face's rotation in number4.png and re-rendering the + same net with a "5" glyph), added for position_control which has 5 + elevated beacon markers instead of 4. + </description> +</model> diff --git a/CustomRobots/drone_assets/models/number5/model.sdf b/CustomRobots/drone_assets/models/number5/model.sdf new file mode 100644 index 000000000..096a0534e --- /dev/null +++ b/CustomRobots/drone_assets/models/number5/model.sdf @@ -0,0 +1,26 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="number5"> + <pose>0 0 0.4 0 0 0</pose> + <static>true</static> + <link name="link"> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://number1/meshes/number.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0.8 1.0 0.8 1.0</ambient> + <diffuse>0.8 1.0 0.8 1.0</diffuse> + <specular>0.1 0.1 0.1 1.0</specular> + <pbr> + <metal> + <albedo_map>model://number5/materials/textures/number5.png</albedo_map> + </metal> + </pbr> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/CustomRobots/drone_assets/models/oak_tree/materials/scripts/caster_fp.glsl b/CustomRobots/drone_assets/models/oak_tree/materials/scripts/caster_fp.glsl new file mode 100644 index 000000000..fe1a8ea0f --- /dev/null +++ b/CustomRobots/drone_assets/models/oak_tree/materials/scripts/caster_fp.glsl @@ -0,0 +1,16 @@ +varying vec4 vertex_depth; + +uniform sampler2D tex; +varying vec2 uv; + +void main() +{ + if (texture2D(tex, uv).a < 0.5) + { + discard; + } + + float depth = (vertex_depth.z) / vertex_depth.w; + + gl_FragColor = vec4(depth, depth, depth, 1.0); +} diff --git a/CustomRobots/drone_assets/models/oak_tree/materials/scripts/caster_vp.glsl b/CustomRobots/drone_assets/models/oak_tree/materials/scripts/caster_vp.glsl new file mode 100644 index 000000000..bc660a74d --- /dev/null +++ b/CustomRobots/drone_assets/models/oak_tree/materials/scripts/caster_vp.glsl @@ -0,0 +1,16 @@ +uniform mat4 world_view_proj_mat; +uniform vec4 texel_offsets; + +varying vec4 vertex_depth; + +varying vec2 uv; + +void main() +{ + vertex_depth = world_view_proj_mat * gl_Vertex; + gl_Position = vertex_depth; + gl_Position.xy += texel_offsets.zw * gl_Position.w; + + uv = gl_MultiTexCoord0.xy; +} + diff --git a/CustomRobots/drone_assets/models/oak_tree/materials/scripts/oak_tree.material b/CustomRobots/drone_assets/models/oak_tree/materials/scripts/oak_tree.material new file mode 100644 index 000000000..97cbb2886 --- /dev/null +++ b/CustomRobots/drone_assets/models/oak_tree/materials/scripts/oak_tree.material @@ -0,0 +1,86 @@ +material OakTree/Branch +{ + technique + { + shadow_caster_material "OakTree/shadow_caster_alpha" + + pass + { + alpha_rejection greater 128 + + texture_unit + { + texture branch_diffuse.png + } + } + } +} + +material OakTree/Bark +{ + technique + { + pass + { + texture_unit + { + texture bark_diffuse.png + } + } + } +} + +vertex_program caster_vp_glsl glsl +{ + source caster_vp.glsl + + default_params + { + param_named_auto world_view_proj_mat worldviewproj_matrix + param_named_auto texel_offsets texel_offsets + } + +} + +fragment_program caster_fp_glsl glsl +{ + source caster_fp.glsl + + default_params + { + param_named tex int 0 + } +} + + +material OakTree/shadow_caster_alpha +{ + transparency_casts_shadows on + technique + { + pass + { + // See: viewtopic.php?f=3&t=44817 + fog_override true + + cull_hardware none + cull_software none + + alpha_rejection always_pass + + vertex_program_ref caster_vp_glsl + { + } + + fragment_program_ref caster_fp_glsl + { + } + + texture_unit tex + { + // Pass the texture with alpha channel to the caster + texture branch_diffuse.png + } + } + } +} diff --git a/CustomRobots/drone_assets/models/oak_tree/materials/textures/bark_diffuse.png b/CustomRobots/drone_assets/models/oak_tree/materials/textures/bark_diffuse.png new file mode 100644 index 000000000..58d100b2a Binary files /dev/null and b/CustomRobots/drone_assets/models/oak_tree/materials/textures/bark_diffuse.png differ diff --git a/CustomRobots/drone_assets/models/oak_tree/materials/textures/branch_diffuse.png b/CustomRobots/drone_assets/models/oak_tree/materials/textures/branch_diffuse.png new file mode 100644 index 000000000..0b2112b0a Binary files /dev/null and b/CustomRobots/drone_assets/models/oak_tree/materials/textures/branch_diffuse.png differ diff --git a/CustomRobots/drone_assets/models/oak_tree/meshes/oak_tree.dae b/CustomRobots/drone_assets/models/oak_tree/meshes/oak_tree.dae new file mode 100644 index 000000000..afe294c0a --- /dev/null +++ b/CustomRobots/drone_assets/models/oak_tree/meshes/oak_tree.dae @@ -0,0 +1,204 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.79.0</authoring_tool> + </contributor> + <created>2017-10-13T12:28:31</created> + <modified>2017-10-13T12:28:31</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_images/> + <library_effects> + <effect id="Branch_1-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 0.64 0.64 1</color> + </diffuse> + <specular> + <color sid="specular">0.225 0.225 0.225 1</color> + </specular> + <shininess> + <float sid="shininess">9</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> + <effect id="Bark-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 0.64 0.64 1</color> + </diffuse> + <specular> + <color sid="specular">0.225 0.225 0.225 1</color> + </specular> + <shininess> + <float sid="shininess">10</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="Branch_1-material" name="Branch_1"> + <instance_effect url="#Branch_1-effect"/> + </material> + <material id="Bark-material" name="Bark"> + <instance_effect url="#Bark-effect"/> + </material> + </library_materials> + <library_geometries> + <geometry id="Plane001-mesh" name="Plane001"> + <mesh> + <source 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</library_geometries> + <library_controllers/> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="Branch" name="Branch" type="NODE"> + <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix> + <instance_geometry url="#Plane001-mesh" name="Branch"> + <bind_material> + <technique_common> + <instance_material symbol="Branch_1-material" target="#Branch_1-material"/> + <instance_material symbol="Bark-material" target="#Bark-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Bark" name="Bark" type="NODE"> + <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix> + <instance_geometry url="#Plane001_002-mesh" name="Bark"> + <bind_material> + <technique_common> + <instance_material symbol="Branch_1-material" target="#Branch_1-material"/> + <instance_material symbol="Bark-material" target="#Bark-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 diff --git a/CustomRobots/drone_assets/models/oak_tree/model.config b/CustomRobots/drone_assets/models/oak_tree/model.config new file mode 100644 index 000000000..ec3c21730 --- /dev/null +++ b/CustomRobots/drone_assets/models/oak_tree/model.config @@ -0,0 +1,16 @@ +<?xml version="1.0"?> +<model> + <name>oak_tree</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + <author> + <name>Louise Poubel</name> + <email>louise@osrfoundation.org</email> + </author> + <description> + A deciduous oak tree. Vendored locally from the OpenRobotics Fuel + model of the same name (no network dependency at runtime), with + cast_shadows disabled on both submeshes to keep RTF cheap when many + of these are scattered around a world. + </description> +</model> diff --git a/CustomRobots/drone_assets/models/oak_tree/model.sdf b/CustomRobots/drone_assets/models/oak_tree/model.sdf new file mode 100644 index 000000000..2117b157d --- /dev/null +++ b/CustomRobots/drone_assets/models/oak_tree/model.sdf @@ -0,0 +1,63 @@ +<sdf version="1.7"> + <model name="oak_tree"> + <static>true</static> + <link name="link"> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://oak_tree/meshes/oak_tree.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="branch"> + <cast_shadows>false</cast_shadows> + <geometry> + <mesh> + <uri>model://oak_tree/meshes/oak_tree.dae</uri> + <submesh> + <name>Branch</name> + </submesh> + </mesh> + </geometry> + <material> + <double_sided>true</double_sided> + <diffuse>1.0 1.0 1.0</diffuse> + <script> + <uri>model://oak_tree/materials/scripts/</uri> + <uri>model://oak_tree/materials/textures/</uri> + <name>OakTree/Branch</name> + </script> + <pbr> + <metal> + <albedo_map>model://oak_tree/materials/textures/branch_diffuse.png</albedo_map> + </metal> + </pbr> + </material> + </visual> + <visual name="bark"> + <cast_shadows>false</cast_shadows> + <geometry> + <mesh> + <uri>model://oak_tree/meshes/oak_tree.dae</uri> + <submesh> + <name>Bark</name> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <script> + <uri>model://oak_tree/materials/scripts/</uri> + <uri>model://oak_tree/materials/textures/</uri> + <name>OakTree/Bark</name> + </script> + <pbr> + <metal> + <albedo_map>model://oak_tree/materials/textures/bark_diffuse.png</albedo_map> + </metal> + </pbr> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/CustomRobots/drone_assets/models/pine_tree/materials/scripts/caster_fp.glsl b/CustomRobots/drone_assets/models/pine_tree/materials/scripts/caster_fp.glsl new file mode 100644 index 000000000..fe1a8ea0f --- /dev/null +++ b/CustomRobots/drone_assets/models/pine_tree/materials/scripts/caster_fp.glsl @@ -0,0 +1,16 @@ +varying vec4 vertex_depth; + +uniform sampler2D tex; +varying vec2 uv; + +void main() +{ + if (texture2D(tex, uv).a < 0.5) + { + discard; + } + + float depth = (vertex_depth.z) / vertex_depth.w; + + gl_FragColor = vec4(depth, depth, depth, 1.0); +} diff --git a/CustomRobots/drone_assets/models/pine_tree/materials/scripts/caster_vp.glsl b/CustomRobots/drone_assets/models/pine_tree/materials/scripts/caster_vp.glsl new file mode 100644 index 000000000..bc660a74d --- /dev/null +++ b/CustomRobots/drone_assets/models/pine_tree/materials/scripts/caster_vp.glsl @@ -0,0 +1,16 @@ +uniform mat4 world_view_proj_mat; +uniform vec4 texel_offsets; + +varying vec4 vertex_depth; + +varying vec2 uv; + +void main() +{ + vertex_depth = world_view_proj_mat * gl_Vertex; + gl_Position = vertex_depth; + gl_Position.xy += texel_offsets.zw * gl_Position.w; + + uv = gl_MultiTexCoord0.xy; +} + diff --git a/CustomRobots/drone_assets/models/pine_tree/materials/scripts/pine_tree.material b/CustomRobots/drone_assets/models/pine_tree/materials/scripts/pine_tree.material new file mode 100644 index 000000000..e65a1366b --- /dev/null +++ b/CustomRobots/drone_assets/models/pine_tree/materials/scripts/pine_tree.material @@ -0,0 +1,85 @@ +material PineTree/Branch +{ + technique + { + shadow_caster_material "PineTree/shadow_caster_alpha" + pass + { + alpha_rejection greater 128 + + texture_unit + { + texture branch_2_diffuse.png + } + } + } +} + +material PineTree/Bark +{ + technique + { + pass + { + texture_unit + { + texture bark_diffuse.png + } + } + } +} + +vertex_program caster_vp_glsl glsl +{ + source caster_vp.glsl + + default_params + { + param_named_auto world_view_proj_mat worldviewproj_matrix + param_named_auto texel_offsets texel_offsets + } + +} + +fragment_program caster_fp_glsl glsl +{ + source caster_fp.glsl + + default_params + { + param_named tex int 0 + } +} + + +material PineTree/shadow_caster_alpha +{ + transparency_casts_shadows on + technique + { + pass + { + // See: viewtopic.php?f=3&t=44817 + fog_override true + + cull_hardware none + cull_software none + + alpha_rejection always_pass + + vertex_program_ref caster_vp_glsl + { + } + + fragment_program_ref caster_fp_glsl + { + } + + texture_unit tex + { + // Pass the texture with alpha channel to the caster + texture branch_diffuse.png + } + } + } +} diff --git a/CustomRobots/drone_assets/models/pine_tree/materials/textures/bark_diffuse.png b/CustomRobots/drone_assets/models/pine_tree/materials/textures/bark_diffuse.png new file mode 100644 index 000000000..a50bffd6f Binary files /dev/null and b/CustomRobots/drone_assets/models/pine_tree/materials/textures/bark_diffuse.png differ diff --git a/CustomRobots/drone_assets/models/pine_tree/materials/textures/branch_2_diffuse.png b/CustomRobots/drone_assets/models/pine_tree/materials/textures/branch_2_diffuse.png new file mode 100644 index 000000000..273ea4604 Binary files /dev/null and b/CustomRobots/drone_assets/models/pine_tree/materials/textures/branch_2_diffuse.png differ diff --git a/CustomRobots/drone_assets/models/pine_tree/meshes/pine_tree.dae b/CustomRobots/drone_assets/models/pine_tree/meshes/pine_tree.dae new file mode 100644 index 000000000..28341d741 --- /dev/null +++ b/CustomRobots/drone_assets/models/pine_tree/meshes/pine_tree.dae @@ -0,0 +1,269 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.79.0</authoring_tool> + </contributor> + <created>2017-10-13T12:37:06</created> + <modified>2017-10-13T12:37:06</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_lights> + <light id="EnvironmentAmbientLight-light" name="EnvironmentAmbientLight.001"> + <technique_common> + <ambient> + <color>0 0 0</color> + </ambient> + </technique_common> + <extra> + <technique profile="blender"> + <adapt_thresh>0.000999987</adapt_thresh> + <area_shape>0</area_shape> + <area_size>0.1</area_size> + <area_sizey>0.1</area_sizey> + <area_sizez>0.1</area_sizez> + <atm_distance_factor>1</atm_distance_factor> + <atm_extinction_factor>1</atm_extinction_factor> + <atm_turbidity>2</atm_turbidity> + <att1>0</att1> + <att2>1</att2> + <backscattered_light>1</backscattered_light> + <bias>1</bias> + <blue>0</blue> + <buffers>1</buffers> + <bufflag>0</bufflag> + <bufsize>512</bufsize> + <buftype>2</buftype> + <clipend>40</clipend> + <clipsta>0.5</clipsta> + <compressthresh>0.04999995</compressthresh> + <dist sid="blender_dist">984.252</dist> + <energy sid="blender_energy">1</energy> + <falloff_type>2</falloff_type> + 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type="float"/> + <param name="T" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cylinder002_001-mesh-vertices"> + <input semantic="POSITION" source="#Cylinder002_001-mesh-positions"/> + </vertices> + <triangles material="Bark_001-material" count="136"> + <input semantic="VERTEX" source="#Cylinder002_001-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cylinder002_001-mesh-normals" offset="1"/> + <input semantic="TEXCOORD" source="#Cylinder002_001-mesh-map-0" offset="2" set="0"/> + <p>1 0 0 9 1 1 10 2 2 10 2 3 0 3 4 1 0 5 2 4 6 11 5 7 9 1 8 9 1 9 1 0 10 2 4 11 3 6 12 12 7 13 11 5 14 11 5 15 2 4 16 3 6 17 4 8 18 13 9 19 12 7 20 12 7 21 3 6 22 4 8 23 5 10 24 14 11 25 13 9 26 13 9 27 4 8 28 5 10 29 6 12 30 15 13 31 14 11 32 14 11 33 5 10 34 6 12 35 7 14 36 16 15 37 15 13 38 15 13 39 6 12 40 7 14 41 0 3 42 10 2 43 16 15 44 16 15 45 7 14 46 0 3 47 35 16 48 70 17 49 71 18 50 71 18 51 34 19 52 35 16 53 40 20 54 35 16 55 34 19 56 34 19 57 39 21 58 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265 46 59 266 46 59 267 51 62 268 52 61 269 51 62 270 46 59 271 45 22 272 45 22 273 50 24 274 51 62 275 28 44 276 29 45 277 48 63 278 48 63 279 43 60 280 28 44 281 43 60 282 48 63 283 49 25 284 49 25 285 44 23 286 43 60 287 22 38 288 21 37 289 52 61 290 52 61 291 57 64 292 22 38 293 57 64 294 52 61 295 51 62 296 51 62 297 56 65 298 57 64 299 56 65 300 51 62 301 50 24 302 50 24 303 55 26 304 56 65 305 29 45 306 30 46 307 53 66 308 53 66 309 48 63 310 29 45 311 48 63 312 53 66 313 54 27 314 54 27 315 49 25 316 48 63 317 23 39 318 22 38 319 57 64 320 57 64 321 62 67 322 23 39 323 62 67 324 57 64 325 56 65 326 56 65 327 61 68 328 62 67 329 61 68 330 56 65 331 55 26 332 55 26 333 60 28 334 61 68 335 30 46 336 31 47 337 58 69 338 58 69 339 53 66 340 30 46 341 53 66 342 58 69 343 59 29 344 59 29 345 54 27 346 53 66 347 24 40 348 23 39 349 62 67 350 62 67 351 67 70 352 24 40 353 67 70 354 62 67 355 61 68 356 61 68 357 66 71 358 67 70 359 66 71 360 61 68 361 60 28 362 60 28 363 65 30 364 66 71 365 31 47 366 32 48 367 63 72 368 63 72 369 58 69 370 31 47 371 58 69 372 63 72 373 64 31 374 64 31 375 59 29 376 58 69 377 17 34 378 24 40 379 67 70 380 67 70 381 68 49 382 17 34 383 68 49 384 67 70 385 66 71 386 66 71 387 69 51 388 68 49 389 69 51 390 66 71 391 65 30 392 65 30 393 70 17 394 69 51 395 32 48 396 26 42 397 72 54 398 72 54 399 63 72 400 32 48 401 63 72 402 72 54 403 71 18 404 71 18 405 64 31 406 63 72 407</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_controllers/> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="EnvironmentAmbientLight" name="EnvironmentAmbientLight" type="NODE"> + <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix> + <instance_light url="#EnvironmentAmbientLight-light"/> + </node> + <node id="Branch" name="Branch" type="NODE"> + <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix> + <instance_geometry url="#Cylinder002-mesh" name="Branch"> + <bind_material> + <technique_common> + <instance_material symbol="Branch_2-material" target="#Branch_2-material"/> + <instance_material symbol="Bark_001-material" target="#Bark_001-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="Bark" name="Bark" type="NODE"> + <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1</matrix> + <instance_geometry url="#Cylinder002_001-mesh" name="Bark"> + <bind_material> + <technique_common> + <instance_material symbol="Branch_2-material" target="#Branch_2-material"/> + <instance_material symbol="Bark_001-material" target="#Bark_001-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 diff --git a/CustomRobots/drone_assets/models/pine_tree/model.config b/CustomRobots/drone_assets/models/pine_tree/model.config new file mode 100644 index 000000000..5feb4c5ee --- /dev/null +++ b/CustomRobots/drone_assets/models/pine_tree/model.config @@ -0,0 +1,16 @@ +<?xml version="1.0"?> +<model> + <name>pine_tree</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + <author> + <name>Louise Poubel</name> + <email>louise@osrfoundation.org</email> + </author> + <description> + A conifer evergreen tree. Vendored locally from the OpenRobotics Fuel + model of the same name (no network dependency at runtime), with + cast_shadows disabled on both submeshes to keep RTF cheap when many + of these are scattered around a world. + </description> +</model> diff --git a/CustomRobots/drone_assets/models/pine_tree/model.sdf b/CustomRobots/drone_assets/models/pine_tree/model.sdf new file mode 100644 index 000000000..8c333bd10 --- /dev/null +++ b/CustomRobots/drone_assets/models/pine_tree/model.sdf @@ -0,0 +1,63 @@ +<sdf version="1.7"> + <model name="pine_tree"> + <static>true</static> + <link name="link"> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://pine_tree/meshes/pine_tree.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="branch"> + <cast_shadows>false</cast_shadows> + <geometry> + <mesh> + <uri>model://pine_tree/meshes/pine_tree.dae</uri> + <submesh> + <name>Branch</name> + </submesh> + </mesh> + </geometry> + <material> + <double_sided>true</double_sided> + <diffuse>1.0 1.0 1.0</diffuse> + <script> + <uri>model://pine_tree/materials/scripts/</uri> + <uri>model://pine_tree/materials/textures/</uri> + <name>PineTree/Branch</name> + </script> + <pbr> + <metal> + <albedo_map>model://pine_tree/materials/textures/branch_2_diffuse.png</albedo_map> + </metal> + </pbr> + </material> + </visual> + <visual name="bark"> + <cast_shadows>false</cast_shadows> + <geometry> + <mesh> + <uri>model://pine_tree/meshes/pine_tree.dae</uri> + <submesh> + <name>Bark</name> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <script> + <uri>model://pine_tree/materials/scripts/</uri> + <uri>model://pine_tree/materials/textures/</uri> + <name>PineTree/Bark</name> + </script> + <pbr> + <metal> + <albedo_map>model://pine_tree/materials/textures/bark_diffuse.png</albedo_map> + </metal> + </pbr> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/Launchers/position_control.launch.py b/Launchers/position_control.launch.py new file mode 100644 index 000000000..f434f88ad --- /dev/null +++ b/Launchers/position_control.launch.py @@ -0,0 +1,49 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + + +def generate_launch_description(): + ros_gz_sim = get_package_share_directory("ros_gz_sim") + + world_file_name = "position_control.world" + worlds_dir = "/opt/jderobot/Scenes" + world_path = os.path.join(worlds_dir, world_file_name) + + gazebo_server = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py") + ), + launch_arguments={ + "gz_args": ["-s -v4 ", world_path], + "on_exit_shutdown": "true", + }.items(), + ) + + world_entity_cmd = Node( + package="ros_gz_sim", + executable="create", + arguments=["-name", "world", "-file", world_path], + output="screen", + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + ], + output="screen", + ) + + ld = LaunchDescription() + ld.add_action(gazebo_server) + ld.add_action(world_entity_cmd) + ld.add_action(gz_ros2_bridge) + + return ld diff --git a/Launchers/visualization/position_control.config b/Launchers/visualization/position_control.config new file mode 100644 index 000000000..2384e1ca3 --- /dev/null +++ b/Launchers/visualization/position_control.config @@ -0,0 +1,115 @@ +<?xml version="1.0"?> +<!-- Quick start dialog --> +<dialog name="quick_start" show_again="false"/> + +<!-- Window --> +<window> + <style material_theme="Light" material_primary="DeepOrange" material_accent="DeepOrange" toolbar_color_light="#ffa726" toolbar_text_color_light="#000000" toolbar_color_dark="#ffa726" toolbar_text_color_dark="#000000" plugin_toolbar_color_light="#ffa726" plugin_toolbar_text_color_light="#000000" plugin_toolbar_color_dark="#ffa726" plugin_toolbar_text_color_dark="#000000"/> + <menus> + <drawer visible="false"> + </drawer> + <plugins visible="true"> + </plugins> + </menus> + <dialog_on_exit>false</dialog_on_exit> +</window> + +<!-- GUI plugins --> +<!-- 3D scene --> +<plugin filename="MinimalScene" name="3D View"> + <gz-gui> + <title>3D View + false + docked + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + + -42 -42 26 0 0.45 0.785 + + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + + + + floating + 5 + 5 + false + + + + + + false + 5 + 5 + floating + false + + 0 0 2 + 1 + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/world_demo/stats + + diff --git a/Scenes/position_control.world b/Scenes/position_control.world new file mode 100644 index 000000000..5ef0f9de4 --- /dev/null +++ b/Scenes/position_control.world @@ -0,0 +1,1752 @@ + + + + + 0.004 + 1.0 + + + + + + + + + ogre2 + + + + false + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + model://grass_plane + + + + + + model://logoPadGreen + takeoff_pad + 0 0 0.05 0 0 0 + + + + true + + + + + 0.12 + 0.5 + + + + + false + + + 0.12 + 0.5 + + + + 0.35 0.22 0.1 1 + 0.35 0.22 0.1 1 + + + + 0.0 18.0 0.25 0 0 0 + + + + model://number1 + beacon1_marker + 0.0 18.0 0.5 0 0 0 + + + + true + + + + + 0.15 + 2.0 + + + + + false + + + 0.15 + 2.0 + + + + 0.35 0.22 0.1 1 + 0.35 0.22 0.1 1 + + + + 18.0 0.0 1.0 0 0 0 + + + + model://number2 + beacon2_marker + 18.0 0.0 2.0 0 0 0 + + + + true + + + + + 0.18 + 3.5 + + + + + false + + + 0.18 + 3.5 + + + + 0.35 0.22 0.1 1 + 0.35 0.22 0.1 1 + + + + 0.0 -18.0 1.75 0 0 0 + + + + model://number3 + beacon3_marker + 0.0 -18.0 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tree_grove_17 + 29.87 17.70 0 0 0 1.263 + 0.81 0.81 0.81 + + + model://pine_tree + tree_grove_18 + 17.87 31.63 0 0 0 0.725 + 1.09 1.09 1.09 + + + model://oak_tree + tree_grove_19 + 17.72 30.48 0 0 0 4.308 + 0.95 0.95 0.95 + + + + + model://falling_rock + rock_0 + 5.0 9.0 0 0 0 0.4 + true + 1.0 1.0 1.0 + + + model://falling_rock + rock_1 + 10.0 -4.0 0 0 0 1.8 + true + 1.3 1.3 1.3 + + + model://falling_rock + rock_2 + -4.6 -10.4 0 0 0 2.5 + true + 1.0 1.0 1.0 + + + model://falling_rock + rock_3 + -11.0 4.4 0 0 0 0.9 + true + 0.8 0.8 0.8 + + + model://falling_rock + rock_5 + -18.0 -12.0 0 0 0 1.1 + true + 1.0 1.0 1.0 + + + + + model://logoJdeRobot + jderobot_logo + -26 -21 0 0 0 0.8 + + + + diff --git a/database/worlds.sql b/database/worlds.sql index 5d3ab3a61..5ead77273 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -204,6 +204,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin; 75 Drone Hangar - Obstacle 2 73 76 Drone Hangar - Obstacle 3 73 77 Drone Hangar - Obstacle 4 73 +78 Position Control 74 \. -- @@ -265,6 +266,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin; 50 75 11 {{0.0,22.0,0.3,0.0,0.0,-1.57}} 51 76 11 {{0.0,12.0,0.3,0.0,0.0,-1.57}} 52 77 11 {{0.0,2.0,0.3,0.0,0.0,-1.57}} +53 78 11 {{0.0,0.0,0.3,0.0,0.0,0.0}} \. -- @@ -307,6 +309,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type, 71 Conveyor /opt/jderobot/Launchers/sausage_exercise.launch.py {"rviz":"/opt/jderobot/Launchers/rviz/sausage_exercise.launch.py"} ROS2 gz sausage_exercise.urdf 72 Drone Cat Mouse /opt/jderobot/Launchers/drone_cat_mouse.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/drone_cat_mouse.config"} ROS2 gz drone_cat_mouse.urdf 73 Drone Hangar /opt/jderobot/Launchers/drone_hangar.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/drone_hangar.config"} ROS2 gz drone_hangar.urdf +74 Position Control /opt/jderobot/Launchers/position_control.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/position_control.config"} ROS2 gz position_control.urdf \. --