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README
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README
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******************************
**** Dreaded Portal Engine ***
******************************
Free and open source engine that is designed for indoor environments. The build-in portal
level format (.PLF) is used to load levels, a script is provided to export these levels
from Blender.
The following features are currently supported:
* Particle engine.
* Animated models.
* Volumetric lighting.
* Can load multiple image formats using FreeImage.
* AI pathfinding using meshes.
* Custom level format (Portal Level Format PLF).
* Multiple platforms supported (Windows and Linux).
Future developments:
* Sound.
*** DEPENDENCIES ***
Assimp (3.0 minimum, 3.1 recommended)
FreeGlut (2.8.1)
FreeImage
Glew (1.9.0)
glfw (2.7.8)
GLM (0.9.4.3)
For the latest version check: http://www.bramridder.com/index.php/personal/personal_projects/dreaded-portal-engine
******************************
*** PANDORA specific stuff ***
*****************************
In order to show the submarine(s) in rviz run "roslaunch pandora_visualiser robot_description"
- Loading a level file.
In PANDORA you can load an underwater scene by passing the --level=<path to XML file> option.
E.g.:
./bin/visualiser data/pandora/levels/test_level.xml
The XML contains has one root node which contains three possible children:
<structures>
This node contains multiple <structure> nodes which define the structures that can be placed in the world. Each <structure> node contains the following children:
<filename> This contains the path an PLF file which contains the mesh, UV, etc information of the structure.
<texture> The texture file that is applied to the loaded mesh (preferably TGA format).
<inspection_points> (optional) A set of <inspection_point> nodes that specifies parts of the structure that must be inspected when an inspection mission is specified (see <mission> below.
<inspection_point> Contains 5 attributes that specifies the location of the inspection point relative to the structure. These are: x, y, z, pitch, yaw.
<world>
This node contains the structures that are placed on the seabed as well as all possible missions and the location of the AUV.
<auv_location> The location of the AUV, this is given as attribute: x, y, z, pitch, yaw.
<mission_sites> This node contains all the seperate mission sites and specify the structures belonging to these mission sites.
<mission_site> The description of an individual mission site.
<location> The location of the mission site. Given by 5 attributes: x, y, z, pitch, yaw.
<start_waypoint> To access the site we specify a location where the AUV can enter the site, this location must connect collision free to all other mission site start sites.
<chains> This node specifies a set of chains to be added to the world.
<chain> The attribute "chain_links" specifies the number of links that are part of the chain. The if attribute "has_been_observed" is "true" then the chain will be known to the AUV at the start of the mission.
<location> Specifies the location of the chain using 5 attributes: x, y, z, pitch, yaw.
<structures> This describes the structures that are part of this mission site.
<structure> The attribute "ref" is a reference to the "id" attribute of a /root/structures/structure node. The "id" attribute is used when defining <goals>.
<location> The location of the structure relative to the <mission_site> it is part of. The location is specified with 5 attributes: x, y, z, pitch, yaw.
<valves> Some structures can have valves.
<valve> Adds a valve to this structure, the "id" attribute is used by the <goal> nodes to define a valve_turning goal.
<location> Specifies the location of the valve using 5 attributes: x, y, z, pitch, yaw.
<missions> This nodes the scribes the set of missions for this mission_site.
<mission> Defines a single mission for this mission_site.
<goals> Defines the set of goals for a single mission.
<goal> A single goal for this single mission.
<type> The type of mission, the options are: "inspection_mission", "valve_turning_mission".
<structure> The id of the structure this goal is related to. This refers to the "id" attribute of a /root/structure/structure node.
<valve> (mandantory only for "valve_turning_mission") The id of the valve as defined in a ../../../structures/structure/valves/valve:id attribute.
<start_time> The starting time when this valve can be turned.
<dead_line> The deadline by which time the valve must have been turned.
<valve_angle> The angle at which the valve must end up in.