diff --git a/src/btree_trees/trees/actorTreeCoex.xml b/src/btree_trees/trees/actorTreeCoex.xml
new file mode 100644
index 0000000..f212e31
--- /dev/null
+++ b/src/btree_trees/trees/actorTreeCoex.xml
@@ -0,0 +1,60 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Name of animation to play
+
+
+ Name of animation to play
+ Pose to move to
+
+
+
+ state to set called to
+
+
+ Area to generate pose in
+ Generated pose in area
+
+
+ Bounds to check in
+ Position of object
+
+
+ Current actor position
+ Target to move actor to
+
+
+ offset as a Point
+ rotation of resulting pose as Quaternion
+ generated new pose
+ initial position as Position2D
+
+
+ Target velocity of robot
+
+
+ Chance to fail from 0 to 1
+
+
+ Target pose of robot.
+
+
+ Weights for the children, separated by semicolon.
+
+
+
+
+
diff --git a/src/btree_trees/trees/actorTree.xml b/src/btree_trees/trees/actorTreeColab.xml
similarity index 100%
rename from src/btree_trees/trees/actorTree.xml
rename to src/btree_trees/trees/actorTreeColab.xml
diff --git a/src/btree_trees/trees/actorTreeCoop.xml b/src/btree_trees/trees/actorTreeCoop.xml
new file mode 100644
index 0000000..4224afa
--- /dev/null
+++ b/src/btree_trees/trees/actorTreeCoop.xml
@@ -0,0 +1,73 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Name of animation to play
+
+
+ Name of animation to play
+ Pose to move to
+
+
+
+ state to set called to
+
+
+ Area to generate pose in
+ Generated pose in area
+
+
+ Bounds to check in
+ Position of object
+
+
+ Current actor position
+ Target to move actor to
+
+
+ offset as a Point
+ rotation of resulting pose as Quaternion
+ generated new pose
+ initial position as Position2D
+
+
+ Target velocity of robot
+
+
+ Chance to fail from 0 to 1
+
+
+ Target pose of robot.
+
+
+ Weights for the children, separated by semicolon.
+
+
+
+
+
diff --git a/src/btree_trees/trees/robotTreeCoex.xml b/src/btree_trees/trees/robotTreeCoex.xml
new file mode 100644
index 0000000..223259e
--- /dev/null
+++ b/src/btree_trees/trees/robotTreeCoex.xml
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Name of animation to play
+
+
+ Name of animation to play
+ Pose to move to
+
+
+
+ state to set called to
+
+
+ Area to generate pose in
+ Generated pose in area
+
+
+ Bounds to check in
+ Position of object
+
+
+ initial position as Pose
+ offset as a Point
+ rotation of resulting pose as Quaternion
+ generated new pose
+
+
+ Chance to fail from 0 to 1
+
+
+ Target pose of robot.
+
+
+ Target velocity of robot
+
+
+ Weights for the children, separated by semicolon.
+
+
+
+
+
+
+
diff --git a/src/btree_trees/trees/robotTree.xml b/src/btree_trees/trees/robotTreeColab.xml
similarity index 100%
rename from src/btree_trees/trees/robotTree.xml
rename to src/btree_trees/trees/robotTreeColab.xml
diff --git a/src/btree_trees/trees/robotTreeCoop.xml b/src/btree_trees/trees/robotTreeCoop.xml
new file mode 100644
index 0000000..8fd14e0
--- /dev/null
+++ b/src/btree_trees/trees/robotTreeCoop.xml
@@ -0,0 +1,79 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Name of animation to play
+
+
+ Name of animation to play
+ Pose to move to
+
+
+
+ state to set called to
+
+
+ Area to generate pose in
+ Generated pose in area
+
+
+ Bounds to check in
+ Position of object
+
+
+ initial position as Pose
+ offset as a Point
+ rotation of resulting pose as Quaternion
+ generated new pose
+
+
+ Chance to fail from 0 to 1
+
+
+ Target pose of robot.
+
+
+ Target velocity of robot
+
+
+ Weights for the children, separated by semicolon.
+
+
+
+
+
+
+
diff --git a/src/ign_world/CMakeLists.txt b/src/ign_world/CMakeLists.txt
index b3cd156..4c7c320 100644
--- a/src/ign_world/CMakeLists.txt
+++ b/src/ign_world/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(ament_cmake REQUIRED)
# find_package( REQUIRED)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY model DESTINATION share/${PROJECT_NAME})
install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
diff --git a/src/ign_world/launch/gazebo_controller_launch.py b/src/ign_world/launch/gazebo_controller_launch.py
index e4c06bd..1a93907 100644
--- a/src/ign_world/launch/gazebo_controller_launch.py
+++ b/src/ign_world/launch/gazebo_controller_launch.py
@@ -37,6 +37,18 @@ def generate_launch_description():
PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')),
launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
),
+
+ Node(
+ package='ros_gz_sim',
+ executable='create',
+ arguments=[
+ '-name', 'office',
+ '-allow_renaming', 'true',
+ '-string', xacro.process(os.path.join(get_package_share_directory('ign_world'), 'world', 'conveyor.sdf')),
+ #'-file', 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo',
+ ],
+ output='screen'
+ ),
Node(
package='ros_gz_bridge',
@@ -65,33 +77,33 @@ def generate_launch_description():
],
"areas": [
"safeArea",
- "1, 3.5 |"+
- "1, 7 |"+
- "3, 3.5 |"+
- "7, 7 |"+
- "3, -1 |"+
+ "1, 3.5 |" +
+ "1, 7 |" +
+ "3, 3.5 |" +
+ "7, 7 |" +
+ "3, -1 |" +
"7, -1",
"warningArea",
- "-1, 2.5 |"+
- "-1, 3.5 |"+
- "2, 2.5 |"+
- "3, 3.5 |"+
- "2, -1 |"+
+ "-1, 2.5 |" +
+ "-1, 3.5 |" +
+ "2, 2.5 |" +
+ "3, 3.5 |" +
+ "2, -1 |" +
"3, -1",
"unsafeArea",
- "-1, 1.5 |"+
- "-1, 2.5 |"+
- "1, 1.5 |"+
- "2, 2.5 |"+
- "1, -1 |"+
+ "-1, 1.5 |" +
+ "-1, 2.5 |" +
+ "1, 1.5 |" +
+ "2, 2.5 |" +
+ "1, -1 |" +
"2, -1",
"negativeYTable",
- "0.3, -0.25 |"+
- "-0.3, -0.25 |"+
+ "0.3, -0.25 |" +
+ "-0.3, -0.25 |" +
"0, -0.4",
"positiveYTable",
- "0.3, 0.25 |"+
- "-0.3, 0.25 |"+
+ "0.3, 0.25 |" +
+ "-0.3, 0.25 |" +
"0, 0.4"
]
},
@@ -116,6 +128,7 @@ def generate_launch_description():
on_exit=[load_joint_state_broadcaster],
)
),
+
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_broadcaster,
diff --git a/src/ign_world/model/conveyor.stl b/src/ign_world/model/conveyor.stl
new file mode 100644
index 0000000..4c8fb83
Binary files /dev/null and b/src/ign_world/model/conveyor.stl differ
diff --git a/src/ign_world/world/conveyor.sdf b/src/ign_world/world/conveyor.sdf
new file mode 100644
index 0000000..7a9335c
--- /dev/null
+++ b/src/ign_world/world/conveyor.sdf
@@ -0,0 +1,19 @@
+
+
+ true
+
+
+
+
+ file://$(find ign_world)/model/conveyor.stl
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
\ No newline at end of file