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Introduce new Actor functionality

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This commit is contained in:
Bastian Hofmann
2022-12-07 10:07:15 +00:00
parent 42e03ac848
commit 9ecac8db13
4 changed files with 287 additions and 70 deletions
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17
src/gaz_simulation/world/gaz_ign.sdf
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@@ -243,6 +243,18 @@
</link>
</model>
<actor name="actor_walking">
<pose>0 2 1.25 0 0 0</pose>
<skin>
<filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walk">
<filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
<interpolate_x>true</interpolate_x>
</animation>
</actor>
<actor name="actor1">
<pose>0 1 1.25 0 0 0</pose>
@@ -250,6 +262,11 @@
<filename>/home/ros/go.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>/home/ros/go.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="ActorSystem" filename="/home/ros/workspace/build/ign_actor_plugin/libActorPlugin.so">
<target>2 2 1</target>
<target_weight>1.15</target_weight>

82
src/gaz_simulation/world/gaz_new_test.sdf Normal file
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@@ -0,0 +1,82 @@
<sdf version="1.6">
<world name="empty">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<actor name="actor_walking">
<plugin name="ignition::gazebo::ActorSystem" filename="/home/ros/workspace/install/ign_actor_plugin/lib/ign_actor_plugin/libActorPlugin.so">
</plugin>
<skin>
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name='walk'>
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
</animation>
<animation name='go'>
<filename>/home/ros/go.dae</filename>
</animation>
</actor>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>