80da2d4153
Updated launch file to support GPU-acceleration of the gazebo client. Created behavior tree for actor Updated robot urdf, added better visualization and colliders.
320 lines
9.1 KiB
XML
320 lines
9.1 KiB
XML
<sdf version='1.7'>
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<world name='default'>
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<light name='sun' type='directional'>
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<cast_shadows>1</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>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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<model name='walls'>
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<static>1</static>
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<link name='walls_1'>
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<self_collide>0</self_collide>
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<pose>3 8 1.2</pose>
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<collision name='collision'>
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<geometry>
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<box>
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<size>10.1 .1 2.4</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>10.1 .1 2.4</size>
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</box>
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</geometry>
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</visual>
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</link>
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<link name='walls_2'>
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<self_collide>0</self_collide>
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<pose>3 -2 1.2</pose>
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<collision name='collision'>
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<geometry>
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<box>
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<size>10.1 .1 2.4</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>10.1 .1 2.4</size>
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</box>
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</geometry>
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</visual>
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</link>
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<link name='walls_3'>
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<self_collide>0</self_collide>
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<pose>8 3 1.2</pose>
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<collision name='collision'>
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<geometry>
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<box>
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<size>.1 9.9 2.4</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>.1 9.9 2.4</size>
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</box>
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</geometry>
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</visual>
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</link>
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<link name='walls_4'>
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<self_collide>0</self_collide>
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<pose>-2 3 1.2</pose>
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<collision name='collision'>
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<geometry>
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<box>
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<size>.1 9.9 2.4</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>.1 9.9 2.4</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="lidar_1">
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<static>1</static>
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<link name="lidar_1_link">
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<pose>1 -2 1 0 0 1.5707963267949</pose>
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<!--<collision name='collision'>
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<geometry>
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<box>
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<size>.1 .1 .1</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>.1 .1 .1</size>
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</box>
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</geometry>
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</visual>-->
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<sensor name="laser_1" type="gpu_ray">
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<pose>0.1 0 0 0 0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>270</samples>
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<resolution>1</resolution>
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<min_angle>-2.3561944901923</min_angle>
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<max_angle>2.3561944901923</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.05</min>
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<max>10</max>
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<resolution>0.05</resolution>
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</range>
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</ray>
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<always_on>1</always_on>
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<update_rate>10</update_rate>
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<visualize>true</visualize>
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<plugin name='laser_1_plugin' filename='libgazebo_ros_ray_sensor.so'>
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<ros>
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<namespace>/lidar_1</namespace>
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<argument>--ros-args --remap ~/out:=scan</argument>
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</ros>
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<output_type>sensor_msgs/PointCloud2</output_type>
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</plugin>
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</sensor>
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</link>
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</model>
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<model name="lidar_2">
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<static>1</static>
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<link name="lidar_2_link">
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<pose>-1.9 1 1 0 0 </pose>
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<!--<collision name='collision'>
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<geometry>
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<box>
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<size>.1 .1 .1</size>
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</box>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>.1 .1 .1</size>
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</box>
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</geometry>
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</visual>-->
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<sensor name="laser_2" type="gpu_ray">
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<ray>
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<scan>
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<horizontal>
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<samples>270</samples>
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<resolution>1</resolution>
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<min_angle>-2.3561944901923</min_angle>
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<max_angle>2.3561944901923</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.05</min>
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<max>10</max>
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<resolution>0.05</resolution>
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</range>
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</ray>
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<always_on>1</always_on>
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<update_rate>10</update_rate>
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<visualize>true</visualize>
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<plugin name='laser_2_plugin' filename='libgazebo_ros_ray_sensor.so'>
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<ros>
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<namespace>/lidar_2</namespace>
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<frameName>/lidar_2_link</frameName>
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<argument>--ros-args --remap ~/out:=scan</argument>
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</ros>
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<output_type>sensor_msgs/PointCloud2</output_type>
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</plugin>
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</sensor>
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</link>
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</model>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>65535</collide_bitmask>
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<ode/>
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</contact>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</torsional>
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</friction>
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<bounce/>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<actor name="actor1">
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<pose>0 1 1.25 0 0 0</pose>
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<skin>
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<filename>walk.dae</filename>
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<scale>1.0</scale>
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</skin>
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<animation name="walking">
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<filename>walk.dae</filename>
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<scale>1.000000</scale>
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<interpolate_x>true</interpolate_x>
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</animation>
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<plugin name="actor1_plugin" filename="/home/bastian/dev_ws/build/gazebo_ros_actor/libRosActorPlugin.so">
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<target>2 2 1</target>
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<target_weight>1.15</target_weight>
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<obstacle_weight>1.8</obstacle_weight>
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<animation_factor>5.1</animation_factor>
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<ignore_obstacles>
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<model>ground_plane</model>
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</ignore_obstacles>
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</plugin>
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</actor>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<wind/>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<state world_name='default'>
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<sim_time>21 655000000</sim_time>
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<real_time>21 863005214</real_time>
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<wall_time>1644846646 70909467</wall_time>
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<iterations>21655</iterations>
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<model name='ground_plane'>
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<pose>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<light name='sun'>
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<pose>0 0 10 0 -0 0</pose>
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</light>
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</state>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>5 -5 2 0 0.275643 2.35619</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
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<ros>
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<namespace>/demo</namespace>
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<argument>model_states:=model_states_demo</argument>
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</ros>
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<update_rate>1.0</update_rate>
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</plugin>
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</world>
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</sdf>
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