forked from xtdrone/XTDrone
modify robocup.world
This commit is contained in:
parent
875bbd4c3c
commit
5500f67495
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@ -4,7 +4,7 @@
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<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/robocup.world"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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@ -18,8 +18,8 @@
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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</include>
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<!-- iris_0 -->
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<group ns="iris_0">
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<!-- typhoon_h480_0 -->
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<group ns="typhoon_h480_0">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="0"/>
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<arg name="ID_in_group" value="0"/>
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@ -32,8 +32,8 @@
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18570"/>
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<arg name="mavlink_tcp_port" value="4560"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -47,8 +47,8 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_1 -->
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<group ns="iris_1">
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<!-- typhoon_h480_1 -->
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<group ns="typhoon_h480_1">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="1"/>
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<arg name="ID_in_group" value="1"/>
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@ -61,8 +61,8 @@
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18571"/>
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<arg name="mavlink_tcp_port" value="4561"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -76,22 +76,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_2 -->
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<group ns="iris_2">
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<!-- typhoon_h480_2 -->
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<group ns="typhoon_h480_2">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="2"/>
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<arg name="ID_in_group" value="2"/>
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<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="3"/>
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<arg name="x" value="0"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18572"/>
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<arg name="mavlink_tcp_port" value="4562"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -105,22 +105,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_3 -->
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<group ns="iris_3">
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<!-- typhoon_h480_3 -->
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<group ns="typhoon_h480_3">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="3"/>
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<arg name="ID_in_group" value="3"/>
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<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="x" value="3"/>
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<arg name="y" value="6"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18573"/>
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<arg name="mavlink_tcp_port" value="4563"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -134,22 +134,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_4 -->
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<group ns="iris_4">
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<!-- typhoon_h480_4 -->
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<group ns="typhoon_h480_4">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="4"/>
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<arg name="ID_in_group" value="4"/>
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<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="6"/>
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<arg name="x" value="0"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18574"/>
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<arg name="mavlink_tcp_port" value="4564"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -163,22 +163,22 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_5 -->
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<group ns="iris_5">
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<!-- typhoon_h480_5 -->
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<group ns="typhoon_h480_5">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="5"/>
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<arg name="ID_in_group" value="5"/>
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<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="6"/>
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<arg name="x" value="3"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="vehicle" value="typhoon_h480"/>
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<arg name="sdf" value="typhoon_h480"/>
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<arg name="mavlink_udp_port" value="18575"/>
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<arg name="mavlink_tcp_port" value="4565"/>
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<arg name="ID" value="$(arg ID)"/>
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@ -192,92 +192,5 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_6 -->
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<group ns="iris_6">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="6"/>
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<arg name="ID_in_group" value="6"/>
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<arg name="fcu_url" default="udp://:24546@localhost:34586"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18576"/>
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<arg name="mavlink_tcp_port" value="4566"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_7 -->
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<group ns="iris_7">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="7"/>
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<arg name="ID_in_group" value="7"/>
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<arg name="fcu_url" default="udp://:24547@localhost:34587"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18577"/>
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<arg name="mavlink_tcp_port" value="4567"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_8 -->
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<group ns="iris_8">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="8"/>
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<arg name="ID_in_group" value="8"/>
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<arg name="fcu_url" default="udp://:24548@localhost:34588"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="9"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18578"/>
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<arg name="mavlink_tcp_port" value="4568"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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</launch>
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<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
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@ -86,7 +86,7 @@
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<kinematic>0</kinematic>
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</link>
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</model>
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<actor name="actor_1">
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<skin>
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<filename>model://walker/walk_1.dae</filename>
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@ -183,9 +183,9 @@
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<animation_factor>5.1</animation_factor>
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</plugin>
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</actor>
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<model name='city_terrain_1'>
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<static>1</static>
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<link name='link'>
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@ -6079,241 +6079,5 @@
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</link>
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<pose frame=''>10.9133 -4.26207 0 0 -0 3.14</pose>
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</model>
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<!-- ########################################################################################## -->
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<!-- Adding cars -->
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<!-- ########################################################################################## -->
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<model name="car_opel_0">
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<pose>30 0 0.8 0 0 -1.57</pose>
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>1.0</mass>
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<inertia> <!-- interias are tricky to compute -->
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<!-- http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
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<ixx>0.083</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
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<ixy>0.0</ixy> <!-- for a box: ixy = 0 -->
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<ixz>0.0</ixz> <!-- for a box: ixz = 0 -->
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<iyy>0.083</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
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<iyz>0.0</iyz> <!-- for a box: iyz = 0 -->
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<izz>0.083</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
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</inertia>
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</inertial>
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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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<cast_shadows>false</cast_shadows>
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<geometry>
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<mesh>
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<uri>model://car_opel/meshes/opel.dae</uri>
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</mesh>
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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="car_lexus_0">
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<pose>80 0 0 0 0 -1.57</pose>
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>1.0</mass>
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<inertia> <!-- interias are tricky to compute -->
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<!-- http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
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<ixx>0.083</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
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<ixy>0.0</ixy> <!-- for a box: ixy = 0 -->
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<ixz>0.0</ixz> <!-- for a box: ixz = 0 -->
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<iyy>0.083</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
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<iyz>0.0</iyz> <!-- for a box: iyz = 0 -->
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<izz>0.083</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
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</inertia>
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</inertial>
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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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<mesh>
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<uri>model://car_lexus/meshes/Lexus.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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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="car_beetle_0">
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<pose>-20 -45 0 0 0 -1.57</pose>
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>0.083</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.083</iyy>
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<iyz>0.0</iyz>
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<izz>0.083</izz>
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</inertia>
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</inertial>
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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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<mesh>
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<uri>model://car_beetle/meshes/beetle.dae</uri>
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</mesh>
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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="car_beetle_1">
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<pose>60 -45 0 0 0 1.57</pose>
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<static>true</static>
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<link name="link">
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>0.083</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.083</iyy>
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<iyz>0.0</iyz>
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<izz>0.083</izz>
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</inertia>
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</inertial>
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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>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://car_beetle/meshes/beetle.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<model name="car_lexus_1">
|
||||
<pose>70 45 0 0 0 1.57</pose>
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
<inertia> <!-- interias are tricky to compute -->
|
||||
<!-- http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
|
||||
<ixx>0.083</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
|
||||
<ixy>0.0</ixy> <!-- for a box: ixy = 0 -->
|
||||
<ixz>0.0</ixz> <!-- for a box: ixz = 0 -->
|
||||
<iyy>0.083</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
|
||||
<iyz>0.0</iyz> <!-- for a box: iyz = 0 -->
|
||||
<izz>0.083</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://car_lexus/meshes/Lexus.dae</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<model name="car_beetle_1">
|
||||
<pose>20 45 0 0 0 -1.57</pose>
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
<inertia>
|
||||
<ixx>0.083</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyy>0.083</iyy>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.083</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://car_beetle/meshes/beetle.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<model name="car_polo_0">
|
||||
<pose>110 -5 -0.2 0 0 0</pose>
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>1.0</mass>
|
||||
<inertia>
|
||||
<ixx>0.083</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyy>0.083</iyy>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.083</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 1 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://car_polo/meshes/Polo.dae</uri>
|
||||
<scale>0.04 0.04 0.04</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
|
|
|
|||
Loading…
Reference in New Issue