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add qr_code

This commit is contained in:
robin_shaun 2021-04-02 15:21:35 +08:00
parent ebfd163418
commit a6bd1b1c2e
26 changed files with 755 additions and 5 deletions
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7
motion_planning/3d/ego_transfer.py
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@ -6,6 +6,7 @@ import tf
import sys
vehicle_type = sys.argv[1]
vehicle_id = sys.argv[2]
local_pose = PoseStamped()
local_pose.header.frame_id = 'world'
quaternion = tf.transformations.quaternion_from_euler(-math.pi/2, 0, -math.pi/2)
@ -22,9 +23,9 @@ def vision_callback(data):
local_pose.pose.orientation.y = q_[2]
local_pose.pose.orientation.z = q_[3]
rospy.init_node('ego_transfer')
rospy.Subscriber(vehicle_type+"_0/mavros/vision_pose/pose", PoseStamped, vision_callback)
position_pub = rospy.Publisher(vehicle_type+"_0/camera_pose", PoseStamped, queue_size=2)
rospy.init_node(vehicle_type+"_"+vehicle_id+'/ego_transfer')
rospy.Subscriber(vehicle_type+"_"+vehicle_id+"/mavros/vision_pose/pose", PoseStamped, vision_callback)
position_pub = rospy.Publisher(vehicle_type+"_"+vehicle_id+"/camera_pose", PoseStamped, queue_size=2)
rate = rospy.Rate(60)
while True:

5
sensing/slam/vio/vins_transfer.py
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@ -7,6 +7,7 @@ import tf
import sys
vehicle_type = sys.argv[1]
vehicle_id = sys.argv[2]
local_pose = PoseStamped()
local_pose.header.frame_id = 'world'
quaternion = tf.transformations.quaternion_from_euler(0, -math.pi/2, math.pi/2)
@ -23,9 +24,9 @@ def vins_callback(data):
local_pose.pose.orientation.y = q_[2]
local_pose.pose.orientation.z = q_[3]
rospy.init_node('vins_transfer')
rospy.init_node(vehicle_type+"_"+vehicle_id+'/vins_transfer')
rospy.Subscriber("/vins_estimator/camera_pose", Odometry, vins_callback)
position_pub = rospy.Publisher(vehicle_type+"_0/mavros/vision_pose/pose", PoseStamped, queue_size=2)
position_pub = rospy.Publisher(vehicle_type+"_"+vehicle_id+"/mavros/vision_pose/pose", PoseStamped, queue_size=2)
rate = rospy.Rate(60)
while True:

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sitl_config/models/qrcode1-3/marker0/materials/textures/Marker0.png Executable file
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126
sitl_config/models/qrcode1-3/marker0/meshes/Marker0.dae Normal file
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@ -0,0 +1,126 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
</contributor>
<created>2015-04-05T02:03:25</created>
<modified>2015-04-05T02:03:25</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="Marker0_png" name="Marker0_png">
<init_from>Marker0.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Marker0Mat-effect">
<profile_COMMON>
<newparam sid="Marker0_png-surface">
<surface type="2D">
<init_from>Marker0_png</init_from>
</surface>
</newparam>
<newparam sid="Marker0_png-sampler">
<sampler2D>
<source>Marker0_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.9 0.9 0.9 1</color>
</ambient>
<diffuse>
<texture texture="Marker0_png-sampler" texcoord="UVMap"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Marker0Mat-material" name="Marker0Mat">
<instance_effect url="#Marker0Mat-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist material="Marker0Mat-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Marker0" name="Marker0" type="NODE">
<matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

15
sitl_config/models/qrcode1-3/marker0/model-1_4.sdf Executable file
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@ -0,0 +1,15 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Marker0">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://marker0/meshes/Marker0.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

15
sitl_config/models/qrcode1-3/marker0/model-1_5.sdf Executable file
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@ -0,0 +1,15 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Marker0">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://marker0/meshes/Marker0.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

19
sitl_config/models/qrcode1-3/marker0/model.config Executable file
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@ -0,0 +1,19 @@
<?xml version="1.0"?>
<model>
<name>Marker0</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>mikael.arguedas@gmail.com</email>
</author>
<description>
A model of AR marker
</description>
</model>

15
sitl_config/models/qrcode1-3/marker0/model.sdf Executable file
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@ -0,0 +1,15 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="Marker0">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://marker0/meshes/Marker0.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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sitl_config/models/qrcode1-3/materials/textures/qrcode1-3.png Normal file
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125
sitl_config/models/qrcode1-3/meshes/qrcode1-3.dae Normal file
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@ -0,0 +1,125 @@
<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
</contributor>
<created>2015-04-05T02:03:25</created>
<modified>2015-04-05T02:03:25</modified>
<unit meter="1" name="meter"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="Marker0_png" name="Marker0_png">
<init_from>qrcode1-3.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Marker0Mat-effect">
<profile_COMMON>
<newparam sid="Marker0_png-surface">
<surface type="2D">
<init_from>Marker0_png</init_from>
</surface>
</newparam>
<newparam sid="Marker0_png-sampler">
<sampler2D>
<source>Marker0_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.9 0.9 0.9 1</color>
</ambient>
<diffuse>
<texture texcoord="UVMap" texture="Marker0_png-sampler"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Marker0Mat-material" name="Marker0Mat">
<instance_effect url="#Marker0Mat-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
<technique_common>
<accessor count="8" source="#Cube-mesh-positions-array" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
<technique_common>
<accessor count="12" source="#Cube-mesh-normals-array" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
<technique_common>
<accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist count="12" material="Marker0Mat-material">
<input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
<input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
<input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Marker0" name="Marker0" type="NODE">
<matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
<bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

14
sitl_config/models/qrcode1-3/model-1_4.sdf Executable file
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@ -0,0 +1,14 @@
<?xml version="1.0" ?><sdf version="1.4">
<model name="qrcode1-3">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://qrcode1-3/meshes/qrcode1-3.dae</uri>
<scale>1.0 1.0 1.0</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

14
sitl_config/models/qrcode1-3/model-1_5.sdf Executable file
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@ -0,0 +1,14 @@
<?xml version="1.0" ?><sdf version="1.5">
<model name="qrcode1-3">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://qrcode1-3/meshes/qrcode1-3.dae</uri>
<scale>1.0 1.0 1.0</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

17
sitl_config/models/qrcode1-3/model.config Executable file
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@ -0,0 +1,17 @@
<?xml version="1.0" ?><model>
<name>qrcode1-3</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>mikael.arguedas@gmail.com</email>
</author>
<description>
A model of AR marker
</description>
</model>

14
sitl_config/models/qrcode1-3/model.sdf Executable file
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@ -0,0 +1,14 @@
<?xml version="1.0" ?><sdf version="1.6">
<model name="qrcode1-3">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://qrcode1-3/meshes/qrcode1-3.dae</uri>
<scale>1.0 1.0 1.0</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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sitl_config/models/qrcode4-6/marker0/materials/textures/Marker0.png Executable file
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126
sitl_config/models/qrcode4-6/marker0/meshes/Marker0.dae Normal file
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@ -0,0 +1,126 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
</contributor>
<created>2015-04-05T02:03:25</created>
<modified>2015-04-05T02:03:25</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="Marker0_png" name="Marker0_png">
<init_from>Marker0.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Marker0Mat-effect">
<profile_COMMON>
<newparam sid="Marker0_png-surface">
<surface type="2D">
<init_from>Marker0_png</init_from>
</surface>
</newparam>
<newparam sid="Marker0_png-sampler">
<sampler2D>
<source>Marker0_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.9 0.9 0.9 1</color>
</ambient>
<diffuse>
<texture texture="Marker0_png-sampler" texcoord="UVMap"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Marker0Mat-material" name="Marker0Mat">
<instance_effect url="#Marker0Mat-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array id="Cube-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist material="Marker0Mat-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Marker0" name="Marker0" type="NODE">
<matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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sitl_config/models/qrcode4-6/marker0/model-1_4.sdf Executable file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Marker0">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://marker0/meshes/Marker0.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

15
sitl_config/models/qrcode4-6/marker0/model-1_5.sdf Executable file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Marker0">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://marker0/meshes/Marker0.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

19
sitl_config/models/qrcode4-6/marker0/model.config Executable file
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<?xml version="1.0"?>
<model>
<name>Marker0</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>mikael.arguedas@gmail.com</email>
</author>
<description>
A model of AR marker
</description>
</model>

15
sitl_config/models/qrcode4-6/marker0/model.sdf Executable file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="Marker0">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://marker0/meshes/Marker0.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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sitl_config/models/qrcode4-6/materials/textures/qrcode4-6.png Normal file
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125
sitl_config/models/qrcode4-6/meshes/qrcode4-6.dae Normal file
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<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
</contributor>
<created>2015-04-05T02:03:25</created>
<modified>2015-04-05T02:03:25</modified>
<unit meter="1" name="meter"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images>
<image id="Marker0_png" name="Marker0_png">
<init_from>qrcode4-6.png</init_from>
</image>
</library_images>
<library_effects>
<effect id="Marker0Mat-effect">
<profile_COMMON>
<newparam sid="Marker0_png-surface">
<surface type="2D">
<init_from>Marker0_png</init_from>
</surface>
</newparam>
<newparam sid="Marker0_png-sampler">
<sampler2D>
<source>Marker0_png-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.9 0.9 0.9 1</color>
</ambient>
<diffuse>
<texture texcoord="UVMap" texture="Marker0_png-sampler"/>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Marker0Mat-material" name="Marker0Mat">
<instance_effect url="#Marker0Mat-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
<technique_common>
<accessor count="8" source="#Cube-mesh-positions-array" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
<technique_common>
<accessor count="12" source="#Cube-mesh-normals-array" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
<technique_common>
<accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist count="12" material="Marker0Mat-material">
<input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
<input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
<input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Marker0" name="Marker0" type="NODE">
<matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
<bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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sitl_config/models/qrcode4-6/model-1_4.sdf Executable file
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<?xml version="1.0" ?><sdf version="1.4">
<model name="qrcode4-6">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://qrcode4-6/meshes/qrcode4-6.dae</uri>
<scale>1.0 1.0 1.0</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

14
sitl_config/models/qrcode4-6/model-1_5.sdf Executable file
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<?xml version="1.0" ?><sdf version="1.5">
<model name="qrcode4-6">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://qrcode4-6/meshes/qrcode4-6.dae</uri>
<scale>1.0 1.0 1.0</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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sitl_config/models/qrcode4-6/model.config Executable file
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<?xml version="1.0" ?><model>
<name>qrcode4-6</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>mikael.arguedas@gmail.com</email>
</author>
<description>
A model of AR marker
</description>
</model>

14
sitl_config/models/qrcode4-6/model.sdf Executable file
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<?xml version="1.0" ?><sdf version="1.6">
<model name="qrcode4-6">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://qrcode4-6/meshes/qrcode4-6.dae</uri>
<scale>1.0 1.0 1.0</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf>