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[gazebo] Cyberzoo model (#2230)

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* First steps towards detailed cyberzoo model. Got transparency working.

* Fix ambient lighting of cyberzoo_solid

* Import improved model

* Fix optitrack cameras

* Fix lighting colors

* Fix optitrack camera color

* Add orange pole and traffic mat objects

* Fix orange_pole2 smoothing errors

* Fix cyberzoo origin

* Add first draft of cyberzoo surroundings

* Add updated cyberzoo surroundings and outside walls

* Minor fixes to surroundings

* Create cyberzoo world

To-do: set origin coordinates and rotate environment

* Set world coordinates and rotation, fix naming conflict

* Add cyberzoo world with orange poles for orange_avoider

* Remove old cyberzoo model, fix dependencies

* Add daylight in windows on outer walls

* Separate cyberzoo model into layers

Makes it easier to hide parts of the model in the GUI.

* Add cyberzoo surroundings to main model in separate layers

* Restore cyberzoo floor collision box

* Add cyberzoo props

* Minor tweaks to models

* Compress textures

Reduced texture dimensions. Size of model folder is now approx.
20 MB instead of 60+ MB.

* Remove origin marker from worlds

* Move CyberZoo models to submodule

- All new models are moved to the tudelft/gazebo_models repository, which is included as a submodule in sw/ext/tudelft_gazebo_models/
- Changed vehicle and world SDF loading to use URI's, these can be used with multiple search paths
- Added gzclient_launcher.sh script that sets up environment variables before launching gzclient. This prevents errors if the user forgets to add the paths to .bashrc. Added as a tool to control_panel_example.xml
This commit is contained in:
Tom van Dijk
2018-05-30 15:32:10 +02:00
committed by OpenUAS
parent 801a979011
commit c870e27ac5
14 changed files with 49 additions and 1772 deletions
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conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
-103
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@@ -1,103 +0,0 @@
<?xml version='1.0'?>
<sdf version='1.4'>
<model name="cyberzoo">
<static>true</static>
<pose>0 0 0 0 0 0</pose>
<link name="floor">
<pose>0 0 0.01 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>10 10 0.02</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.8 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>10 10 0.02</size>
</box>
</geometry>
</collision>
</link>
<link name="north_wall">
<pose>0 5 5 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>10 0.2 10</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>10 0.2 10</size>
</box>
</geometry>
</collision>
</link>
<link name="east_wall">
<pose>5 0 5 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.2 10 10</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.2 10 10</size>
</box>
</geometry>
</collision>
</link>
<link name="south_wall">
<pose>0 -5 6.25 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>10 0.2 7.5</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>10 0.2 7.5</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>
conf/simulator/gazebo/models/cyberzoo/model.config
-15
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@@ -1,15 +0,0 @@
<?xml version="1.0"?>
<model>
<name>Cyberzoo</name>
<version>1.0</version>
<sdf version='1.4'>cyberzoo.sdf</sdf>
<author>
<name>Tom van Dijk</name>
<email>tomvand@users.noreply.github.com</email>
</author>
<description>
Cyberzoo coarse model
</description>
</model>
conf/simulator/gazebo/models/orange_pole/model.config
-15
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@@ -1,15 +0,0 @@
<?xml version="1.0"?>
<model>
<name>Orange Pole</name>
<version>1.0</version>
<sdf version='1.4'>orange_pole.sdf</sdf>
<author>
<name>Tom van Dijk</name>
<email>tomvand@users.noreply.github.com</email>
</author>
<description>
Orange pole as used in the TU Delft Cyberzoo.
</description>
</model>
conf/simulator/gazebo/models/orange_pole/orange_pole.sdf
-43
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@@ -1,43 +0,0 @@
<?xml version='1.0'?>
<sdf version="1.4">
<model name="orange_pole">
<pose>0 0 1.0 0 0 0</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>
<cylinder>
<radius>0.3</radius>
<length>2.0</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.2</radius>
<length>2.0</length>
</cylinder>
</geometry>
<material>
<ambient>1 0.55 0 1</ambient>
<diffuse>1 0.55 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</sdf>
conf/simulator/gazebo/world/ardrone_cyberzoo.world
-1588
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