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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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sw/simulator/nps/nps_fdm_gazebo.cpp
+31 -5
View File
@@ -337,15 +337,32 @@ static void init_gazebo(void)
std::exit(-1);
}
cout << "Add Paparazzi model path: " << gazebodir + "models/" << endl;
cout << "Add Paparazzi paths: " << gazebodir << endl;
gazebo::common::SystemPaths::Instance()->AddModelPaths(
gazebodir + "models/");
sdf::addURIPath("model://", gazebodir + "models/");
sdf::addURIPath("world://", gazebodir + "world/");
cout << "Add TU Delft paths: " << pprz_home + "/sw/ext/tudelft_gazebo_models/" << endl;
gazebo::common::SystemPaths::Instance()->AddModelPaths(
pprz_home + "/sw/ext/tudelft_gazebo_models/models/");
sdf::addURIPath("model://", pprz_home + "/sw/ext/tudelft_gazebo_models/models/");
sdf::addURIPath("world://", pprz_home + "/sw/ext/tudelft_gazebo_models/world/");
// get vehicles
cout << "Load vehicle: " << gazebodir + "models/" + NPS_GAZEBO_AC_NAME + "/" + NPS_GAZEBO_AC_NAME + ".sdf" << endl;
string vehicle_uri = "model://" + string(NPS_GAZEBO_AC_NAME) + "/" + string(NPS_GAZEBO_AC_NAME) + ".sdf";
string vehicle_filename = sdf::findFile(vehicle_uri, false);
if(vehicle_filename.empty()) {
cout << "ERROR, could not find vehicle " + vehicle_uri << endl;
std::exit(-1);
}
cout << "Load vehicle: " << vehicle_filename << endl;
sdf::SDFPtr vehicle_sdf(new sdf::SDF());
sdf::init(vehicle_sdf);
sdf::readFile(gazebodir + "models/" + NPS_GAZEBO_AC_NAME + "/" + NPS_GAZEBO_AC_NAME + ".sdf", vehicle_sdf);
if(!sdf::readFile(vehicle_filename, vehicle_sdf)) {
cout << "ERROR, could not read vehicle " + vehicle_filename << endl;
std::exit(-1);
}
// add or set up sensors before the vehicle gets loaded
// laser range array
@@ -378,10 +395,19 @@ static void init_gazebo(void)
// get world
cout << "Load world: " << gazebodir + "world/" + NPS_GAZEBO_WORLD << endl;
string world_uri = "world://" + string(NPS_GAZEBO_WORLD);
string world_filename = sdf::findFile(world_uri, false);
if(world_filename.empty()) {
cout << "ERROR, could not find world " + world_uri << endl;
std::exit(-1);
}
cout << "Load world: " << world_filename << endl;
sdf::SDFPtr world_sdf(new sdf::SDF());
sdf::init(world_sdf);
sdf::readFile(gazebodir + "world/" + NPS_GAZEBO_WORLD, world_sdf);
if(!sdf::readFile(world_filename, world_sdf)) {
cout << "ERROR, could not read world " + world_filename << endl;
std::exit(-1);
}
// add vehicles
world_sdf->Root()->GetFirstElement()->InsertElement(vehicle_sdf->Root()->GetFirstElement());