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Commit 3fdd3aa5 authored by Christopher Klaus Lazik's avatar Christopher Klaus Lazik
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Caretaker

parent 1a062e15
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src/sim/launch/push.launch deleted 100644 → 0
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− 19
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<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="x_pos" default="0"/>
<arg name="y_pos" default="1"/>
<arg name="z_pos" default="0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/model_push.world"/>
<arg name="paused" value="true"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
</launch>
src/sim/launch/zylinder.launch deleted 100644 → 0
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<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="x_pos" default="-1.035058"/>
<arg name="y_pos" default="-1.035058"/>
<arg name="z_pos" default="-0.001001"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/zylinder.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
</launch>
src/sim/worlds/default.world deleted 100644 → 0
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<sdf version='1.6'>
<world name='default'>
<!-- Ground Plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<model name='sphere01_R_0.5'>
<pose>0.5 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</visual>
</link>
</model>
<model name='cylinder01_R_0.5'>
<pose>0.5 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1</length>
</cylinder>
</geometry>
</visual>
</link>
</model>
<model name='box01_S_1.0'>
<pose>0.5 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>
src/sim/worlds/model_push.world deleted 100644 → 0
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<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<!-- Ground Plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<model name="sphere01_R_0.05">
<pose>0 0 0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
</visual>
</link>
<plugin name="model_push" filename="libmodel_push.so"/>
</model>
</world>
</sdf>
src/sim/worlds/turtlebot3_house.world deleted 100644 → 0
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− 52
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<sdf version='1.4'>
<world name='default'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- A turtlebot symbol -->
<include>
<uri>model://turtlebot3_house</uri>
</include>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>
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