From 3fdd3aa5be3fddabd324e96b918e5f9a730d3da2 Mon Sep 17 00:00:00 2001 From: Christopher Klaus Lazik <christopher.klaus.lazik@informatik.hu-berlin.de> Date: Mon, 30 Mar 2020 12:35:31 +0200 Subject: [PATCH] Caretaker --- src/sim/launch/push.launch | 19 ------- src/sim/launch/zylinder.launch | 19 ------- src/sim/worlds/default.world | 80 --------------------------- src/sim/worlds/model_push.world | 37 ------------- src/sim/worlds/turtlebot3_house.world | 52 ----------------- 5 files changed, 207 deletions(-) delete mode 100644 src/sim/launch/push.launch delete mode 100644 src/sim/launch/zylinder.launch delete mode 100644 src/sim/worlds/default.world delete mode 100644 src/sim/worlds/model_push.world delete mode 100644 src/sim/worlds/turtlebot3_house.world diff --git a/src/sim/launch/push.launch b/src/sim/launch/push.launch deleted file mode 100644 index b2799d7..0000000 --- a/src/sim/launch/push.launch +++ /dev/null @@ -1,19 +0,0 @@ -<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 $(arg z_pos) -param robot_description" /> -</launch> diff --git a/src/sim/launch/zylinder.launch b/src/sim/launch/zylinder.launch deleted file mode 100644 index a65e959..0000000 --- a/src/sim/launch/zylinder.launch +++ /dev/null @@ -1,19 +0,0 @@ -<launch> - <arg name="model" default="$(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> diff --git a/src/sim/worlds/default.world b/src/sim/worlds/default.world deleted file mode 100644 index f92dba8..0000000 --- a/src/sim/worlds/default.world +++ /dev/null @@ -1,80 +0,0 @@ -<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> diff --git a/src/sim/worlds/model_push.world b/src/sim/worlds/model_push.world deleted file mode 100644 index dc06dad..0000000 --- a/src/sim/worlds/model_push.world +++ /dev/null @@ -1,37 +0,0 @@ -<?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> diff --git a/src/sim/worlds/turtlebot3_house.world b/src/sim/worlds/turtlebot3_house.world deleted file mode 100644 index eec85dc..0000000 --- a/src/sim/worlds/turtlebot3_house.world +++ /dev/null @@ -1,52 +0,0 @@ -<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> -- GitLab