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Unverified Commit 99842b5f authored by Simon Thomas's avatar Simon Thomas
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First commit : adding erl world and other models

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models/dem_utm_20cm/model.config 0 → 100644
View file @ 99842b5f
<?xml version="1.0"?>
<model>
<name>Canadian</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Thomas</name>
<email></email>
</author>
<description>
</description>
</model>
models/dem_utm_20cm/model.sdf 0 → 100644
View file @ 99842b5f
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="heightmap">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<heightmap>
<uri>model://dem_utm_20cm/materials/textures/dem_utm_20cm.png</uri>
<size>60 60 3</size>
<pos>0 0 0</pos>
</heightmap>
</geometry>
</collision>
<visual name="visual_abcedf">
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<texture>
<diffuse>model://dem_utm_20cm/materials/textures/mosaic_utm_20cm.png</diffuse>
<normal>model://dem_utm_20cm/materials/textures/mosaic_utm_20cm.png</normal>
<size>1</size>
</texture>
<texture>
<diffuse>model://dem_utm_20cm/materials/textures/mosaic_utm_20cm.png</diffuse>
<normal>model://dem_utm_20cm/materials/textures/mosaic_utm_20cm.png</normal>
<size>1</size>
</texture>
<texture>
<diffuse>model://dem_utm_20cm/materials/textures/mosaic_utm_20cm.png</diffuse>
<normal>model://dem_utm_20cm/materials/textures/mosaic_utm_20cm.png</normal>
<size>1</size>
</texture>
<blend>
<min_height>2</min_height>
<fade_dist>5</fade_dist>
</blend>
<blend>
<min_height>4</min_height>
<fade_dist>5</fade_dist>
</blend>
<uri>model://dem_utm_20cm/materials/textures/dem_utm_20cm.png</uri>
<size>60 60 3</size>
<pos>0 0 0</pos>
</heightmap>
</geometry>
</visual>
</link>
</model>
</sdf>
models/erl_maze/model.config 0 → 100644
View file @ 99842b5f
<?xml version="1.0" ?>
<model>
<name>erl_maze</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Thomas SIMON</name>
<email>thomas..simon@ensta-paris.fr</email>
</author>
<description>Marquee of ERL 2019</description>
</model>
models/erl_maze/model.sdf 0 → 100644
View file @ 99842b5f
<?xml version='1.0'?>
<sdf version='1.6'>
<model name='erl_maze'>
<pose frame=''>0.00741 0.001548 0 0 -0 0</pose>
<link name='Wall_12'>
<collision name='Wall_12_Collision'>
<geometry>
<box>
<size>0.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_12_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>9.81417 -10.0047 0 0 -0 3.14159</pose>
</link>
<link name='Wall_14'>
<collision name='Wall_14_Collision'>
<geometry>
<box>
<size>20.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_14_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>9.98917 0.045305 0 0 -0 1.5708</pose>
</link>
<link name='Wall_15'>
<collision name='Wall_15_Collision'>
<geometry>
<box>
<size>20.1216 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_15_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20.1216 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>0.00343 10.063 0 0 -0 -3.13835</pose>
</link>
<link name='Wall_17'>
<collision name='Wall_17_Collision'>
<geometry>
<box>
<size>8.5 0.15 0.1</size>
</box>
</geometry>
<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_17_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>8.5 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>-5.81441 -5.52855 0 0 -0 0</pose>
</link>
<link name='Wall_18'>
<collision name='Wall_18_Collision'>
<geometry>
<box>
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</box>
</geometry>
<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_18_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>-1.63941 -6.82855 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_2'>
<collision name='Wall_2_Collision'>
<geometry>
<box>
<size>20.2762 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_2_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20.2762 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>-9.98236 -0.03246 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_20'>
<collision name='Wall_20_Collision'>
<geometry>
<box>
<size>13 0.15 0.1</size>
</box>
</geometry>
<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_20_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>13 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>-6.79741 0.922452 0 0 -0 1.5708</pose>
</link>
<link name='Wall_22'>
<collision name='Wall_22_Collision'>
<geometry>
<box>
<size>9.5 0.15 0.1</size>
</box>
</geometry>
<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_22_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>9.5 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>-1.76941 2.72345 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_24'>
<collision name='Wall_24_Collision'>
<geometry>
<box>
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</box>
</geometry>
<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_24_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>3 0.15 0.1</size>
</box>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>-0.34441 -1.95155 0 0 -0 0</pose>
</link>
<link name='Wall_25'>
<collision name='Wall_25_Collision'>
<geometry>
<box>
<size>9.5 0.15 0.1</size>
</box>
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<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_25_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>9.5 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>1.08059 2.72345 0 0 -0 1.5708</pose>
</link>
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<geometry>
<box>
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</box>
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<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_27_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>3 0.15 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose frame=''>2.50559 -1.95155 0 0 -0 0</pose>
</link>
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<collision name='Wall_28_Collision'>
<geometry>
<box>
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</box>
</geometry>
<pose frame=''>0 0 0.05 0 -0 0</pose>
</collision>
<visual name='Wall_28_Visual'>
<pose frame=''>0 0 0.05 0 -0 0</pose>
<geometry>
<box>
<size>9.5 0.15 0.1</size>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
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</visual>
<pose frame=''>3.93059 2.72345 0 0 -0 1.5708</pose>
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<visual name='Wall_29_Visual'>
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