Comments (3)
golden-memory
commented on July 19, 2024
1
Copy and paste the content of the launch and world file
thanks you very much, now the drone can fly well!
from bebops.
gsilano
commented on July 19, 2024
Copy and paste the content of the launch and world file
from bebops.
golden-memory
commented on July 19, 2024
test_city.world
<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<plugin name='gazebo_octomap' filename='librotors_gazebo_octomap_plugin.so'>
<octomapPubTopic>world/octomap</octomapPubTopic>
<octomapServiceName>world/get_octomap</octomapServiceName>
</plugin>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<physics type='ode'>
<ode>
<solver>
<type>quick</type>
<iters>1000</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>47.3667</latitude_deg>
<longitude_deg>8.5500</longitude_deg>
<elevation>500.0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='asphalt_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>10 10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>10 -10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-10 10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-10 -10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-10 -30 0 0 0 0</pose>
</model>
<model name='asphalt_plane_4'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>10 -30 0 0 0 0</pose>
</model>
<model name='asphalt_plane_5'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>30 -30 0 0 0 0</pose>
</model>
<model name='asphalt_plane_6'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>30 10 0 0 0 0</pose>
</model>
<model name='asphalt_plane_7'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>30 -10 0 0 0 0</pose>
</model>
<model name='Fast Food'>
<static>1</static>
<link name='link'>
<pose>0 0 1.57966 0 0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://fast_food/meshes/fast_food.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://fast_food/meshes/fast_food.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://fast_food/materials/scripts</uri>
<uri>model://fast_food/materials/textures</uri>
<name>FastFood/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>FastFood_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 -13 0 0 0 0</pose>
</model>
<model name='Dumpster'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://dumpster/meshes/dumpster.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://dumpster/materials/scripts</uri>
<uri>model://dumpster/materials/textures</uri>
<name>Dumpster/Diffuse</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-8.5 -12 0 0 0 0</pose>
<static>0</static>
</model>
<model name='drc_practice_yellow_parking_block'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 0 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_0'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 -2.5 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_1'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-5 2.5 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_2'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 2.5 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_3'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 0 0 0 0 0</pose>
</model>
<model name='drc_practice_yellow_parking_block_4'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://drc_practice_yellow_parking_block/meshes/block.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 -2.5 0 0 0 0</pose>
</model>
<model name='House 1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_1/meshes/house_1.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_1/meshes/house_1.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_1/materials/scripts</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_1/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>House_1_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>13 16 0 0 0 0</pose>
</model>
<model name='House 2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_2/meshes/house_2.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_2/meshes/house_2.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_2/materials/scripts</uri>
<uri>model://house_2/materials/textures</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_2/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>0 15 0 0 0 0</pose>
</model>
<model name='House 3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_3/meshes/house_3.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_3/meshes/house_3.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_3/materials/scripts</uri>
<uri>model://house_3/materials/textures</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_3/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-8 14 0 0 0 0</pose>
</model>
<model name='mud_box'>
<static>1</static>
<link name='link'>
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<pose>10 -10 0 0 0 0</pose>
<link name='link'>
<pose>10 -10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_1'>
<pose>-10 10 0 0 0 0</pose>
<link name='link'>
<pose>-10 10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_2'>
<pose>-10 -10 0 0 0 0</pose>
<link name='link'>
<pose>-10 -10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_3'>
<pose>-10 -30 0 0 0 0</pose>
<link name='link'>
<pose>-10 -30 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_4'>
<pose>10 -30 0 0 0 0</pose>
<link name='link'>
<pose>10 -30 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_5'>
<pose>30 -30 0 0 0 0</pose>
<link name='link'>
<pose>30 -30 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_6'>
<pose>30 10 0 0 0 0</pose>
<link name='link'>
<pose>30 10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='asphalt_plane_7'>
<pose>30 -10 0 0 0 0</pose>
<link name='link'>
<pose>30 -10 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block'>
<pose>-5 0 0 0 0 0</pose>
<link name='link'>
<pose>-5 0 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_0'>
<pose>-5 -2.5 0 0 0 0</pose>
<link name='link'>
<pose>-5 -2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_1'>
<pose>-5 2.5 0 0 0 0</pose>
<link name='link'>
<pose>-5 2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_2'>
<pose>-4 2.5 0 0 0 0</pose>
<link name='link'>
<pose>-4 2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_3'>
<pose>-4 0 0 0 0 0</pose>
<link name='link'>
<pose>-4 0 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='drc_practice_yellow_parking_block_4'>
<pose>-4 -2.5 0 0 0 0</pose>
<link name='link'>
<pose>-4 -2.5 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='grey_wall'>
<pose>-16 -16 0 0 0 0</pose>
<link name='link'>
<pose>-16 -16 1.4 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='grey_wall_0'>
<pose>-12.15 -19.7 0 0 0 -1.57378</pose>
<link name='link'>
<pose>-12.15 -19.7 1.4 0 0 -1.57378</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose>0 0 0 0 0 0</pose>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='ladder'>
<pose>-13.3 -15.3 0.1 0 0 -3.1415</pose>
<link name='link'>
<pose>-13.3 -15.3 0.1 0 0 -3.1415</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
<model name='mud_box'>
<pose>-16.1 -21 0 0 0 0</pose>
<link name='link'>
<pose>-16.1 -21 0 0 0 0</pose>
<velocity>0 0 0 0 0 0</velocity>
<acceleration>0 0 0 0 0 0</acceleration>
<wrench>0 0 0 0 0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>-15 0 4.57585 0 0.317796 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<model name='Gas Station'>
<static>1</static>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://gas_station/meshes/gas_station.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://gas_station/meshes/gas_station.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://gas_station/materials/scripts</uri>
<uri>model://gas_station/materials/textures</uri>
<name>GasStation/Diffuse</name>
</script>
<shader type='normal_map_object_space'>
<normal_map>GasStation_Normal.png</normal_map>
</shader>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>25 -13 0 0 0 -1.5708</pose>
</model>
</world>
</sdf>task2_world.launch
<?xml version="1.0"?>
<launch>
<arg name="name" default="bebop"/>
<arg name="plotName" default="bebopPlots"/>
<arg name="x" default="0.0" />
<arg name="y" default="0.0" />
<arg name="z" default="0.0" />
<arg name="use_sim_time" default="true"/>
<arg name="world_name" default="test_city"/>
<arg name="wind_force" default="0.25"/>
<arg name="wind_start" default="5.0"/>
<arg name="wind_duration" default="40.0"/>
<arg name="wind_direction_x" default="1.0"/>
<arg name="wind_direction_y" default="0.0"/>
<arg name="wind_direction_z" default="0.0"/>
<arg name="csvFilesStoring" default="false"/>
<arg name="csvFilesStoringTime" default="60.0"/> <!-- seconds -->
<arg name="user_account" default="giuseppe"/> <!-- account name of your pc -->
<arg name="waypoint_filter" default="true"/>
<arg name="EKFActive" default="false"/>
<arg name="enable_odometry_sensor_with_noise" default="false"/>
<arg name="disable_odometry_sensor_with_noise" default="true"/>
<arg name="enable_ground_truth_sensor" default="false"/>
<arg name="enable_wind_plugin" default="false"/>
<arg name="enable_laser1D" default="false"/>
<arg name="enable_plots" default="false"/>
<arg name="enable_imu" default="true"/>
<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find bebop_simulator)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find bebop_simulator)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find bebop_simulator)/worlds/$(arg world_name).world" />
</include>
<!-- Launch UAV -->
<include file="$(find bebop_simulator)/launch/spawn_bebop.launch">
<arg name="name" value="$(arg name)" />
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="wind_force" value="$(arg wind_force)"/>
<arg name="wind_start" value="$(arg wind_start)"/>
<arg name="wind_duration" value="$(arg wind_duration)"/>
<arg name="wind_direction_x" value="$(arg wind_direction_x)"/>
<arg name="wind_direction_y" value="$(arg wind_direction_y)"/>
<arg name="wind_direction_z" value="$(arg wind_direction_z)"/>
<!-- The disable_odometry_sensor_with_noise will only become true if enable_odometry_sensor_with_noise will is false.
In this way, only one odometry sensor will be simulated: with or without noise. -->
<arg name="enable_odometry_sensor_with_noise" value="$(arg enable_odometry_sensor_with_noise)"/>
<param name="disable_odometry_sensor_with_noise" value="false" unless="$(arg enable_odometry_sensor_with_noise)" />
<arg name="disable_odometry_sensor_with_noise" value="$(arg disable_odometry_sensor_with_noise)"/>
<arg name="enable_ground_truth_sensor" value="$(arg enable_ground_truth_sensor)"/>
<arg name="enable_wind_plugin" value="$(arg enable_wind_plugin)"/>
<arg name="enable_imu" value="$(arg enable_imu)"/>
<arg name="enable_laser1D" value="$(arg enable_laser1D)"/>
</include>
<!-- Launch the controller -->
<node name="position_controller_node" pkg="bebop_simulator" type="position_controller_node" output="screen">
<rosparam command="load" file="$(find bebop_simulator)/resource/controller_bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/bebop.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/EKF_matrix.yaml" />
<rosparam command="load" file="$(find bebop_simulator)/resource/waypoint_filter.yaml" />
<param name="use_sim_time" value="$(arg use_sim_time)" />
<param name="csvFilesStoring" value="$(arg csvFilesStoring)"/>
<param name="csvFilesStoringTime" value="$(arg csvFilesStoringTime)"/>
<param name="user_account" value="$(arg user_account)"/>
<param name="waypoint_filter" value="$(arg waypoint_filter)"/>
<param name="EKFActive" value="$(arg EKFActive)"/>
<remap from="/command/motor_speed" to="/gazebo/command/motor_speed" />
<remap from="/odometry" to="/bebop/odometry" />
<remap from="/odometry_gt" to="/bebop/odometry_gt" />
<remap from="/filteredOutput" to="/bebop/filteredOutput" />
<remap from="/referenceAngles" to="/bebop/referenceAngles" />
<remap from="/stateErrors" to="/bebop/stateErrors" />
<remap from="/smoothedTrajectory" to="/bebop/smoothedTrajectory" />
<remap from="/command/trajectory" to="/bebop/command/trajectory" />
<remap from="/uTerrComponents" to="/bebop/uTerrComponents" />
<remap from="/zVelocityComponents" to="/bebop/zVelocityComponents" />
<remap from="/positionAndVelocityErrors" to="/bebop/positionAndVelocityErrors" />
<remap from="/angularAndAngularVelocityErrors" to="/bebop/angularAndAngularVelocityErrors" />
</node>
<!-- Launch the trajectory generator -->
<group ns="$(arg name)">
<node name="waypoint_example" pkg="bebop_simulator" type="waypoint_example" output="screen" args="$(find bebop_simulator)/resource/waypoints.txt"/>
</group>
<!-- Launch the trajectory plot -->
<group ns="$(arg plotName)" if="$(arg enable_plots)">
<node name="position_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/odometry/pose/pose/position" output="screen" />
<node name="quaternion_to_rpy" pkg="bebop_simulator" type="quaternion_to_rpy" output="screen" >
<remap from="/odometry" to="/bebop/odometry" />
<remap from="/orientation_rpy" to="/bebop/orientation_rpy" />
</node>
<node name="orientation_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/orientation_rpy" output="screen" />
<!-- Launch the reference angles plot -->
<node name="reference_angles_uT_PhiR_ThetaR" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/referenceAngles/pose/pose/position" output="screen" />
<node name="reference_angles_Ux_Uy_Uterr" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/referenceAngles/twist/twist/linear" output="screen" />
<!-- Launch the smoothed trajectory plot -->
<node name="smoothed_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/smoothedTrajectory/pose/pose/position" output="screen" />
<!-- Launch the uTerr components plot -->
<node name="uTerr_components_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/uTerrComponents/pose/pose/position" output="screen" />
<!-- Launch the zVelocity components plot -->
<node name="zVelocity_components_plot_1" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/zVelocityComponents/pose/pose/position" output="screen" />
<node name="zVelocity_components_plot_2" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/zVelocityComponents/twist/twist/linear" output="screen" />
<!-- Launch the filtered output plot -->
<node name="position_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/filteredOutput/pose/pose/position" output="screen" />
<node name="velocity_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/filteredOutput/twist/twist/linear" output="screen" />
<!-- Launch the state errors plot -->
<node name="state_errors_position_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/stateErrors/pose/pose/position" output="screen" />
<node name="state_errors_velocity_plot_ekf" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/stateErrors/twist/twist/linear" output="screen" />
<!-- Launch the position and velocity errors plot -->
<node name="position_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/positionAndVelocityErrors/pose/pose/position" output="screen" />
<node name="velocity_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/positionAndVelocityErrors/twist/twist/linear" output="screen" />
<!-- Launch the angular and angular velocities errors plot -->
<node name="angular_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/angularAndAngularVelocityErrors/pose/pose/position" output="screen" />
<node name="angular_velocity_errors_plot" pkg="rqt_plot" type="rqt_plot" args="--clear-config /$(arg name)/angularAndAngularVelocityErrors/twist/twist/linear" output="screen" />
</group>
</launch>from bebops.
Related Issues (20)
- The rotors don't spin HOT 14
- SITL with QGC HOT 4
- Spawning Error HOT 5
- Custom Messages in Matlab HOT 2
- UAV can't move HOT 9
- topics are incomplete HOT 3
- Running {task1_world_with_bebop,task2_world_with_bebop}.launch files HOT 5
- rostopic - command to set the trajectory HOT 1
- root@7fe7b2744d5d:~/carla-ros-bridge/catkin_ws# sudo rosdep init HOT 3
- Gzserver: symbol lookup error After Launching bebop_without_controller.launch HOT 12
- bebop_autonomy with bebopS HOT 4
- gzserver:symbol lookup error: HOT 3
- Can't comple catkin_ws HOT 9
- Invalid parameter and Error with Param xml HOT 3
- [ERROR] Build fails HOT 4
- Simulator not starting HOT 3
- motor_speed or cmd_vel HOT 6
- ROS noetic and gazebo 11 HOT 18
- gzserver error: Look up (when running PX4 mavros example) HOT 3
- drone simulation to live drone flight HOT 5
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from bebops.