From 1caa507896faf758eb52e12d47fa0c192777f114 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Thu, 11 May 2023 17:09:11 +0100 Subject: [PATCH] Camera: add camera zoom plugin - fix gimbal test world - add example world for gimbal and camera - add gimbal_small_3d - update command topic names in gimbal test world - update quote style in gimbal_small_3d - rename zoom plugin and attach to sensor - resolve parent model and subscribe to zoom command - implement zoom for standard camera - remove whitespace for linter - provide alternative to gz::sim::Sensor - handle RenderTeardown event to exit cleanly - find package gz-common5 - use degrees for pose in gimbal world - format plugin attributes. Signed-off-by: Rhys Mainwaring --- CMakeLists.txt | 26 + include/CameraZoomPlugin.hh | 67 ++ models/gimbal_small_3d/meshes/base_plate.dae | 676 ++++++++++++++++++ .../meshes/camera_enclosure.dae | 448 ++++++++++++ models/gimbal_small_3d/meshes/roll_arm.dae | 526 ++++++++++++++ models/gimbal_small_3d/meshes/yaw_arm.dae | 552 ++++++++++++++ models/gimbal_small_3d/model.config | 21 + models/gimbal_small_3d/model.sdf | 231 ++++++ src/CameraZoomPlugin.cc | 412 +++++++++++ tests/worlds/test_gimbal.sdf | 63 +- worlds/gimbal.sdf | 288 ++++++++ 11 files changed, 3279 insertions(+), 31 deletions(-) create mode 100644 include/CameraZoomPlugin.hh create mode 100644 models/gimbal_small_3d/meshes/base_plate.dae create mode 100644 models/gimbal_small_3d/meshes/camera_enclosure.dae create mode 100644 models/gimbal_small_3d/meshes/roll_arm.dae create mode 100644 models/gimbal_small_3d/meshes/yaw_arm.dae create mode 100644 models/gimbal_small_3d/model.config create mode 100644 models/gimbal_small_3d/model.sdf create mode 100644 src/CameraZoomPlugin.cc create mode 100755 worlds/gimbal.sdf diff --git a/CMakeLists.txt b/CMakeLists.txt index 11f6181..6dd9a22 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,6 +22,12 @@ if("$ENV{GZ_VERSION}" STREQUAL "harmonic") find_package(gz-cmake3 REQUIRED) set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR}) + gz_find_package(gz-common5 REQUIRED) + set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) + + gz_find_package(gz-rendering8 REQUIRED) + set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR}) + gz_find_package(gz-sim8 REQUIRED) set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) @@ -31,6 +37,12 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}") find_package(gz-cmake3 REQUIRED) set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR}) + gz_find_package(gz-common5 REQUIRED) + set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) + + gz_find_package(gz-rendering7 REQUIRED) + set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR}) + gz_find_package(gz-sim7 REQUIRED) set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR}) @@ -70,6 +82,19 @@ target_link_libraries(ParachutePlugin PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} ) +add_library(CameraZoomPlugin + SHARED + src/CameraZoomPlugin.cc +) +target_include_directories(CameraZoomPlugin PRIVATE + include +) +target_link_libraries(CameraZoomPlugin PRIVATE + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} +) + # --------------------------------------------------------------------------- # # Install. @@ -77,6 +102,7 @@ install( TARGETS ArduPilotPlugin ParachutePlugin + CameraZoomPlugin DESTINATION lib/${PROJECT_NAME} ) diff --git a/include/CameraZoomPlugin.hh b/include/CameraZoomPlugin.hh new file mode 100644 index 0000000..2250f34 --- /dev/null +++ b/include/CameraZoomPlugin.hh @@ -0,0 +1,67 @@ +/* + Copyright (C) 2023 ArduPilot.org + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ +#ifndef CAMERAZOOMPLUGIN_HH_ +#define CAMERAZOOMPLUGIN_HH_ + +#include + +#include + +namespace gz { +namespace sim { +inline namespace GZ_SIM_VERSION_NAMESPACE { +namespace systems { + +/// \brief Camera zoom plugin. +class CameraZoomPlugin : + public System, + public ISystemConfigure, + public ISystemPreUpdate, + public ISystemPostUpdate +{ + /// \brief Destructor + public: virtual ~CameraZoomPlugin(); + + /// \brief Constructor + public: CameraZoomPlugin(); + + // Documentation inherited + public: void PreUpdate(const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) final; + + // Documentation inherited + public: void PostUpdate(const gz::sim::UpdateInfo &_info, + const gz::sim::EntityComponentManager &_ecm) final; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &) final; + + /// \internal + /// \brief Private implementation + private: class Impl; + private: std::unique_ptr impl; +}; + +} // namespace systems +} +} // namespace sim +} // namespace gz + +#endif // CAMERAZOOMPLUGIN_HH_ diff --git a/models/gimbal_small_3d/meshes/base_plate.dae b/models/gimbal_small_3d/meshes/base_plate.dae new file mode 100644 index 0000000..76fabc2 --- /dev/null +++ b/models/gimbal_small_3d/meshes/base_plate.dae @@ -0,0 +1,676 @@ + + + + + Blender User + Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1 + + 2023-05-11T22:41:59 + 2023-05-11T22:41:59 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 29.99998 + 75 + 0.15 + 0 + 1 + 2 + 0.04999995 + 30.002 + 1 + 3 + 2880 + 3 + 1 + 1 + 0.1 + 0.1 + 1 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/gimbal_small_3d/model.config b/models/gimbal_small_3d/model.config new file mode 100644 index 0000000..d91da66 --- /dev/null +++ b/models/gimbal_small_3d/model.config @@ -0,0 +1,21 @@ + + + Gimbal Small 3D + 2.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + MotorPixie 3D Gimbal for DJI Phantom 2 Vision - Discontinued. + 3D mesh: https://www.thingiverse.com/thing:391130 + by: http://www.thingiverse.com/Motorpixiegimbals/about. + + 11 May, 2023: model retrieved from + https://www.thingiverse.com/thing:391130 + and modified for Gazebo in FreeCAD and Blender. + + diff --git a/models/gimbal_small_3d/model.sdf b/models/gimbal_small_3d/model.sdf new file mode 100644 index 0000000..ada294d --- /dev/null +++ b/models/gimbal_small_3d/model.sdf @@ -0,0 +1,231 @@ + + + + 0 0 0.18 0 0 0 + + + 0.2 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + + + model://gimbal_small_3d/meshes/base_plate.dae + + + + 0.1 0.1 0.1 + 0.1 0.1 0.1 + 0.01 0.01 0.01 1.0 + + + + 0.01 0.075 -0.025 0 0 0 + + + 0.1 0.05 0.15 + + + + + + + + 0.01 + + 0.00001 + 0 + 0 + 0.00001 + 0 + 0.00001 + + + + + + model://gimbal_small_3d/meshes/yaw_arm.dae + + + + 0.1 0.1 0.1 + 0.1 0.1 0.1 + 0.01 0.01 0.01 1.0 + + + + + + model://gimbal_small_3d/meshes/yaw_arm.dae + + + + + + base_link + yaw_link + + 0 1 0 + + 0.5 + + + -1.57079632 + 1.57079632 + + + 0.0105 0.065 -0.002 0 0 0 + + + + + 0.01 + + 0.00001 + 0 + 0 + 0.00001 + 0 + 0.00001 + + + + + + model://gimbal_small_3d/meshes/roll_arm.dae + + + + 0.1 0.1 0.1 + 0.1 0.1 0.1 + 0.01 0.01 0.01 1.0 + + + + + + model://gimbal_small_3d/meshes/roll_arm.dae + + + + + + yaw_link + roll_link + + 0 0 1 + + 0.5 + + + -1.57079632 + 1.57079632 + + + 0.0099 0.002 -0.05 0 0 0 + + + + + 0.01 + + 0.00001 + 0 + 0 + 0.00001 + 0 + 0.00001 + + + + 0 0 0 0 0 0 + + + model://gimbal_small_3d/meshes/camera_enclosure.dae + + + + 0.4 0.4 0.4 + 0.4 0.4 0.4 + 0.1 0.1 0.1 1.0 + + + + 0 0 0 0 0 0 + + + model://gimbal_small_3d/meshes/camera_enclosure.dae + + + + + 0 0 0.02 0 0 0 + + + 0.025 + 0.050 + + + + 0.4 0.4 0.4 + 0.4 0.4 0.4 + 0.1 0.1 0.1 1.0 + + + + 0 0 0.02 0 0 0 + + + 0.025 + 0.050 + + + + + 0 0 0 -1.57 -1.57 0 + + 2.0 + + 640 + 480 + + + 0.05 + 15000 + + + 1 + 10 + 1 + + + 15.0 + + + + + + roll_link + pitch_link + + 1 0 0 + + 0.5 + + + -1.57079632 + 1.57079632 + + + 0.045 0.0021 0.0199 0 0 0 + + + diff --git a/src/CameraZoomPlugin.cc b/src/CameraZoomPlugin.cc new file mode 100644 index 0000000..f65473a --- /dev/null +++ b/src/CameraZoomPlugin.cc @@ -0,0 +1,412 @@ +/* + Copyright (C) 2023 ArduPilot.org + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +#include "CameraZoomPlugin.hh" + +#include +#include +#include + +#include + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include "gz/sim/Events.hh" +#include +#include +/// \todo(srmainwaring) use when gz-sim7 v7.5 is released. +// #include +#include +#include + +#include + +#include +#include + +namespace gz { +namespace sim { +inline namespace GZ_SIM_VERSION_NAMESPACE { +namespace systems { + +////////////////////////////////////////////////// +class CameraZoomPlugin::Impl +{ + /// \brief Handle a zoom command. + public: void OnZoom(const msgs::Double &_msg); + + /// \brief Initialise the rendering camera. + public: void InitialiseCamera(); + + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + /// \brief Check sensor entity is valid. + public: bool SensorValid(const EntityComponentManager &_ecm) const + { + return nullptr != + _ecm.Component(this->cameraSensorEntity); + } + + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + /// \brief Get sensor name. + public: std::optional SensorName( + const EntityComponentManager &_ecm) const + { + return _ecm.ComponentData(this->cameraSensorEntity); + } + + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + /// \brief Get sensor parent. + public: std::optional SensorParent( + const EntityComponentManager &_ecm) const + { + auto parent = + _ecm.Component(this->cameraSensorEntity); + + if (!parent) + return std::nullopt; + + return std::optional(parent->Data()); + } + + + /// \brief World occupied by the parent model. + public: World world{kNullEntity}; + + /// \brief The parent model. + public: Model parentModel{kNullEntity}; + + /// \brief Camera sensor. + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // public: Sensor cameraSensor{kNullEntity}; + public: Entity cameraSensorEntity{kNullEntity}; + + /// \brief Name of the camera. + public: std::string cameraName; + + /// \brief Name of the topic to subscribe to zoom commands. + public: std::string zoomTopic; + + /// \brief Flag to mark if zoom command has changed. + public: std::atomic zoomChanged{false}; + + /// \brief Value of the most recently received zoom command. + public: std::atomic zoomCommand{1.0}; + + /// \brief Current horizontal field of view (radians). + public: double hfov{2.0}; + + /// \brief Zoom factor. + public: double zoom{1.0}; + + /// \brief Maximum zoom factor. + public: double maxZoom{10.0}; + + /// \brief Minimum zoom factor == 1.0. + public: static constexpr double minZoom{1.0}; + + /// \brief Flag set to true if the plugin is correctly initialised. + public: bool isValidConfig{false}; + + /// \brief Connections to event callbacks. + public: std::vector connections; + + /// \brief Transport node for subscriptions. + public: transport::Node node; + + /// \brief Reset the camera and scene when the tear down event is received. + public: void OnRenderTeardown(); + + //// \brief Pointer to the rendering scene + public: rendering::ScenePtr scene; + + /// \brief Pointer to the rendering camera + public: rendering::CameraPtr camera; +}; + +////////////////////////////////////////////////// +void CameraZoomPlugin::Impl::OnZoom(const msgs::Double &_msg) +{ + this->zoomCommand = _msg.data(); + this->zoomChanged = true; +} + +////////////////////////////////////////////////// +void CameraZoomPlugin::Impl::InitialiseCamera() +{ + // Wait for render engine to be available. + if (rendering::loadedEngines().empty()) + return; + + // Get scene. + if (!this->scene) + { + this->scene = rendering::sceneFromFirstRenderEngine(); + } + + // Return if scene not ready or no sensors available. + if (!this->scene->IsInitialized() || + this->scene->SensorCount() == 0) + { + gzwarn << "No scene or camera sensors available.\n"; + return; + } + + // Get camera. + if (!this->camera) + { + auto sensor = this->scene->SensorByName(this->cameraName); + if (!sensor) + { + gzerr << "Unable to find sensor: [" << this->cameraName << "]." + << std::endl; + return; + } + this->camera = std::dynamic_pointer_cast(sensor); + if (!this->camera) + { + gzerr << "[" << this->cameraName << "] is not a camera." + << std::endl; + return; + } + } +} + +////////////////////////////////////////////////// +void CameraZoomPlugin::Impl::OnRenderTeardown() +{ + gzdbg << "CameraZoomPlugin disabled.\n"; + + this->camera.reset(); + this->scene.reset(); + this->isValidConfig = false; +} + +////////////////////////////////////////////////// +////////////////////////////////////////////////// +CameraZoomPlugin::~CameraZoomPlugin() = default; + +////////////////////////////////////////////////// +CameraZoomPlugin::CameraZoomPlugin() : + impl(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void CameraZoomPlugin::Configure( + const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) +{ + // Capture camera sensor. + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // this->impl->cameraSensor = Sensor(_entity); + // if (!this->impl->cameraSensor.Valid(_ecm)) + this->impl->cameraSensorEntity = _entity; + if (!this->impl->SensorValid(_ecm)) + { + gzerr << "CameraZoomPlugin must be attached to a camera sensor. " + "Failed to initialize.\n"; + return; + } + + // Display plugin load status. + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // if (auto maybeName = this->impl->cameraSensor.Name(_ecm)) + if (auto maybeName = this->impl->SensorName(_ecm)) + { + gzdbg << "CameraZoomPlugin attached to sensor [" + << maybeName.value() << "].\n"; + } + else + { + gzerr << "Camera sensor has invalid name.\n"; + return; + } + + // Retrieve parent model. + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // if (auto maybeParentLink = this->impl->cameraSensor.Parent(_ecm)) + if (auto maybeParentLink = this->impl->SensorParent(_ecm)) + { + Link link(maybeParentLink.value()); + if (link.Valid(_ecm)) + { + if (auto maybeParentModel = link.ParentModel(_ecm)) + { + this->impl->parentModel = maybeParentModel.value(); + } + } + } + if (!this->impl->parentModel.Valid(_ecm)) + { + gzerr << "CameraZoomPlugin - parent model not found. " + "Failed to initialize.\n"; + return; + } + + // Retrieve world entity. + this->impl->world = World( + _ecm.EntityByComponents(components::World())); + if (!this->impl->world.Valid(_ecm)) + { + gzerr << "CameraZoomPlugin - world not found. " + "Failed to initialize.\n"; + return; + } + + // Parameters + if (_sdf->HasElement("max_zoom")) + { + this->impl->maxZoom = _sdf->Get("max_zoom"); + } + + // Configure zoom command topic. + { + std::vector topics; + if (_sdf->HasElement("topic")) + { + topics.push_back(_sdf->Get("topic")); + } + auto parentModelName = this->impl->parentModel.Name(_ecm); + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // auto sensorName = this->impl->cameraSensor.Name(_ecm).value(); + auto sensorName = this->impl->SensorName(_ecm).value(); + topics.push_back("/model/" + parentModelName + + "/sensor/" + sensorName + "/zoom/cmd_zoom"); + this->impl->zoomTopic = validTopic(topics); + } + + // Subscriptions. + this->impl->node.Subscribe( + this->impl->zoomTopic, + &CameraZoomPlugin::Impl::OnZoom, this->impl.get()); + + gzdbg << "CameraZoomPlugin subscribing to messages on " + << "[" << this->impl->zoomTopic << "]\n"; + + // Connections + this->impl->connections.push_back( + _eventMgr.Connect( + std::bind(&CameraZoomPlugin::Impl::OnRenderTeardown, + this->impl.get()))); + + this->impl->isValidConfig = true; +} + +////////////////////////////////////////////////// +void CameraZoomPlugin::PreUpdate( + const UpdateInfo &/*_info*/, + EntityComponentManager &_ecm) +{ + GZ_PROFILE("CameraZoomPlugin::PreUpdate"); + + if (!this->impl->isValidConfig) + return; + + // Set up the render connection. + if (!this->impl->camera) + { + this->impl->InitialiseCamera(); + return; + } + + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // Entity cameraEntity = this->impl->cameraSensor.Entity(); + Entity cameraEntity = this->impl->cameraSensorEntity; + auto comp = _ecm.Component(cameraEntity); + if (!comp) + return; + + if (!this->impl->zoomChanged) + return; + + // Update component. + sdf::Sensor &sensor = comp->Data(); + sdf::Camera *cameraSdf = sensor.CameraSensor(); + + this->impl->zoom = std::max(std::min(this->impl->zoomCommand.load(), + this->impl->maxZoom), this->impl->minZoom); + math::Angle oldHfov = cameraSdf->HorizontalFov(); + math::Angle newHfov = this->impl->hfov / this->impl->zoom; + + cameraSdf->SetHorizontalFov(newHfov); + _ecm.SetChanged(cameraEntity, components::Camera::typeId, + ComponentState::OneTimeChange); + + // Update rendering camera. + this->impl->camera->SetHFOV(newHfov); + + gzdbg << "CameraZoomPlugin:\n" + << "Zoom: " << this->impl->zoom << "\n" + << "Old HFOV: " << oldHfov << " rad\n" + << "New HFOV: " << newHfov << " rad\n"; + + this->impl->zoomChanged = false; +} + +////////////////////////////////////////////////// +void CameraZoomPlugin::PostUpdate( + const UpdateInfo &/*_info*/, + const EntityComponentManager &_ecm) +{ + if (!this->impl->cameraName.empty()) + return; + + /// \todo(srmainwaring) replace with `gz::sim::Sensor` when available. + // Entity cameraEntity = this->impl->cameraSensor.Entity(); + Entity cameraEntity = this->impl->cameraSensorEntity; + this->impl->cameraName = + removeParentScope(scopedName(cameraEntity, _ecm, "::", false), "::"); + + gzdbg << "Camera name: [" << this->impl->cameraName << "].\n"; +} + +////////////////////////////////////////////////// + +} // namespace systems +} +} // namespace sim +} // namespace gz + +GZ_ADD_PLUGIN( + gz::sim::systems::CameraZoomPlugin, + gz::sim::System, + gz::sim::systems::CameraZoomPlugin::ISystemConfigure, + gz::sim::systems::CameraZoomPlugin::ISystemPreUpdate, + gz::sim::systems::CameraZoomPlugin::ISystemPostUpdate) + +GZ_ADD_PLUGIN_ALIAS( + gz::sim::systems::CameraZoomPlugin, + "CameraZoomPlugin") diff --git a/tests/worlds/test_gimbal.sdf b/tests/worlds/test_gimbal.sdf index 73960da..728702b 100755 --- a/tests/worlds/test_gimbal.sdf +++ b/tests/worlds/test_gimbal.sdf @@ -6,22 +6,21 @@ 1.0 - + - + ogre2 - + - + - + @@ -52,11 +51,10 @@ - + 2 0 0.5 0 0 0 @@ -137,21 +134,25 @@ - + - - gimbal::arm_joint - arm_cmd + + gimbal::roll_joint + /gimbal/cmd_roll 2 - + gimbal::tilt_joint - tilt_cmd + /gimbal/cmd_pitch + 2 + + + gimbal::yaw_joint + /gimbal/cmd_yaw 2 diff --git a/worlds/gimbal.sdf b/worlds/gimbal.sdf new file mode 100755 index 0000000..8c1dfff --- /dev/null +++ b/worlds/gimbal.sdf @@ -0,0 +1,288 @@ + + + + + 0.001 + 1.0 + + + + + + ogre2 + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + + + 10 + + 0.13733333 + 0.00 + 0.00 + 0.13733333 + 0.00 + 0.008 + + + + -0.2 0 0.5 0 0 0 + + + 0.04 + 1.0 + + + + 1 1 0 + 1 1 0 + 0.1 0.1 0 1 + + + + -0.1 0 1.01 0 0 0 + + + 0.2 + 0.02 + + + + 1 1 0 + 1 1 0 + 0.1 0.1 0 1 + + + + -0.2 0 0.5 0 0 0 + + + 0.04 + 1.0 + + + + + -0.1 0 1.01 0 0 0 + + + 0.2 + 0.02 + + + + + + world + mount_link + + + + model://gimbal_small_3d + gimbal + 0 0 0.9055 90 0 90 + + + mount_link + gimbal::base_link + + + 0.5 + + + 0 + 0 + + 0 0 1 + + + + + + + gimbal::yaw_joint + /gimbal/cmd_yaw + 2 + + + gimbal::roll_joint + /gimbal/cmd_roll + 2 + + + gimbal::pitch_joint + /gimbal/cmd_pitch + 2 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Oak tree + oak_tree0 + 10 10 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Oak tree + oak_tree1 + 8 15 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree + pine_tree0 + 15 -15 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree + pine_tree1 + 10 -20 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree + pine_tree2 + 12 -10 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/ground_station + ground_station + 10 0 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Walking person + walking_person0 + 8 2 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/plateau/models/Casual female + casual_female0 + 6 -4 0 0 0 145 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Prius Hybrid + prius_hybrid0 + 0 7 0 0 0 40 + + + +