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Move world and model to ufrgs_gazebo package.
authorWalter Fetter Lages <w.fetter@ieee.org>
Thu, 7 Jan 2021 05:41:32 +0000 (02:41 -0300)
committerWalter Fetter Lages <w.fetter@ieee.org>
Thu, 7 Jan 2021 05:41:32 +0000 (02:41 -0300)
twil_2dnav/launch/gazebo.launch patch | blob | history
twil_2dnav/launch/move_base.launch patch | blob | history
twil_description/world/centenario.world [deleted file] patch | blob | history
twil_description/world/model.config [deleted file] patch | blob | history
twil_description/world/model.sdf [deleted file] patch | blob | history

diff --git a/twil_2dnav/launch/gazebo.launch b/twil_2dnav/launch/gazebo.launch
index 42030ff..0b1538f 100644 (file)
--- a/twil_2dnav/launch/gazebo.launch
+++ b/twil_2dnav/launch/gazebo.launch
@@ -3,7 +3,7 @@
        <arg name="headless" default="false"/>
        <arg name="use_sim_time" default="true"/>
        <arg name="wam" default="false"/>
-       <arg name="world" default ="$(find twil_description)/world/centenario.world"/>
+       <arg name="world" default ="$(find ufrgs_gazebo)/worlds/centenario.world"/>
        <arg name="controller" default="twist_mrac_linearizing_controller"/>
         <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
 
@@ -20,7 +20,7 @@
 
        <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
 
-       <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+       <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
diff --git a/twil_2dnav/launch/move_base.launch b/twil_2dnav/launch/move_base.launch
index 661a00d..37bf383 100644 (file)
--- a/twil_2dnav/launch/move_base.launch
+++ b/twil_2dnav/launch/move_base.launch
@@ -1,5 +1,5 @@
 <launch>
-       <node name="map_server" pkg="map_server" type="map_server" args="$(find twil_2dnav)/map/centenario1.yaml"/>
+       <node name="map_server" pkg="map_server" type="map_server" args="$(find ufrgs_maps)/map/centenario1.yaml"/>
 
        <!--include file="$(find amcl)/examples/amcl_omni.launch" /-->
 
@@ -10,4 +10,4 @@
                <rosparam file="$(find twil_2dnav)/config/global_costmap_params.yaml" command="load" />
                <rosparam file="$(find twil_2dnav)/config/base_local_planner_params.yaml" command="load" />
        </node>
-</launch> 
+</launch>
diff --git a/twil_description/world/centenario.world b/twil_description/world/centenario.world
deleted file mode 100644 (file)
index 4571f07..0000000
--- a/twil_description/world/centenario.world
+++ /dev/null
@@ -1,2915 +0,0 @@
-<sdf version='1.6'>
-  <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>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>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>65535</collide_bitmask>
-              <ode/>
-            </contact>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <gravity>0 0 -9.8</gravity>
-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
-    <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
-    </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>1</shadows>
-    </scene>
-    <audio>
-      <device>default</device>
-    </audio>
-    <wind/>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-    <model name='Centenario'>
-      <pose frame=''>-0.118577 7.44241 0 0 -0 0</pose>
-      <link name='Stairs_0'>
-        <visual name='Stairs_0_Visual_0'>
-          <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_0'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_1'>
-          <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_1'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_2'>
-          <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_2'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_3'>
-          <pose frame=''>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_3'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_4'>
-          <pose frame=''>-0.034964 -3.11539 0.75 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_4'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -3.11539 0.75 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_5'>
-          <pose frame=''>-0.034964 -2.88206 0.916667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_5'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.88206 0.916667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_6'>
-          <pose frame=''>-0.034964 -2.64872 1.08333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_6'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.64872 1.08333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_7'>
-          <pose frame=''>-0.034964 -2.41539 1.25 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_7'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.41539 1.25 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_8'>
-          <pose frame=''>-0.034964 -2.18206 1.41667 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_8'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -2.18206 1.41667 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_9'>
-          <pose frame=''>-0.034964 -1.94872 1.58333 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</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>
-        <collision name='Stairs_0_Collision_9'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.94872 1.58333 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_10'>
-          <pose frame=''>-0.034964 -1.71539 1.75 0 -0 -3.14159</pose>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
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-      <model name='ground_plane'>
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-        <scale>1 1 1</scale>
-        <link name='link'>
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-      </model>
-      <light name='sun'>
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-      </light>
-    </state>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>4.51855 4.85934 38.2537 -3.9e-05 1.5698 1.56416</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-  </world>
-</sdf>
diff --git a/twil_description/world/model.config b/twil_description/world/model.config
deleted file mode 100644 (file)
index 2cca988..0000000
--- a/twil_description/world/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>Centenario</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/twil_description/world/model.sdf b/twil_description/world/model.sdf
deleted file mode 100644 (file)
index b5853ff..0000000
--- a/twil_description/world/model.sdf
+++ /dev/null
@@ -1,1663 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='Centenario'>
-    <pose frame=''>-0.026228 -3.16612 0 0 -0 0</pose>
-    <link name='Stairs_0'>
-      <visual name='Stairs_0_Visual_0'>
-        <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
-        <geometry>
-          <box>
-            <size>1.99247 0.233333 0.166667</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>
-      <collision name='Stairs_0_Collision_0'>
-        <geometry>
-          <box>
-            <size>1.99247 0.233333 0.166667</size>
-          </box>
-        </geometry>
-        <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
-      </collision>
-      <visual name='Stairs_0_Visual_1'>
-        <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
-        <geometry>
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-          </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>
-      <collision name='Stairs_0_Collision_1'>
-        <geometry>
-          <box>
-            <size>1.99247 0.233333 0.166667</size>
-          </box>
-        </geometry>
-        <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
-      </collision>
-      <visual name='Stairs_0_Visual_2'>
-        <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
-        <geometry>
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-          </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>
-      <collision name='Stairs_0_Collision_2'>
-        <geometry>
-          <box>
-            <size>1.99247 0.233333 0.166667</size>
-          </box>
-        </geometry>
-        <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
-      </collision>
-      <visual name='Stairs_0_Visual_3'>
-        <pose frame=''>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
-        <geometry>
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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>
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-      </visual>
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-      <visual name='Stairs_0_Visual_4'>
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-        <geometry>
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-          <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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-        </meta>
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-      <collision name='Stairs_0_Collision_4'>
-        <geometry>
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-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
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-      <collision name='Stairs_0_Collision_5'>
-        <geometry>
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-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
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-          <ambient>1 1 1 1</ambient>
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-            <name>Gazebo/Grey</name>
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-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
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-          <ambient>1 1 1 1</ambient>
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-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
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-            <name>Gazebo/Grey</name>
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-        </meta>
-      </visual>
-      <pose frame=''>-4.89665 -2.64996 0 0 -0 0</pose>
-    </link>
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-      <collision name='Wall_66_Collision'>
-        <geometry>
-          <box>
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-          </box>
-        </geometry>
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-      </collision>
-      <visual name='Wall_66_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
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-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
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-      </visual>
-      <pose frame=''>-4.71001 -2.44358 0 0 -0 1.51448</pose>
-    </link>
-    <link name='Wall_68'>
-      <collision name='Wall_68_Collision'>
-        <geometry>
-          <box>
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-          </box>
-        </geometry>
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-      </collision>
-      <visual name='Wall_68_Visual'>
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-        <geometry>
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-            <size>1.75 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
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-      <pose frame=''>-2.77165 -2.64996 0 0 -0 3.14159</pose>
-    </link>
-    <link name='Wall_74'>
-      <collision name='Wall_74_Collision'>
-        <geometry>
-          <box>
-            <size>7.75035 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_74_Visual'>
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-        <geometry>
-          <box>
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-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
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-      </visual>
-      <pose frame=''>7.10837 3.22192 0 0 -0 1.56127</pose>
-    </link>
-    <link name='Wall_75'>
-      <collision name='Wall_75_Collision'>
-        <geometry>
-          <box>
-            <size>14.25 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_75_Visual'>
-        <pose frame=''>0 0 1.25 0 -0 0</pose>
-        <geometry>
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-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
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-      </visual>
-      <pose frame=''>0.094588 7.02192 0 0 -0 3.14159</pose>
-    </link>
-    <link name='Wall_77'>
-      <pose frame=''>5.1219 -5.57776 0 0 -0 1.5708</pose>
-      <visual name='Wall_77_Visual_0'>
-        <pose frame=''>-1.76521 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>2.46957 0.15 2.5</size>
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-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <collision name='Wall_77_Collision_0'>
-        <geometry>
-          <box>
-            <size>2.46957 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>-1.76521 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_77_Visual_1'>
-        <pose frame=''>1.75828 0 1.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>2.48345 0.15 2.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <collision name='Wall_77_Collision_1'>
-        <geometry>
-          <box>
-            <size>2.48345 0.15 2.5</size>
-          </box>
-        </geometry>
-        <pose frame=''>1.75828 0 1.25 0 -0 0</pose>
-      </collision>
-      <visual name='Wall_77_Visual_2'>
-        <pose frame=''>-0.006936 0 2.25 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>1.04698 0.15 0.5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <collision name='Wall_77_Collision_2'>
-        <geometry>
-          <box>
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-          </box>
-        </geometry>
-        <pose frame=''>-0.006936 0 2.25 0 -0 0</pose>
-      </collision>
-    </link>
-    <link name='Wall_79'>
-      <collision name='Wall_79_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_79_Visual'>
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-        <geometry>
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-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <ambient>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>5.29401 -6.16546 0 0 -0 3.14159</pose>
-    </link>
-    <link name='Wall_81'>
-      <collision name='Wall_81_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_81_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>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>5.26141 -4.9872 0 0 -0 3.14159</pose>
-    </link>
-    <link name='Wall_9'>
-      <collision name='Wall_9_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_9_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>0.980392 0.705882 0.588235 1</ambient>
-        </material>
-        <meta>
-          <layer>0</layer>
-        </meta>
-      </visual>
-      <pose frame=''>2.17835 -2.47496 0 0 -0 1.5708</pose>
-    </link>
-    <static>1</static>
-  </model>
-</sdf>
Twil ROS meta-package.