From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 7 Jan 2021 05:41:32 +0000 (-0300)
Subject: Move world and model to ufrgs_gazebo package.
X-Git-Tag: raulTCC~7^2~1
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=701c191ddb3cf68756578aa761f0c3add5feef9c;p=twil.git

Move world and model to ufrgs_gazebo package.
---

diff --git a/twil_2dnav/launch/gazebo.launch b/twil_2dnav/launch/gazebo.launch
index 42030ff..0b1538f 100644
--- 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
--- 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
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>
-              <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_10'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.71539 1.75 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_11'>
-          <pose frame=''>-0.034964 -1.48206 1.91667 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_11'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.48206 1.91667 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_12'>
-          <pose frame=''>-0.034964 -1.24872 2.08333 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_12'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.24872 2.08333 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_13'>
-          <pose frame=''>-0.034964 -1.01539 2.25 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_13'>
-          <geometry>
-            <box>
-              <size>1.99247 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.034964 -1.01539 2.25 0 -0 -3.14159</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
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-      <light name='sun'>
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-    <gui fullscreen='0'>
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diff --git a/twil_description/world/model.config b/twil_description/world/model.config
deleted file mode 100644
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>
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diff --git a/twil_description/world/model.sdf b/twil_description/world/model.sdf
deleted file mode 100644
index b5853ff..0000000
--- a/twil_description/world/model.sdf
+++ /dev/null
@@ -1,1663 +0,0 @@
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