From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Sun, 20 Aug 2023 08:40:38 +0000 (-0300)
Subject: changed initial pose from model to world file
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=712d92f195aabe4c9ebed923bfe76c61de515d89;p=ufrgs_gazebo.git

changed initial pose from model to world file
---

diff --git a/models/centenario/model.sdf b/models/centenario/model.sdf
index bf973a0..7fee6af 100644
--- a/models/centenario/model.sdf
+++ b/models/centenario/model.sdf
@@ -1,7 +1,7 @@
 <?xml version='1.0'?>
 <sdf version='1.7'>
     <model name='Centenario'>
-        <pose>0 11 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <link name='Stairs_0'>
             <visual name='Stairs_0_Visual_0'>
                 <pose>0.012824 -7.08315 0.083333 0 -0 -3.14159</pose>
diff --git a/worlds/centenario.world b/worlds/centenario.world
index f216949..f0457d2 100644
--- a/worlds/centenario.world
+++ b/worlds/centenario.world
@@ -1,114 +1,115 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
-  <world name="default">
-    <!-- A global light source -->
-    <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>
-    <!-- A ground plane -->
-    <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>
-            <ambient>0.8 0.8 0.8 1</ambient>
+    <world name="default">
+        <!-- A global light source -->
+        <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>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <!-- Building model  -->
-    <include>
-      <uri>model://ufrgs_gazebo/models/centenario</uri>
-    </include>
-    <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>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-    </scene>
-    <audio>
-      <device>default</device>
-    </audio>
-    <wind/>
-   <spherical_coordinates>
-        <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
+            <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>
+        <!-- A ground plane -->
+        <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>
+                        <ambient>0.8 0.8 0.8 1</ambient>
+                        <diffuse>0.8 0.8 0.8 1</diffuse>
+                        <specular>0.8 0.8 0.8 1</specular>
+                    </material>
+                </visual>
+                <self_collide>0</self_collide>
+                <enable_wind>0</enable_wind>
+                <kinematic>0</kinematic>
+            </link>
+        </model>
+        <!-- Building model  -->
+        <include>
+            <uri>model://ufrgs_gazebo/models/centenario</uri>
+            <pose>0 11 0 0 0 0</pose>
+        </include>
+        <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>
+            <sky>
+                <clouds>
+                    <speed>12</speed>
+                </clouds>
+            </sky>
+        </scene>
+        <audio>
+            <device>default</device>
+        </audio>
+        <wind/>
+        <spherical_coordinates>
+            <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
         (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
         therefore we rotate the default frame 180 so that it would go back to ENU -->
-        <heading_deg>180</heading_deg>
-	<surface_model>EARTH_WGS84</surface_model>
-	<latitude_deg>-30.0277777777778</latitude_deg>
-	<longitude_deg>-51.228611111111</longitude_deg>
-	<elevation>22.0</elevation>
-   </spherical_coordinates>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>0.662337 -17.1466 23.9938 -0 0.979643 1.5642</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-  </world>
+            <heading_deg>180</heading_deg>
+            <surface_model>EARTH_WGS84</surface_model>
+            <latitude_deg>-30.0277777777778</latitude_deg>
+            <longitude_deg>-51.228611111111</longitude_deg>
+            <elevation>22.0</elevation>
+        </spherical_coordinates>
+        <gui fullscreen='0'>
+            <camera name='user_camera'>
+                <pose>0.662337 -17.1466 23.9938 -0 0.979643 1.5642</pose>
+                <view_controller>orbit</view_controller>
+                <projection_type>perspective</projection_type>
+            </camera>
+        </gui>
+    </world>
 </sdf>