From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 7 Jan 2021 04:58:18 +0000 (-0300)
Subject: Move world and model from twil_2dnav.
X-Git-Tag: raulTCC~2
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=960bc7fa787388d75ba29c278c9723c22df4ec2b;p=ufrgs_gazebo.git

Move world and model from twil_2dnav.
---

960bc7fa787388d75ba29c278c9723c22df4ec2b
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..c1edc29
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+#*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..3fbdaed
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ufrgs_gazebo)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ufrgs_gazebo
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ufrgs_gazebo.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ufrgs_gazebo_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ufrgs_gazebo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/models/centenario/model.config b/models/centenario/model.config
new file mode 100644
index 0000000..2cca988
--- /dev/null
+++ b/models/centenario/model.config
@@ -0,0 +1,11 @@
+<?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/models/centenario/model.sdf b/models/centenario/model.sdf
new file mode 100644
index 0000000..b5853ff
--- /dev/null
+++ b/models/centenario/model.sdf
@@ -0,0 +1,1663 @@
+<?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>
+          <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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </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>
+      </collision>
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diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..7e84705
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ufrgs_gazebo</name>
+  <version>0.0.1</version>
+  <description>The ufrgs_gazebo package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>GPLv3</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ufrgs_gazebo</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author email="gabriel.petry26@gmail.com" >Gabriel Petry</author>
+  <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/worlds/centenario.world b/worlds/centenario.world
new file mode 100644
index 0000000..4571f07
--- /dev/null
+++ b/worlds/centenario.world
@@ -0,0 +1,2915 @@
+<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>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_14'>
+          <pose frame=''>-0.034964 -0.782057 2.41667 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_14'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.034964 -0.782057 2.41667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_1'>
+        <collision name='Wall_1_Collision'>
+          <geometry>
+            <box>
+              <size>17.25 0.15 2.5</size>
+            </box>
+          </geometry>
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+        <scale>1 1 1</scale>
+        <link name='link'>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
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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>