diff --git a/turtlebot3_fake_node/CHANGELOG.rst b/turtlebot3_fake_node/CHANGELOG.rst index 53b32ac0..5e183441 100644 --- a/turtlebot3_fake_node/CHANGELOG.rst +++ b/turtlebot3_fake_node/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package turtlebot3_fake ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Will Son + 2.2.3 (2021-04-12) ------------------ * Update required keyword arguments diff --git a/turtlebot3_fake_node/CMakeLists.txt b/turtlebot3_fake_node/CMakeLists.txt index 778fa05b..05967447 100644 --- a/turtlebot3_fake_node/CMakeLists.txt +++ b/turtlebot3_fake_node/CMakeLists.txt @@ -53,7 +53,7 @@ install(TARGETS ${EXEC_NAME} DESTINATION lib/${PROJECT_NAME} ) -install(DIRECTORY launch param rviz +install(DIRECTORY launch param DESTINATION share/${PROJECT_NAME} ) diff --git a/turtlebot3_fake_node/launch/rviz2.launch.py b/turtlebot3_fake_node/launch/rviz2.launch.py index e68bf6c8..da70728f 100644 --- a/turtlebot3_fake_node/launch/rviz2.launch.py +++ b/turtlebot3_fake_node/launch/rviz2.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): rviz_config_dir = os.path.join( - get_package_share_directory('turtlebot3_fake_node'), + get_package_share_directory('turtlebot3_gazebo'), 'rviz', - 'model.rviz' + 'tb3_gazebo.rviz' ) return LaunchDescription([ diff --git a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py index 68cbee72..0733c427 100644 --- a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py +++ b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' urdf = os.path.join( - get_package_share_directory('turtlebot3_description'), + get_package_share_directory('turtlebot3_gazebo'), 'urdf', urdf_file_name) diff --git a/turtlebot3_fake_node/package.xml b/turtlebot3_fake_node/package.xml index 7afafe74..9e083764 100644 --- a/turtlebot3_fake_node/package.xml +++ b/turtlebot3_fake_node/package.xml @@ -2,7 +2,7 @@ turtlebot3_fake_node - 2.2.3 + 2.2.4 Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot. You can do simple tests using this package on rviz without real robots. diff --git a/turtlebot3_fake_node/rviz/model.rviz b/turtlebot3_fake_node/rviz/model.rviz deleted file mode 100644 index e35259f3..00000000 --- a/turtlebot3_fake_node/rviz/model.rviz +++ /dev/null @@ -1,233 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - Splitter Ratio: 0.5 - Tree Height: 765 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /scan - Unreliable: true - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_scan: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Unreliable: false - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_default_plugins/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Angle Tolerance: 0.10000000149011612 - Class: rviz_default_plugins/Odometry - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: false - Enabled: true - Keep: 100 - Name: Odometry - Position Tolerance: 0.10000000149011612 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /odom - Unreliable: true - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 7.944110870361328 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.09679540991783142 - Y: -0.015412976033985615 - Z: -0.08031613379716873 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5697963237762451 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.1454057693481445 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 994 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001b100000388fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000388000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ebfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000002eb000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003940000038800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1355 - X: 2532 - Y: 0 diff --git a/turtlebot3_gazebo/CHANGELOG.rst b/turtlebot3_gazebo/CHANGELOG.rst index 34f53b40..08c8861c 100644 --- a/turtlebot3_gazebo/CHANGELOG.rst +++ b/turtlebot3_gazebo/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package turtlebot3_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Separate world and robot models(#162) +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Joep Tool, Will Son + 2.2.3 (2021-04-12) ------------------ * Update required keyword arguments diff --git a/turtlebot3_gazebo/CMakeLists.txt b/turtlebot3_gazebo/CMakeLists.txt index 0f17f08f..61ea048e 100644 --- a/turtlebot3_gazebo/CMakeLists.txt +++ b/turtlebot3_gazebo/CMakeLists.txt @@ -69,7 +69,7 @@ install(TARGETS ${EXEC_NAME} DESTINATION lib/${PROJECT_NAME} ) -install(DIRECTORY launch models rviz worlds +install(DIRECTORY launch models rviz urdf worlds DESTINATION share/${PROJECT_NAME}/ ) diff --git a/turtlebot3_gazebo/launch/empty_world.launch.py b/turtlebot3_gazebo/launch/empty_world.launch.py index 8e72b02e..3f74a581 100644 --- a/turtlebot3_gazebo/launch/empty_world.launch.py +++ b/turtlebot3_gazebo/launch/empty_world.launch.py @@ -14,48 +14,67 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Darby Lim +# Authors: Joep Tool import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='True') - world_file_name = 'empty_worlds/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'empty_world.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - ExecuteProcess( - cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time], - output='screen'), + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py index 938669ca..8cd329fa 100644 --- a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py +++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py @@ -33,11 +33,14 @@ def generate_launch_description(): print('urdf_file_name : {}'.format(urdf_file_name)) - urdf = os.path.join( - get_package_share_directory('turtlebot3_description'), + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), 'urdf', urdf_file_name) + with open(urdf_path, 'r') as infp: + robot_desc = infp.read() + return LaunchDescription([ DeclareLaunchArgument( 'use_sim_time', @@ -49,6 +52,9 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - parameters=[{'use_sim_time': use_sim_time}], - arguments=[urdf]), + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_desc + }], + ), ]) diff --git a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py new file mode 100644 index 00000000..88b54a65 --- /dev/null +++ b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py @@ -0,0 +1,70 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the urdf file + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'models', + model_folder, + 'model.sdf' + ) + + # Launch configuration variables specific to simulation + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + # Declare the launch arguments + declare_x_position_cmd = DeclareLaunchArgument( + 'x_pose', default_value='0.0', + description='Specify namespace of the robot') + + declare_y_position_cmd = DeclareLaunchArgument( + 'y_pose', default_value='0.0', + description='Specify namespace of the robot') + + start_gazebo_ros_spawner_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', TURTLEBOT3_MODEL, + '-file', urdf_path, + '-x', x_pose, + '-y', y_pose, + '-z', '0.01' + ], + output='screen', + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_x_position_cmd) + ld.add_action(declare_y_position_cmd) + + # Add any conditioned actions + ld.add_action(start_gazebo_ros_spawner_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py b/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py deleted file mode 100644 index ab73a085..00000000 --- a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py +++ /dev/null @@ -1,56 +0,0 @@ -#!/usr/bin/env python3 -# -# Copyright 2019 ROBOTIS CO., LTD. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Ryan Shim - -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration - -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - - -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_autoraces/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py index 667efe29..a4f9ef8e 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage1/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage1.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py index eda96004..b54d5d44 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage2/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage2.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py index db896e4b..03374cf5 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage3/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage3.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py index d88fdf9b..7c39b774 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage4/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage4.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py index ff1366fe..895e6741 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Darby Lim, Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_house.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py index 0cdaed69..78e43419 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Darby Lim +# Authors: Joep Tool import os @@ -24,33 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_worlds/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_world.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), + launch_arguments={'world': world}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') ), - ]) + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material b/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material deleted file mode 100644 index 0859df92..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material +++ /dev/null @@ -1,14 +0,0 @@ -material course -{ - technique - { - pass - { - texture_unit - { - texture course.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/textures/course.png b/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/textures/course.png deleted file mode 100644 index 2500441e..00000000 Binary files a/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/textures/course.png and /dev/null differ diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.config deleted file mode 100644 index e3e50559..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - course - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - - - A simple textured ground plane - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.sdf deleted file mode 100644 index 614b303d..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.sdf +++ /dev/null @@ -1,42 +0,0 @@ - - - - true - - - - - 0 0 1 - 4 4 - - - - - - 100 - 50 - - - - - - false - - - 0 0 1 - 4 4 - - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config deleted file mode 100644 index d78e6134..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - ground - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Ground. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf deleted file mode 100644 index 929152ce..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf +++ /dev/null @@ -1,45 +0,0 @@ - - - - 0 0 -0.1 0 0 0 - 1 - - - - - 8 8 0.01 - - - - - - - - - - - - - - - 10 - - - - - 10 10 0.01 - - - - - - - 0 - 0 - 1 - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config deleted file mode 100644 index 66b5f1f5..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - lights - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Ground. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf deleted file mode 100644 index 3a2e49f9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf +++ /dev/null @@ -1,42 +0,0 @@ - - - - -0.948146 0.604519 1 0 -0 0 - 0.5 0.5 0.5 1 - 0.1 0.1 0.1 1 - - 20 - 0.5 - 0.01 - 0.001 - - 0 - 0 0 -1 - - - 1.63854 1.69565 1 0 -0 0 - 0.5 0.5 0.5 1 - 0.1 0.1 0.1 1 - - 20 - 0.5 - 0.01 - 0.001 - - 0 - 0 0 -1 - - - 0.42 -3.31 1 0 -0 0 - 0.5 0.5 0.5 1 - 0.1 0.1 0.1 1 - - 20 - 0.5 - 0.01 - 0.001 - - 0 - 0 0 -1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/model.config deleted file mode 100644 index d4413284..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/model.config +++ /dev/null @@ -1,15 +0,0 @@ - - - - turtlebot3_autorace - 1.0 - - - Ryan Shim - jhshim@robotis.com - - - - Turtlebot3 Autorace - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material deleted file mode 100644 index ddfd56f9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_bar -{ - technique - { - pass - { - texture_unit - { - texture traffic_bar.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/textures/traffic_bar.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/textures/traffic_bar.png deleted file mode 100644 index 7f9a37a6..00000000 Binary files a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/textures/traffic_bar.png and /dev/null differ diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.config deleted file mode 100644 index 26ae8e65..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - traffic_bar_down - 1.0 - traffic_bar_down.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf deleted file mode 100644 index 4ef7fd1b..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf +++ /dev/null @@ -1,31 +0,0 @@ - - - - true - - -1.8 0.6 0.15 0 0 0 - - - - 0.3 0.01 0.023 - - - - - - - 0.3 0.01 0.023 - - - - - - - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material deleted file mode 100644 index ddfd56f9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_bar -{ - technique - { - pass - { - texture_unit - { - texture traffic_bar.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/textures/traffic_bar.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/textures/traffic_bar.png deleted file mode 100644 index 7f9a37a6..00000000 Binary files a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/textures/traffic_bar.png and /dev/null differ diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.config deleted file mode 100644 index 4bcfc77f..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - traffic_bar_up - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.sdf deleted file mode 100644 index b69bd9f8..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.sdf +++ /dev/null @@ -1,32 +0,0 @@ - - - - 0 0 0 0 0 0 - - - -1.95 0.6 0.3 0 1.57 0 - - - 0.3 0.01 0.023 - - - - - -1.95 0.6 0.3 0 1.57 0 - - - 0.3 0.01 0.023 - - - - - - - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.config deleted file mode 100644 index 978d3e63..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - traffic_light_green - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - The traffic green light. - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf deleted file mode 100644 index f950559f..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - 0 0 0 0 -0 -1.5708 - - - 1.3 -1.95 0.05 0 0 0 - - - 0.015 - - - - - 1.3 -1.95 0.05 0 0 0 - - - 0.015 - - - - - - - 0 - 0 - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config deleted file mode 100644 index e2a9ea65..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - traffic_light_red - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - The traffic red light. - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf deleted file mode 100644 index 6ff02ec9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - 0 0 0 0 -0 -1.5708 - - - 1.3 -1.95 0.13 0 0 0 - - - 0.015 - - - - - 1.3 -1.95 0.13 0 0 0 - - - 0.015 - - - - - - - 0 - 0 - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config deleted file mode 100644 index 24df5b02..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - traffic_light_yellow - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - The traffic yellow light. - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf deleted file mode 100644 index d023fcf8..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - 0 0 0 0 -0 -1.5708 - - - 1.3 -1.95 0.09 0 0 0 - - - 0.015 - - - - - 1.3 -1.95 0.09 0 0 0 - - - 0.015 - - - - - - - 0 - 0 - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material deleted file mode 100644 index fe4c1198..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_parking -{ - technique - { - pass - { - texture_unit - { - texture traffic_parking.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/textures/traffic_parking.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/textures/traffic_parking.png deleted file mode 100644 index cad3fc68..00000000 Binary files a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/textures/traffic_parking.png and /dev/null differ diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.config deleted file mode 100644 index f0307945..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - traffic_parking - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.sdf deleted file mode 100644 index 68d338d2..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.sdf +++ /dev/null @@ -1,30 +0,0 @@ - - - - true - - 0 0 0 0 0 0 - - - - 0.12 0.025 0.25 - - - - - - - 0.12 0.025 0.25 - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/scripts/traffic_stop.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/scripts/traffic_stop.material deleted file mode 100644 index 13532396..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/scripts/traffic_stop.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_stop -{ - technique - { - pass - { - texture_unit - { - texture traffic_stop.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/textures/traffic_stop.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/textures/traffic_stop.png deleted file mode 100644 index 232f5eca..00000000 Binary files a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/textures/traffic_stop.png and /dev/null differ diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.config deleted file mode 100644 index 37c96e37..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - traffic_stop - 1.0 - model.sdf - - - Gilbert - kkjong@robotis.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.sdf deleted file mode 100644 index 299e5bb1..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.sdf +++ /dev/null @@ -1,30 +0,0 @@ - - - - true - - 0 0 0 0 0 0 - - - - 0.12 0.025 0.25 - - - - - - - 0.12 0.025 0.25 - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material deleted file mode 100644 index e0bbd27b..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_tunnel -{ - technique - { - pass - { - texture_unit - { - texture tunnel.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/textures/tunnel.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/textures/tunnel.png deleted file mode 100644 index 73535d4b..00000000 Binary files a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/textures/tunnel.png and /dev/null differ diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.config deleted file mode 100644 index 6a4cff6d..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - traffic_tunnel - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf deleted file mode 100644 index 39502ae6..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf +++ /dev/null @@ -1,30 +0,0 @@ - - - - 0 0 0.125 0 0 0 - - 0 0 0 0 0 0 - - - - 0.12 0.025 0.25 - - - - - - - 0.12 0.025 0.25 - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config deleted file mode 100644 index 38fc9244..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - tunnel_obstacles - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Tunnel obstacles. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf deleted file mode 100644 index 1554e602..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf +++ /dev/null @@ -1,305 +0,0 @@ - - - - -1.04145 -1.12671 0 0 -0 0 - - -0.61823 -1.33874 0.25 0 -0 0 - - 0.0416663 - - 0.00098188 - 0 - 0 - 0.00098188 - 0 - 0.00046751 - - 0 0 0 0 -0 0 - - 0 - 0 - 1 - - 0 0 0 0 -0 0 - - - 0.1 - 0.5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.1 - 0.46418 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - -1.36518 -1.41427 0.25 0 -0 0 - - 0.0416663 - - 0.00098188 - 0 - 0 - 0.00098188 - 0 - 0.00046751 - - 0 0 0 0 -0 0 - - 0 - 0 - 1 - - 0 0 0 0 -0 0 - - - 0.1 - 0.5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.1 - 0.46418 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - -1.14094 -0.627116 0.25 0 -0 0 - - 0.0416663 - - 0.00098188 - 0 - 0 - 0.00098188 - 0 - 0.00046751 - - 0 0 0 0 -0 0 - - 0 - 0 - 1 - - 0 0 0 0 -0 0 - - - 0.1 - 0.5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.1 - 0.46418 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - 1 - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config deleted file mode 100644 index 19c75d8d..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - tunnel_wall - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Tunnel wall. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf deleted file mode 100644 index 5cde75c3..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf +++ /dev/null @@ -1,345 +0,0 @@ - - - - -0.964699 -1.03574 0 0 -0 0 - true - - -1.94548 -0.985857 0 0 -0 1.5708 - 0 - 0 - - 0 0 0.25 0 -0 0 - - - 2 0.05 0.5 - - - - - 1 1 1 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - 1 - 0 - - - 0 - 10 - 0 0 0.25 0 -0 0 - - - 2 0.05 0.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - 1 - - - -0.964699 -1.97118 0 0 -0 0 - 0 - 0 - - 0 0 0.25 0 -0 0 - - - 2.00003 0.05 0.5 - - - - - 1 1 1 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - 1 - 0 - - - 0 - 10 - 0 0 0.25 0 -0 0 - - - 2.00003 0.05 0.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - 1 - - - -0.021303 -0.852071 0 0 -0 1.5708 - - - nan - 0 - 0 - nan - 0 - nan - - 0 - 0 0 0 0 -0 0 - - 0 - 0 - - 0 0 0.25 0 -0 0 - - - 1.53699 0.05 0.5 - - - - - 1 1 1 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - 1 - 0 - - - 0 - 10 - 0 0 0.25 0 -0 0 - - - 1.53699 0.05 0.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - 1 - - - -0.814699 -0.12074 0 0 -0 3.14159 - 0 - 0 - - 0 0 0.25 0 -0 0 - - - 1.58 0.05 0.5 - - - - - 1 1 1 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - 1 - 0 - - - 0 - 10 - 0 0 0.25 0 -0 0 - - - 1.58 0.05 0.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - 1 - - 1 - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf b/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf index 3187252c..5923efda 100644 --- a/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf +++ b/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf @@ -33,7 +33,7 @@ -0.032 0 0 0 0 0 - model://turtlebot3_burger/meshes/burger_base.dae + model://turtlebot3_common/meshes/burger_base.dae 0.001 0.001 0.001 @@ -123,7 +123,7 @@ -0.032 0 0.171 0 0 0 - model://turtlebot3_burger/meshes/lds.dae + model://turtlebot3_common/meshes/lds.dae 0.001 0.001 0.001 @@ -216,7 +216,7 @@ 0 0.08 0.023 0 0 0 - model://turtlebot3_burger/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 @@ -274,7 +274,7 @@ 0.0 -0.08 0.023 0 0 0 - model://turtlebot3_burger/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 diff --git a/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf b/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf index 562cac03..4b91ebef 100644 --- a/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf +++ b/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf @@ -33,7 +33,7 @@ -0.032 0 0 0 0 0 - model://turtlebot3_burger/meshes/burger_base.dae + model://turtlebot3_common/meshes/burger_base.dae 0.001 0.001 0.001 @@ -123,7 +123,7 @@ -0.032 0 0.171 0 0 0 - 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0.99 0.25 0.9853885 0.2031783 0.9853885 0.2031783 0.9717311 0.158156 0.9853885 0.2968217 0.9717311 0.158156 0.9495527 0.1166631 0.9853885 0.2968217 0.9495527 0.1166631 0.9197056 0.08029437 0.7968216 0.01461148 0.9197056 0.08029437 0.8833369 0.05044728 0.7968216 0.01461148 0.8833369 0.05044728 0.841844 0.02826887 0.7968216 0.01461148 0.7968216 0.01461148 0.75 0.00999999 0.7031782 0.01461154 0.7031782 0.01461154 0.6581559 0.02826893 0.616663 0.05044734 0.616663 0.05044734 0.5802943 0.08029443 0.5504472 0.1166633 0.5504472 0.1166633 0.5282688 0.1581561 0.5146115 0.2031785 0.5146115 0.2031785 0.51 0.2500002 0.5146116 0.2968219 0.5146116 0.2968219 0.5282691 0.3418443 0.5504475 0.3833371 0.5504475 0.3833371 0.5802946 0.4197058 0.7031787 0.4853885 0.5802946 0.4197058 0.6166634 0.4495529 0.7031787 0.4853885 0.6166634 0.4495529 0.6581563 0.4717312 0.7031787 0.4853885 0.7031787 0.4853885 0.7968217 0.4853885 0.8833369 0.4495527 0.7968216 0.01461148 0.7031782 0.01461154 0.5146115 0.2031785 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- - - - - - - - 32.85729 0 0 0 0 -1.43624e-6 -9.10743 0 0 32.85729 -3.98098e-7 0 0 0 0 1 - - - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - - - - - \ No newline at end of file diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf index 8fda34f1..08b516fe 100644 --- a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf +++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf @@ -33,7 +33,7 @@ -0.064 0 0 0 0 0 - model://turtlebot3_waffle_pi/meshes/waffle_pi_base.dae + model://turtlebot3_common/meshes/waffle_pi_base.dae 0.001 0.001 0.001 @@ -123,7 +123,7 @@ -0.064 0 0.121 0 0 0 - model://turtlebot3_waffle/meshes/lds.dae + model://turtlebot3_common/meshes/lds.dae 0.001 0.001 0.001 @@ -216,7 +216,7 @@ 0.0 0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 @@ -274,7 +274,7 @@ 0.0 -0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf index 2d73c62f..725e334e 100644 --- a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf +++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf @@ -33,7 +33,7 @@ -0.064 0 0 0 0 0 - model://turtlebot3_waffle_pi/meshes/waffle_pi_base.dae + model://turtlebot3_common/meshes/waffle_pi_base.dae 0.001 0.001 0.001 @@ -123,7 +123,7 @@ -0.064 0 0.121 0 0 0 - model://turtlebot3_waffle/meshes/lds.dae + model://turtlebot3_common/meshes/lds.dae 0.001 0.001 0.001 @@ -216,7 +216,7 @@ 0.0 0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 @@ -274,7 +274,7 @@ 0.0 -0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml index 3145235e..15c0c8ba 100644 --- a/turtlebot3_gazebo/package.xml +++ b/turtlebot3_gazebo/package.xml @@ -2,7 +2,7 @@ turtlebot3_gazebo - 2.2.3 + 2.2.4 Gazebo simulation package for the TurtleBot3 @@ -21,7 +21,6 @@ rclcpp sensor_msgs tf2 - turtlebot3_description ament_cmake diff --git a/turtlebot3_gazebo/rviz/tb3_gazebo.rviz b/turtlebot3_gazebo/rviz/tb3_gazebo.rviz index 97f8f713..10c1ce1b 100644 --- a/turtlebot3_gazebo/rviz/tb3_gazebo.rviz +++ b/turtlebot3_gazebo/rviz/tb3_gazebo.rviz @@ -4,8 +4,6 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - - /Status1 - /TF1/Frames1 Splitter Ratio: 0.5 Tree Height: 694 @@ -13,7 +11,6 @@ Panels: Name: Selection - Class: rviz_common/Tool Properties Expanded: - - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 @@ -54,7 +51,15 @@ Visualization Manager: Value: true base_scan: Value: true - caster_back_link: + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: Value: true imu_link: Value: true @@ -64,7 +69,7 @@ Visualization Manager: Value: true wheel_right_link: Value: true - Marker Scale: 1 + Marker Scale: 0.699999988079071 Name: TF Show Arrows: true Show Axes: true @@ -75,7 +80,13 @@ Visualization Manager: base_link: base_scan: {} - caster_back_link: + camera_link: + camera_rgb_frame: + camera_rgb_optical_frame: + {} + caster_back_left_link: + {} + caster_back_right_link: {} imu_link: {} @@ -105,13 +116,17 @@ Visualization Manager: Min Intensity: 0 Name: LaserScan Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.019999999552965164 Style: Flat Squares - Topic: /scan - Unreliable: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /scan Use Fixed Frame: true Use rainbow: true Value: true @@ -132,7 +147,7 @@ Visualization Manager: Scale: 1 Value: true Value: false - Enabled: false + Enabled: true Keep: 100 Name: Odometry Position Tolerance: 0.10000000149011612 @@ -146,13 +161,92 @@ Visualization Manager: Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Arrow - Topic: /odom - Unreliable: false - Value: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odom + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: base_footprint + Fixed Frame: odom Frame Rate: 30 Name: root Tools: @@ -162,10 +256,20 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point Transformation: Current: Class: rviz_default_plugins/TF @@ -173,39 +277,59 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 9.735567092895508 + Distance: 5 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 2.0888121128082275 - Y: 0.7320219874382019 - Z: 0.06461341679096222 - Focal Shape Fixed Size: true + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 1.560396671295166 + Pitch: 0.7853981852531433 Target Frame: - Value: Orbit (rviz) - Yaw: 3.1354174613952637 - Saved: ~ + Value: Orbit (rviz_default_plugins) + Yaw: 0.7853981852531433 + Saved: + - Class: rviz_default_plugins/Orbit + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 0.7853981852531433 Window Geometry: Displays: collapsed: false Height: 923 Hide Left Dock: false - Hide Right Dock: true - 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collapsed: true + collapsed: false Width: 1328 - X: 314 - Y: 55 + X: 168 + Y: 71 diff --git a/turtlebot3_gazebo/urdf/common_properties.urdf b/turtlebot3_gazebo/urdf/common_properties.urdf new file mode 100644 index 00000000..9d457ea1 --- /dev/null +++ b/turtlebot3_gazebo/urdf/common_properties.urdf @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf b/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf new file mode 100644 index 00000000..a0b947a3 --- /dev/null +++ b/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf @@ -0,0 +1,196 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf b/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf new file mode 100644 index 00000000..5eb5e904 --- /dev/null +++ b/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf @@ -0,0 +1,293 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf b/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf new file mode 100644 index 00000000..970e3a1f --- /dev/null +++ b/turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf @@ -0,0 +1,257 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/worlds/empty_worlds/burger.model b/turtlebot3_gazebo/worlds/empty_world.world similarity index 94% rename from turtlebot3_gazebo/worlds/empty_worlds/burger.model rename to turtlebot3_gazebo/worlds/empty_world.world index 9a9a0f0d..cc16566d 100644 --- a/turtlebot3_gazebo/worlds/empty_worlds/burger.model +++ b/turtlebot3_gazebo/worlds/empty_world.world @@ -43,9 +43,5 @@ - - model://turtlebot3_burger - - diff --git a/turtlebot3_gazebo/worlds/empty_worlds/waffle.model b/turtlebot3_gazebo/worlds/empty_worlds/waffle.model deleted file mode 100644 index 8b0e0dd2..00000000 --- a/turtlebot3_gazebo/worlds/empty_worlds/waffle.model +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model b/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model deleted file mode 100644 index 3da47008..00000000 --- a/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model deleted file mode 100644 index 40924a2d..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - model://sun - - - - false - - - - - 2.7696 -1.93094 6.71513 0 1.1618 2.27182 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - model://turtlebot3_autorace/course - 0 0 0 0 0 -1.54 - - - - model://turtlebot3_autorace/ground - 0 0 -0.1 0 0 0 - - - - model://turtlebot3_autorace/lights - 0 0 0 0 0 0 - - - - model://turtlebot3_autorace/traffic_parking - 1.84 1.27 0.13 0 0 -0.356 - - - - model://turtlebot3_autorace/traffic_tunnel - -1.544 -0.08 0.125 0 0 0 - - - - model://turtlebot3_autorace/traffic_stop - -2.05 0.65 0.125 0 -0 0 - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_autorace/tunnel_wall - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_autorace/tunnel_obstacles - - - - 0.1 -1.78 0.01 0.0 0.0 0.0 - model://turtlebot3_burger - - - - \ No newline at end of file diff --git a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle.model deleted file mode 100644 index 52bc1c69..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_autorace - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle_pi.model deleted file mode 100644 index 1070f49e..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_autorace - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world similarity index 91% rename from turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle.model rename to turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world index d7fe2562..55faf5b7 100644 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle.model +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world @@ -42,18 +42,13 @@ - + 1 model://turtlebot3_dqn_world - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model deleted file mode 100644 index b160a97d..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world similarity index 93% rename from turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/burger.model rename to turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world index 84a1d65a..0a2f4aff 100644 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/burger.model +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world @@ -42,7 +42,7 @@ - + 1 @@ -51,8 +51,7 @@ - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_burger + model://turtlebot3_dqn_world/obstacles diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model deleted file mode 100644 index 75e0d3ce..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - model://turtlebot3_dqn_world/obstacles - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle.model deleted file mode 100644 index 5ab05c04..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle.model +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - model://turtlebot3_dqn_world/obstacles - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle_pi.model deleted file mode 100644 index b26555b6..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle_pi.model +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - model://turtlebot3_dqn_world/obstacles - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world similarity index 93% rename from turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model rename to turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world index 3a92f41b..bc8892c6 100644 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world @@ -58,10 +58,5 @@ - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/burger.model deleted file mode 100644 index 2316d529..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/burger.model +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - - 1 - - model://turtlebot3_dqn_world/obstacles - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model deleted file mode 100644 index 59232d4c..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - - 1 - - model://turtlebot3_dqn_world/obstacles - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world similarity index 95% rename from turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model rename to turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world index 55ddd716..ad26d4e9 100644 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world @@ -71,10 +71,5 @@ - - 0 0 0 0 0 0 - model://turtlebot3_burger - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model deleted file mode 100644 index 0dad738e..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0 0 0 0 0 0 - model://turtlebot3_dqn_world/inner_walls - - - - - - 2 2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle1 - - - - - - - -2 -2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle2 - - - - - -0.7 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model deleted file mode 100644 index 7ee060f2..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0 0 0 0 0 0 - model://turtlebot3_dqn_world/inner_walls - - - - - - 2 2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle1 - - - - - - - -2 -2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle2 - - - - - 0 0 0 0 0 0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_house.world similarity index 91% rename from turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model rename to turtlebot3_gazebo/worlds/turtlebot3_house.world index 3b921503..6b762009 100644 --- a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model +++ b/turtlebot3_gazebo/worlds/turtlebot3_house.world @@ -49,11 +49,6 @@ model://turtlebot3_house - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model deleted file mode 100644 index d1aba1cc..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_house - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model deleted file mode 100644 index 88983858..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_house - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_world.world similarity index 91% rename from turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model rename to turtlebot3_gazebo/worlds/turtlebot3_world.world index 19747b6f..4c45d4e2 100644 --- a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model +++ b/turtlebot3_gazebo/worlds/turtlebot3_world.world @@ -49,11 +49,6 @@ model://turtlebot3_world - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model deleted file mode 100644 index ab33cc72..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_world - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model deleted file mode 100644 index a712f8ee..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_world - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_simulations/CHANGELOG.rst b/turtlebot3_simulations/CHANGELOG.rst index 017d8464..e2a7a32e 100644 --- a/turtlebot3_simulations/CHANGELOG.rst +++ b/turtlebot3_simulations/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package turtlebot3_simulations ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Separate world and robot models(#162) +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Joep Tool, Will Son + 2.2.3 (2021-04-12) ------------------ * Update required keyword arguments diff --git a/turtlebot3_simulations/package.xml b/turtlebot3_simulations/package.xml index 6100740a..c60d3cd8 100644 --- a/turtlebot3_simulations/package.xml +++ b/turtlebot3_simulations/package.xml @@ -2,7 +2,7 @@ turtlebot3_simulations - 2.2.3 + 2.2.4 ROS 2 packages for TurtleBot3 simulations