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Add slope world. #245

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Nov 27, 2024
Merged

Add slope world. #245

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32 changes: 32 additions & 0 deletions rm_gazebo/launch/slope.launch
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<launch>
<arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, auto, hero, engineer]"/>

<arg name="x_pos" default="0.0"/>
<arg name="y_pos" default="0.0"/>
<arg name="z_pos" default="0.0"/>

<arg name="load_chassis" default="true"/>
<arg name="load_gimbal" default="true"/>
<arg name="load_shooter" default="true"/>
<arg name="load_arm" default="true"/>
<arg name="paused" default="false"/>

<rosparam file="$(find rm_gazebo)/config/imus.yaml" command="load" if="$(arg load_gimbal)"/>
<param name="robot_description" command="$(find xacro)/xacro $(find rm_description)/urdf/$(arg robot_type)/$(arg robot_type).urdf.xacro
load_chassis:=$(arg load_chassis) load_gimbal:=$(arg load_gimbal) load_shooter:=$(arg load_shooter)
load_arm:=$(arg load_arm)
use_simulation:=true roller_type:=simple
"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rm_gazebo)/worlds/slope.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>r
<arg name="gui" value="true"/>
</include>

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" clear_params="true"
args="-z 0.5 -param robot_description -urdf -model $(arg robot_type)" output="screen"/>

</launch>
Binary file added rm_gazebo/worlds/place/slope.stl
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73 changes: 73 additions & 0 deletions rm_gazebo/worlds/slope.world
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<?xml version="1.0" ?>

<sdf version="1.5">
<world name="default">
<!-- Target real time factor is the product of max_step_size and real_time_update_rate -->
<!-- Negative real_time_update_rate means that Gazebo will run as fast as possible -->
<physics type="ode">
<!-- <type>world</type>-->
<max_step_size>0.001</max_step_size>
<real_time_update_rate>1000</real_time_update_rate>
</physics>

<include>
<uri>model://ground_plane</uri>
</include>

<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>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='slope'>
<static>1</static>
<static>1</static>
<link name='slope_link'>
<pose>-2 -0.6 0.05 0 0 0</pose>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://rm_gazebo/worlds/place/slope.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://rm_gazebo/worlds/place/slope.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<static>1</static>
</model>
</world>
</sdf>
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