├── CMakeLists.txt
├── README.md
├── description
    ├── example_gazebo.xacro
    ├── example_include.xacro
    └── example_robot.urdf.xacro
├── launch
    ├── rsp.launch.py
    └── rsp_sim.launch.py
├── package.xml
├── view_robot.rviz
├── view_with_camera.rviz
└── worlds
    └── test_world.world


/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.5)
 2 | project(urdf_example)
 3 | 
 4 | # Default to C99
 5 | if(NOT CMAKE_C_STANDARD)
 6 |   set(CMAKE_C_STANDARD 99)
 7 | endif()
 8 | 
 9 | # Default to C++14
10 | if(NOT CMAKE_CXX_STANDARD)
11 |   set(CMAKE_CXX_STANDARD 14)
12 | endif()
13 | 
14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
15 |   add_compile_options(-Wall -Wextra -Wpedantic)
16 | endif()
17 | 
18 | # find dependencies
19 | find_package(ament_cmake REQUIRED)
20 | # uncomment the following section in order to fill in
21 | # further dependencies manually.
22 | # find_package(<dependency> REQUIRED)
23 | 
24 | if(BUILD_TESTING)
25 |   find_package(ament_lint_auto REQUIRED)
26 |   # the following line skips the linter which checks for copyrights
27 |   # uncomment the line when a copyright and license is not present in all source files
28 |   #set(ament_cmake_copyright_FOUND TRUE)
29 |   # the following line skips cpplint (only works in a git repo)
30 |   # uncomment the line when this package is not in a git repo
31 |   #set(ament_cmake_cpplint_FOUND TRUE)
32 |   ament_lint_auto_find_test_dependencies()
33 | endif()
34 | 
35 | 
36 | install(
37 |   DIRECTORY description launch worlds
38 |   DESTINATION share/${PROJECT_NAME}
39 | )
40 | 
41 | ament_package()
42 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # URDF Example
 2 | 
 3 | 
 4 | This repo contains an example of a URDF file and a launch script to run it. (ROS 2)
 5 | This is part of a tutorial on creating URDF files, available at the links below:
 6 | 
 7 | YouTube:
 8 | [![See video for example](https://img.youtube.com/vi/CwdbsvcpOHM/0.jpg)](https://youtu.be/CwdbsvcpOHM)
 9 | 
10 | Blog Post:
11 | [https://articulatedrobotics.xyz/ready-for-ros-7-urdf/](https://articulatedrobotics.xyz/ready-for-ros-7-urdf/)
12 | 
13 | 
14 | 
15 | ## How To Run
16 | 
17 | 
18 | 1. Build the package with colcon.
19 | 2. Launch the `robot_state_publisher` launch file with `ros2 launch urdf_example rsp.launch.py`.
20 | 3. Launch `joint_state_publisher_gui` with `ros2 run joint_state_publisher_gui joint_state_publisher_gui`. You may need to install it if you don't have it already.
21 | 4. Launch RViz with `rviz2`
22 | 
23 | To replicate the RViz display shown in the video you will want to
24 | - Set your fixed frame to `world`
25 | - Add a `RobotModel` display, with the topic set to `/robot_description`, and alpha set to 0.8
26 | - Add a `TF` display with names enabled.


--------------------------------------------------------------------------------
/description/example_gazebo.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 | 
  4 |     <!-- This file demonstrates the use of some <gazebo> tags -->
  5 | 
  6 |     <!-- To include it add the following line -->
  7 |     <!-- <xacro:include filename="example_gazebo.xacro" /> -->
  8 | 
  9 | 
 10 | 
 11 |     <!-- Gazebo is unable to use the same <material> tags that are already in the URDF (that RViz uses). -->
 12 |     <!-- Instead, we need to add gazebo tags for our links that refer to Gazebo materials -->
 13 | 
 14 | 
 15 |     <gazebo reference="base_link">
 16 |         <material>Gazebo/Green</material>
 17 |     </gazebo>
 18 | 
 19 |     <gazebo reference="slider_link">
 20 |         <material>Gazebo/Blue</material>
 21 |     </gazebo>
 22 | 
 23 |     <gazebo reference="arm_link">
 24 |         <material>Gazebo/Orange</material>
 25 |     </gazebo>
 26 | 
 27 | 
 28 | 
 29 | 
 30 |     <!-- Gazebo requires the use of plugins to interact with other systems such as ROS. -->
 31 | 
 32 | 
 33 |     <!-- This plugin will publish the joint_states for the selected joints 
 34 |             (which robot_state_publisher can then use to broadcast the approprate tf). -->
 35 | 
 36 |     <gazebo>
 37 |         <plugin name="gazebo_ros_joint_state_publisher"
 38 |             filename="libgazebo_ros_joint_state_publisher.so">
 39 |             <update_rate>20</update_rate>
 40 |             <joint_name>slider_joint</joint_name>
 41 |             <joint_name>arm_joint</joint_name>
 42 |         </plugin>
 43 |     </gazebo>
 44 | 
 45 | 
 46 |     <!-- This plugin will read a JointTrajectory message from the /set_joint_trajectory topic 
 47 |             and move the machine accordingly. It's a bit clunky but it works. -->
 48 |     <!-- You'll probably want to add damping to the joints to stop them it flopping around. 
 49 |             e.g. <dynamics damping="10.0" friction="10.0"/> -->
 50 |     <!-- Here's an example message to publish to test it:
 51 |             ros2 topic pub -1 /set_joint_trajectory trajectory_msgs/msg/JointTrajectory  '{header: {frame_id: world}, joint_names: [slider_joint, arm_joint], points: [  {positions: {0.8,0.6}} ]}' -->
 52 |     <gazebo>
 53 |         <plugin name="gazebo_ros_joint_pose_trajectory"
 54 |             filename="libgazebo_ros_joint_pose_trajectory.so">
 55 |             <update_rate>2</update_rate>
 56 |         </plugin>
 57 |     </gazebo>
 58 | 
 59 | 
 60 | 
 61 | 
 62 | 
 63 | 
 64 | 
 65 |     <!-- The next section shows an example of adding a sensor, in this case a depth camera. -->
 66 | 
 67 |     <!-- Due to a quirk of how cameras work, an extra joint/link is required to create an
 68 |             "optical frame" for the sensor. That isn't the focus for this tutorial, but you can
 69 |             look at https://www.ros.org/reps/rep-0103.html#suffix-frames for slightly more information. -->
 70 | 
 71 |     
 72 |     
 73 |     <!-- First, create the link and joint for the optical frame -->
 74 | 
 75 |     <joint name="camera_optical_joint" type="fixed">
 76 |         <origin xyz="0 0 0" rpy="-1.571 0 -1.571" />
 77 |         <parent link="camera_link" />
 78 |         <child link="camera_link_optical" />
 79 |     </joint>
 80 | 
 81 |     <link name="camera_link_optical"></link>
 82 | 
 83 | 
 84 |     <!-- Add a gazebo tag for the ORIGINAL camera_link (but in the plugin we reference the optical frame so that ROS can orient things correctly) -->
 85 |     <!-- Within the gazebo tag we have the sensor tag, and inside that there is (among other things) the camera tag with the camera parameters, 
 86 |             and the plugin tag with some extra parameters the plugin needs. -->
 87 |     <!-- Note that although visualise is set to true, it won't actually visualise the depth camera in gazebo. To see the preview, 
 88 |             try swapping "depth" to "camera"-->
 89 |     <gazebo reference="camera_link">
 90 |         <sensor type="depth" name="my_camera">
 91 |             <update_rate>20</update_rate>
 92 |             <visualize>true</visualize>
 93 |             <camera name="cam">
 94 |                 <horizontal_fov>1.3962634</horizontal_fov>
 95 |                 <image>
 96 |                     <width>640</width>
 97 |                     <height>480</height>
 98 |                     <format>R8B8G8</format>
 99 |                 </image>
100 |                 <clip>
101 |                     <near>0.02</near>
102 |                     <far>300</far>
103 |                 </clip>
104 |                 <noise>
105 |                     <type>gaussian</type>
106 |                     <mean>0.0</mean>
107 |                     <stddev>0.007</stddev>
108 |                 </noise>
109 |             </camera>
110 |             <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
111 |                 <frame_name>camera_link_optical</frame_name>
112 |                 <min_depth>0.1</min_depth>
113 |                 <max_depth>500</max_depth>
114 |             </plugin>
115 |         </sensor>
116 |     </gazebo>
117 | 
118 | 
119 | 
120 | 
121 | </robot>
122 | 


--------------------------------------------------------------------------------
/description/example_include.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
 3 | 
 4 |     <!-- This file is not a robot in and of itself, it just contains some useful tags that could be included in any robot -->
 5 | 
 6 | 
 7 | 
 8 |     <!-- Specify some colours -->
 9 | 
10 |     <material name="white">
11 |         <color rgba="1 1 1 1"/>
12 |     </material>
13 | 
14 |     <material name="orange">
15 |         <color rgba="1 0.3 0.1 1"/>
16 |     </material>
17 | 
18 |     <material name="blue">
19 |         <color rgba="0.2 0.2 1 1"/>
20 |     </material>
21 | 
22 | 
23 | 
24 |     <!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
25 |     <!-- These make use of xacro's mathematical functionality -->
26 | 
27 |     <xacro:macro name="inertial_sphere" params="mass radius *origin">
28 |         <inertial>
29 |             <xacro:insert_block name="origin"/>
30 |             <mass value="${mass}" />
31 |             <inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
32 |                     iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
33 |                     izz="${(2/5) * mass * (radius*radius)}" />
34 |         </inertial>
35 |     </xacro:macro>  
36 | 
37 | 
38 |     <xacro:macro name="inertial_box" params="mass x y z *origin">
39 |         <inertial>
40 |             <xacro:insert_block name="origin"/>
41 |             <mass value="${mass}" />
42 |             <inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
43 |                     iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
44 |                     izz="${(1/12) * mass * (x*x+y*y)}" />
45 |         </inertial>
46 |     </xacro:macro>
47 | 
48 | 
49 |     <xacro:macro name="inertial_cylinder" params="mass length radius *origin">
50 |         <inertial>
51 |             <xacro:insert_block name="origin"/>
52 |             <mass value="${mass}" />
53 |             <inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
54 |                     iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
55 |                     izz="${(1/2) * mass * (radius*radius)}" />
56 |         </inertial>
57 |     </xacro:macro>
58 | 
59 | 
60 | </robot>


--------------------------------------------------------------------------------
/description/example_robot.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="robot">
  3 | 
  4 |     <!-- This is an example of a URDF. -->
  5 |     <!-- As we move through the file, new things to note will be pointed out. -->
  6 |     <!-- It's not meant an example of GOOD design, but an example of some of the various features of URDF/xacro. -->
  7 | 
  8 | 
  9 | 
 10 |     <!-- This will include all the contents of example_include.xacro first. Go check it out! -->
 11 |     <xacro:include filename="example_include.xacro" />
 12 | 
 13 | 
 14 | 
 15 |     <!-- This first link called "world" is empty -->
 16 |     <link name="world"></link>
 17 | 
 18 | 
 19 |     <!-- A simple fixed joint from our empty world link, to our base. -->
 20 |     <!-- The base origin is offset from the world origin. -->
 21 |     <joint name="base_joint" type="fixed">
 22 |         <origin xyz="1.5 1.0 0" rpy="0 0 0"/>
 23 |         <parent link="world"/>
 24 |         <child link="base_link"/>        
 25 |     </joint>
 26 | 
 27 | 
 28 |     <!-- base_link is a large rectangular plate. Some things to note: -->
 29 |     <!-- - We set the visual origin Z to half the box height, so that the link origin sits at the bottom of the box -->
 30 |     <!-- - We set the collision to be identical to the visual -->
 31 |     <!-- - We specified the colour manually (but still need to enter a name) -->
 32 |     <!-- - We specified all the inertial parameters manually -->
 33 |     <link name="base_link">
 34 |         <visual>
 35 |             <origin xyz="0 0 0.05" rpy="0 0 0"/>
 36 |             <geometry>
 37 |                 <box size="2.5 1.5 0.1" />
 38 |             </geometry>
 39 |             <material name="green">
 40 |                 <color rgba="0.2 1 0.2 1"/>
 41 |             </material>
 42 |         </visual>
 43 |         <collision>
 44 |             <origin xyz="0 0 0.05" rpy="0 0 0"/>
 45 |             <geometry>
 46 |                 <box size="2.5 1.5 0.1" />
 47 |             </geometry>
 48 |         </collision>
 49 |         <inertial>
 50 |             <origin xyz="0 0 0.05" rpy="0 0 0"/>
 51 |             <mass value="12" />
 52 |             <inertia ixx="2.26" ixy="0.0" ixz="0.0" iyy="6.26" iyz="0.0" izz="8.5" />
 53 |         </inertial>
 54 |     </link>
 55 | 
 56 | 
 57 | 
 58 |     <!-- slider_joint lets slider_link move back and forth along the top of the base in one dimension.  -->
 59 |     <!-- - Origin is set to one of the top edges of the base_link box, so that our link skims across the top  -->
 60 |     <!-- - It moves along the X axis -->
 61 |     <!-- - We need to specify limits for the motion -->
 62 |     <joint name="slider_joint" type="prismatic">
 63 |         <origin xyz="-1.25 0 0.1" rpy="0 0 0"/>
 64 |         <parent link="base_link"/>
 65 |         <child link="slider_link"/>
 66 |         <axis xyz="1 0 0"/>
 67 |         <limit lower="0" upper="2" velocity="100" effort="100"/> 
 68 |     </joint>
 69 | 
 70 | 
 71 |     <!-- slider_link is the box skimming across the top of the base. Its parameters are similar to the base_link, however: -->
 72 |     <!-- - Instead of explicitly describing a colour, it uses the named material "blue". It knows about "blue" that material was included in example_include.xacro. -->
 73 |     <!-- - Instead of explicitly describing the inertia, we use a macro that was defined in the example_include.xacro -->
 74 | 
 75 |     <link name="slider_link">
 76 |         <visual>
 77 |             <origin xyz="0 0 0.075" rpy="0 0 0"/>
 78 |             <geometry>
 79 |                 <box size="0.5 0.25 0.15" />
 80 |             </geometry>
 81 |             <material name="blue" />
 82 |         </visual>
 83 |         <collision>
 84 |             <origin xyz="0 0 0.075" rpy="0 0 0"/>
 85 |             <geometry>
 86 |                 <box size="0.5 0.25 0.15" />
 87 |             </geometry>
 88 |         </collision>
 89 |         <xacro:inertial_box mass="0.5" x="0.5" y="0.25" z="0.15">
 90 |             <origin xyz="0 0 0.075" rpy="0 0 0"/>
 91 |         </xacro:inertial_box>
 92 |     </link>
 93 | 
 94 | 
 95 | 
 96 |     <!-- arm_joint describes the rotation of the arm and is centred around the top corner of the slider box. -->
 97 |     <!-- - The axis of rotation is -1 in Y, so that positive is "up" -->
 98 |     <!-- - The upper limit uses xacro's mathematical features -->
 99 |     <joint name="arm_joint" type="revolute">
100 |         <origin xyz="0.25 0 0.15" rpy="0 0 0"/>
101 |         <parent link="slider_link"/>
102 |         <child link="arm_link"/>
103 |         <axis xyz="0 -1 0"/>
104 |         <limit lower="0" upper="${pi/2}" velocity="100" effort="100"/> 
105 |     </joint>
106 | 
107 | 
108 |     <!-- arm_link describes the arm -->
109 |     <!-- - We use the "property" feature to define the arm length and radius and use them multiple times -->
110 |     <!-- - The visual/collision origin is set to halfway along the length (similar to the box), but also with a rotation (again using the mathematical features). -->
111 |     <!--   This is because the cylinder extends along the Z axis by default, but we want it to be along the X axis (when the joint is at 0) -->
112 | 
113 |     <xacro:property name="arm_length" value="1" />
114 |     <xacro:property name="arm_radius" value="0.1" />
115 |     <link name="arm_link">
116 |         <visual>
117 |             <origin xyz="${arm_length/2} 0 0" rpy="0 ${pi/2} 0"/>
118 |             <geometry>                
119 |                 <cylinder length="${arm_length}" radius="${arm_radius}" />
120 |             </geometry>
121 |             <material name="orange" />
122 |         </visual>
123 |         <collision>
124 |             <origin xyz="${arm_length/2} 0 0" rpy="0 ${pi/2} 0"/>
125 |             <geometry>
126 |                 <cylinder length="${arm_length}" radius="${arm_radius}" />
127 |             </geometry>
128 |         </collision>
129 |         <xacro:inertial_cylinder mass="1.0" length="${arm_length}" radius="${arm_radius}">
130 |             <origin xyz="${arm_length/2} 0 0" rpy="0 ${pi/2} 0"/>
131 |         </xacro:inertial_cylinder>
132 |     </link>
133 | 
134 | 
135 |     <!-- camera_joint describes where the camera is relative to the arm -->
136 |     <!-- - Even though the camera isn't moving relative to the arm, it will probably be helpful to have its own link/frame rather than just adding more visuals to the arm -->
137 |     <!-- - For this example, the camera_link origin will be at the centre of the camera's "sensor" -->
138 |     <joint name="camera_joint" type="fixed">
139 |         <origin xyz="${arm_length} 0 ${arm_radius + 0.075}" rpy="0 0 0"/>
140 |         <parent link="arm_link"/>
141 |         <child link="camera_link"/>        
142 |     </joint>
143 | 
144 | 
145 |     <!-- camera_link describes the camera at the end of the arm -->
146 |     <!-- - It has multiple visual elements, which ultimately get combined together -->
147 |     <!-- - Even if we specify different materials, RViz will just colour them all the same as the first -->
148 |     <!-- - Although we could also specify multiple collision geometries, instead we just use a single box that encompasses the whole camera -->
149 |     <link name="camera_link">
150 |         <visual>
151 |             <origin xyz="-0.03 0 0" rpy="0 0 0"/>
152 |             <geometry>
153 |                 <box size="0.06 0.15 0.15" />
154 |             </geometry>
155 |             <material name="white" />
156 |         </visual>
157 |         <visual>
158 |             <origin xyz="0.03 0 0" rpy="0 ${pi/2} 0"/>
159 |             <geometry>
160 |                 <cylinder length="0.06" radius="0.04" />
161 |             </geometry>
162 |             <material name="blue" />
163 |         </visual>
164 |         <collision>
165 |             <origin xyz="0.0 0 0" rpy="0 0 0"/>
166 |             <geometry>
167 |                 <box size="0.12 0.15 0.15" />
168 |             </geometry>
169 |         </collision>
170 |         <xacro:inertial_box mass="0.1" x="0.12" y="0.15" z="0.15">
171 |             <origin xyz="0.0 0 0" rpy="0 0 0"/>
172 |         </xacro:inertial_box>
173 |     </link>
174 | 
175 | 
176 |     <xacro:include filename="example_gazebo.xacro" />
177 | 
178 | 
179 | </robot>
180 | 


--------------------------------------------------------------------------------
/launch/rsp.launch.py:
--------------------------------------------------------------------------------
 1 | import os
 2 | from ament_index_python.packages import get_package_share_directory
 3 | from launch import LaunchDescription
 4 | from launch_ros.actions import Node
 5 | import xacro
 6 | 
 7 | 
 8 | def generate_launch_description():
 9 | 
10 |     # Specify the name of the package and path to xacro file within the package
11 |     pkg_name = 'urdf_example'
12 |     file_subpath = 'description/example_robot.urdf.xacro'
13 | 
14 | 
15 |     # Use xacro to process the file
16 |     xacro_file = os.path.join(get_package_share_directory(pkg_name),file_subpath)
17 |     robot_description_raw = xacro.process_file(xacro_file).toxml()
18 | 
19 | 
20 |     # Configure the node
21 |     node_robot_state_publisher = Node(
22 |         package='robot_state_publisher',
23 |         executable='robot_state_publisher',
24 |         output='screen',
25 |         parameters=[{'robot_description': robot_description_raw}] # add other parameters here if required
26 |     )
27 | 
28 | 
29 |     # Run the node
30 |     return LaunchDescription([
31 |         node_robot_state_publisher
32 |     ])
33 | 


--------------------------------------------------------------------------------
/launch/rsp_sim.launch.py:
--------------------------------------------------------------------------------
 1 | import os
 2 | from ament_index_python.packages import get_package_share_directory
 3 | from launch import LaunchDescription
 4 | from launch.actions import IncludeLaunchDescription
 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource
 6 | 
 7 | 
 8 | from launch_ros.actions import Node
 9 | import xacro
10 | 
11 | 
12 | def generate_launch_description():
13 | 
14 |     # Specify the name of the package and path to xacro file within the package
15 |     pkg_name = 'urdf_example'
16 |     file_subpath = 'description/example_robot.urdf.xacro'
17 | 
18 | 
19 |     # Use xacro to process the file
20 |     xacro_file = os.path.join(get_package_share_directory(pkg_name),file_subpath)
21 |     robot_description_raw = xacro.process_file(xacro_file).toxml()
22 | 
23 | 
24 |     # Configure the node
25 |     node_robot_state_publisher = Node(
26 |         package='robot_state_publisher',
27 |         executable='robot_state_publisher',
28 |         output='screen',
29 |         parameters=[{'robot_description': robot_description_raw,
30 |         'use_sim_time': True}] # add other parameters here if required
31 |     )
32 | 
33 | 
34 | 
35 |     gazebo = IncludeLaunchDescription(
36 |         PythonLaunchDescriptionSource([os.path.join(
37 |             get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
38 |         )
39 | 
40 | 
41 |     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
42 |                     arguments=['-topic', 'robot_description',
43 |                                 '-entity', 'my_bot'],
44 |                     output='screen')
45 | 
46 | 
47 | 
48 | 
49 | 
50 | 
51 |     # Run the node
52 |     return LaunchDescription([
53 |         gazebo,
54 |         node_robot_state_publisher,
55 |         spawn_entity
56 |     ])
57 | 
58 | 
59 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>urdf_example</name>
 5 |   <version>0.0.0</version>
 6 |   <description>TODO: Package description</description>
 7 |   <maintainer email="josh.newans@gmail.com">newans</maintainer>
 8 |   <license>TODO: License declaration</license>
 9 | 
10 |   <buildtool_depend>ament_cmake</buildtool_depend>
11 | 
12 |   <test_depend>ament_lint_auto</test_depend>
13 |   <test_depend>ament_lint_common</test_depend>
14 | 
15 |   <export>
16 |     <build_type>ament_cmake</build_type>
17 |   </export>
18 | </package>
19 | 


--------------------------------------------------------------------------------
/view_robot.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /RobotModel1
  8 |       Splitter Ratio: 0.5
  9 |     Tree Height: 766
 10 |   - Class: rviz_common/Selection
 11 |     Name: Selection
 12 |   - Class: rviz_common/Tool Properties
 13 |     Expanded:
 14 |       - /2D Goal Pose1
 15 |       - /Publish Point1
 16 |     Name: Tool Properties
 17 |     Splitter Ratio: 0.5886790156364441
 18 |   - Class: rviz_common/Views
 19 |     Expanded:
 20 |       - /Current View1
 21 |     Name: Views
 22 |     Splitter Ratio: 0.5
 23 | Visualization Manager:
 24 |   Class: ""
 25 |   Displays:
 26 |     - Alpha: 0.5
 27 |       Cell Size: 1
 28 |       Class: rviz_default_plugins/Grid
 29 |       Color: 160; 160; 164
 30 |       Enabled: true
 31 |       Line Style:
 32 |         Line Width: 0.029999999329447746
 33 |         Value: Lines
 34 |       Name: Grid
 35 |       Normal Cell Count: 0
 36 |       Offset:
 37 |         X: 0
 38 |         Y: 0
 39 |         Z: 0
 40 |       Plane: XY
 41 |       Plane Cell Count: 10
 42 |       Reference Frame: <Fixed Frame>
 43 |       Value: true
 44 |     - Class: rviz_default_plugins/TF
 45 |       Enabled: true
 46 |       Frame Timeout: 15
 47 |       Frames:
 48 |         All Enabled: true
 49 |         arm_link:
 50 |           Value: true
 51 |         base_link:
 52 |           Value: true
 53 |         camera_link:
 54 |           Value: true
 55 |         slider_link:
 56 |           Value: true
 57 |         world:
 58 |           Value: true
 59 |       Marker Scale: 1
 60 |       Name: TF
 61 |       Show Arrows: true
 62 |       Show Axes: true
 63 |       Show Names: true
 64 |       Tree:
 65 |         world:
 66 |           base_link:
 67 |             slider_link:
 68 |               arm_link:
 69 |                 camera_link:
 70 |                   {}
 71 |       Update Interval: 0
 72 |       Value: true
 73 |     - Alpha: 0.800000011920929
 74 |       Class: rviz_default_plugins/RobotModel
 75 |       Collision Enabled: false
 76 |       Description File: ""
 77 |       Description Source: Topic
 78 |       Description Topic:
 79 |         Depth: 5
 80 |         Durability Policy: Volatile
 81 |         History Policy: Keep Last
 82 |         Reliability Policy: Reliable
 83 |         Value: /robot_description
 84 |       Enabled: true
 85 |       Links:
 86 |         All Links Enabled: true
 87 |         Expand Joint Details: false
 88 |         Expand Link Details: false
 89 |         Expand Tree: false
 90 |         Link Tree Style: Links in Alphabetic Order
 91 |         arm_link:
 92 |           Alpha: 1
 93 |           Show Axes: false
 94 |           Show Trail: false
 95 |           Value: true
 96 |         base_link:
 97 |           Alpha: 1
 98 |           Show Axes: false
 99 |           Show Trail: false
100 |           Value: true
101 |         camera_link:
102 |           Alpha: 1
103 |           Show Axes: false
104 |           Show Trail: false
105 |           Value: true
106 |         slider_link:
107 |           Alpha: 1
108 |           Show Axes: false
109 |           Show Trail: false
110 |           Value: true
111 |         world:
112 |           Alpha: 1
113 |           Show Axes: false
114 |           Show Trail: false
115 |       Name: RobotModel
116 |       TF Prefix: ""
117 |       Update Interval: 0
118 |       Value: true
119 |       Visual Enabled: true
120 |   Enabled: true
121 |   Global Options:
122 |     Background Color: 48; 48; 48
123 |     Fixed Frame: world
124 |     Frame Rate: 30
125 |   Name: root
126 |   Tools:
127 |     - Class: rviz_default_plugins/Interact
128 |       Hide Inactive Objects: true
129 |     - Class: rviz_default_plugins/MoveCamera
130 |     - Class: rviz_default_plugins/Select
131 |     - Class: rviz_default_plugins/FocusCamera
132 |     - Class: rviz_default_plugins/Measure
133 |       Line color: 128; 128; 0
134 |     - Class: rviz_default_plugins/SetInitialPose
135 |       Topic:
136 |         Depth: 5
137 |         Durability Policy: Volatile
138 |         History Policy: Keep Last
139 |         Reliability Policy: Reliable
140 |         Value: /initialpose
141 |     - Class: rviz_default_plugins/SetGoal
142 |       Topic:
143 |         Depth: 5
144 |         Durability Policy: Volatile
145 |         History Policy: Keep Last
146 |         Reliability Policy: Reliable
147 |         Value: /goal_pose
148 |     - Class: rviz_default_plugins/PublishPoint
149 |       Single click: true
150 |       Topic:
151 |         Depth: 5
152 |         Durability Policy: Volatile
153 |         History Policy: Keep Last
154 |         Reliability Policy: Reliable
155 |         Value: /clicked_point
156 |   Transformation:
157 |     Current:
158 |       Class: rviz_default_plugins/TF
159 |   Value: true
160 |   Views:
161 |     Current:
162 |       Class: rviz_default_plugins/Orbit
163 |       Distance: 3.431431531906128
164 |       Enable Stereo Rendering:
165 |         Stereo Eye Separation: 0.05999999865889549
166 |         Stereo Focal Distance: 1
167 |         Swap Stereo Eyes: false
168 |         Value: false
169 |       Focal Point:
170 |         X: 1.8107112646102905
171 |         Y: 0.7177653312683105
172 |         Z: 0.437046080827713
173 |       Focal Shape Fixed Size: true
174 |       Focal Shape Size: 0.05000000074505806
175 |       Invert Z Axis: false
176 |       Name: Current View
177 |       Near Clip Distance: 0.009999999776482582
178 |       Pitch: 0.4753981828689575
179 |       Target Frame: <Fixed Frame>
180 |       Value: Orbit (rviz)
181 |       Yaw: 5.143584728240967
182 |     Saved: ~
183 | Window Geometry:
184 |   Displays:
185 |     collapsed: false
186 |   Height: 989
187 |   Hide Left Dock: false
188 |   Hide Right Dock: true
189 |   QMainWindow State: 000000ff00000000fd00000004000000000000015600000387fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000387000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005340000038700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
190 |   Selection:
191 |     collapsed: false
192 |   Tool Properties:
193 |     collapsed: false
194 |   Views:
195 |     collapsed: true
196 |   Width: 1680
197 |   X: 0
198 |   Y: 0
199 | 


--------------------------------------------------------------------------------
/view_with_camera.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /RobotModel1
  8 |         - /Image1
  9 |         - /PointCloud21
 10 |       Splitter Ratio: 0.5
 11 |     Tree Height: 558
 12 |   - Class: rviz_common/Selection
 13 |     Name: Selection
 14 |   - Class: rviz_common/Tool Properties
 15 |     Expanded:
 16 |       - /2D Goal Pose1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.5886790156364441
 20 |   - Class: rviz_common/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 | Visualization Manager:
 26 |   Class: ""
 27 |   Displays:
 28 |     - Alpha: 0.5
 29 |       Cell Size: 1
 30 |       Class: rviz_default_plugins/Grid
 31 |       Color: 160; 160; 164
 32 |       Enabled: true
 33 |       Line Style:
 34 |         Line Width: 0.029999999329447746
 35 |         Value: Lines
 36 |       Name: Grid
 37 |       Normal Cell Count: 0
 38 |       Offset:
 39 |         X: 0
 40 |         Y: 0
 41 |         Z: 0
 42 |       Plane: XY
 43 |       Plane Cell Count: 10
 44 |       Reference Frame: <Fixed Frame>
 45 |       Value: true
 46 |     - Class: rviz_default_plugins/TF
 47 |       Enabled: true
 48 |       Frame Timeout: 15
 49 |       Frames:
 50 |         All Enabled: true
 51 |         arm_link:
 52 |           Value: true
 53 |         base_link:
 54 |           Value: true
 55 |         camera_link:
 56 |           Value: true
 57 |         camera_link_optical:
 58 |           Value: true
 59 |         slider_link:
 60 |           Value: true
 61 |         world:
 62 |           Value: true
 63 |       Marker Scale: 1
 64 |       Name: TF
 65 |       Show Arrows: true
 66 |       Show Axes: true
 67 |       Show Names: true
 68 |       Tree:
 69 |         world:
 70 |           base_link:
 71 |             slider_link:
 72 |               arm_link:
 73 |                 camera_link:
 74 |                   camera_link_optical:
 75 |                     {}
 76 |       Update Interval: 0
 77 |       Value: true
 78 |     - Alpha: 1
 79 |       Class: rviz_default_plugins/RobotModel
 80 |       Collision Enabled: false
 81 |       Description File: ""
 82 |       Description Source: Topic
 83 |       Description Topic:
 84 |         Depth: 5
 85 |         Durability Policy: Volatile
 86 |         History Policy: Keep Last
 87 |         Reliability Policy: Reliable
 88 |         Value: /robot_description
 89 |       Enabled: true
 90 |       Links:
 91 |         All Links Enabled: true
 92 |         Expand Joint Details: false
 93 |         Expand Link Details: false
 94 |         Expand Tree: false
 95 |         Link Tree Style: Links in Alphabetic Order
 96 |         arm_link:
 97 |           Alpha: 1
 98 |           Show Axes: false
 99 |           Show Trail: false
100 |           Value: true
101 |         base_link:
102 |           Alpha: 1
103 |           Show Axes: false
104 |           Show Trail: false
105 |           Value: true
106 |         camera_link:
107 |           Alpha: 1
108 |           Show Axes: false
109 |           Show Trail: false
110 |           Value: true
111 |         camera_link_optical:
112 |           Alpha: 1
113 |           Show Axes: false
114 |           Show Trail: false
115 |         slider_link:
116 |           Alpha: 1
117 |           Show Axes: false
118 |           Show Trail: false
119 |           Value: true
120 |         world:
121 |           Alpha: 1
122 |           Show Axes: false
123 |           Show Trail: false
124 |       Name: RobotModel
125 |       TF Prefix: ""
126 |       Update Interval: 0
127 |       Value: true
128 |       Visual Enabled: true
129 |     - Class: rviz_default_plugins/Image
130 |       Enabled: true
131 |       Max Value: 1
132 |       Median window: 5
133 |       Min Value: 0
134 |       Name: Image
135 |       Normalize Range: true
136 |       Topic:
137 |         Depth: 5
138 |         Durability Policy: Volatile
139 |         History Policy: Keep Last
140 |         Reliability Policy: Reliable
141 |         Value: /my_camera/image_raw
142 |       Value: true
143 |     - Alpha: 1
144 |       Autocompute Intensity Bounds: true
145 |       Autocompute Value Bounds:
146 |         Max Value: 10
147 |         Min Value: -10
148 |         Value: true
149 |       Axis: Z
150 |       Channel Name: intensity
151 |       Class: rviz_default_plugins/PointCloud2
152 |       Color: 255; 255; 255
153 |       Color Transformer: RGB8
154 |       Decay Time: 0
155 |       Enabled: true
156 |       Invert Rainbow: false
157 |       Max Color: 255; 255; 255
158 |       Max Intensity: 4096
159 |       Min Color: 0; 0; 0
160 |       Min Intensity: 0
161 |       Name: PointCloud2
162 |       Position Transformer: XYZ
163 |       Selectable: true
164 |       Size (Pixels): 3
165 |       Size (m): 0.009999999776482582
166 |       Style: Flat Squares
167 |       Topic:
168 |         Depth: 5
169 |         Durability Policy: Volatile
170 |         History Policy: Keep Last
171 |         Reliability Policy: Reliable
172 |         Value: /my_camera/points
173 |       Use Fixed Frame: true
174 |       Use rainbow: true
175 |       Value: true
176 |   Enabled: true
177 |   Global Options:
178 |     Background Color: 48; 48; 48
179 |     Fixed Frame: world
180 |     Frame Rate: 30
181 |   Name: root
182 |   Tools:
183 |     - Class: rviz_default_plugins/Interact
184 |       Hide Inactive Objects: true
185 |     - Class: rviz_default_plugins/MoveCamera
186 |     - Class: rviz_default_plugins/Select
187 |     - Class: rviz_default_plugins/FocusCamera
188 |     - Class: rviz_default_plugins/Measure
189 |       Line color: 128; 128; 0
190 |     - Class: rviz_default_plugins/SetInitialPose
191 |       Topic:
192 |         Depth: 5
193 |         Durability Policy: Volatile
194 |         History Policy: Keep Last
195 |         Reliability Policy: Reliable
196 |         Value: /initialpose
197 |     - Class: rviz_default_plugins/SetGoal
198 |       Topic:
199 |         Depth: 5
200 |         Durability Policy: Volatile
201 |         History Policy: Keep Last
202 |         Reliability Policy: Reliable
203 |         Value: /goal_pose
204 |     - Class: rviz_default_plugins/PublishPoint
205 |       Single click: true
206 |       Topic:
207 |         Depth: 5
208 |         Durability Policy: Volatile
209 |         History Policy: Keep Last
210 |         Reliability Policy: Reliable
211 |         Value: /clicked_point
212 |   Transformation:
213 |     Current:
214 |       Class: rviz_default_plugins/TF
215 |   Value: true
216 |   Views:
217 |     Current:
218 |       Class: rviz_default_plugins/Orbit
219 |       Distance: 8.259644508361816
220 |       Enable Stereo Rendering:
221 |         Stereo Eye Separation: 0.05999999865889549
222 |         Stereo Focal Distance: 1
223 |         Swap Stereo Eyes: false
224 |         Value: false
225 |       Focal Point:
226 |         X: 3.6979176998138428
227 |         Y: 1.2425514459609985
228 |         Z: 0.03723698854446411
229 |       Focal Shape Fixed Size: true
230 |       Focal Shape Size: 0.05000000074505806
231 |       Invert Z Axis: false
232 |       Name: Current View
233 |       Near Clip Distance: 0.009999999776482582
234 |       Pitch: 0.29539841413497925
235 |       Target Frame: <Fixed Frame>
236 |       Value: Orbit (rviz)
237 |       Yaw: 3.543588399887085
238 |     Saved: ~
239 | Window Geometry:
240 |   Displays:
241 |     collapsed: false
242 |   Height: 989
243 |   Hide Left Dock: false
244 |   Hide Right Dock: true
245 |   Image:
246 |     collapsed: false
247 |   QMainWindow State: 000000ff00000000fd00000004000000000000015600000387fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f8000000ca0000002800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005340000038700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
248 |   Selection:
249 |     collapsed: false
250 |   Tool Properties:
251 |     collapsed: false
252 |   Views:
253 |     collapsed: true
254 |   Width: 1680
255 |   X: 0
256 |   Y: 0
257 | 


--------------------------------------------------------------------------------
/worlds/test_world.world:
--------------------------------------------------------------------------------
  1 | <sdf version='1.7'>
  2 |   <world name='default'>
  3 |     <light name='sun' type='directional'>
  4 |       <cast_shadows>1</cast_shadows>
  5 |       <pose>0 0 10 0 -0 0</pose>
  6 |       <diffuse>0.8 0.8 0.8 1</diffuse>
  7 |       <specular>0.2 0.2 0.2 1</specular>
  8 |       <attenuation>
  9 |         <range>1000</range>
 10 |         <constant>0.9</constant>
 11 |         <linear>0.01</linear>
 12 |         <quadratic>0.001</quadratic>
 13 |       </attenuation>
 14 |       <direction>-0.5 0.1 -0.9</direction>
 15 |       <spot>
 16 |         <inner_angle>0</inner_angle>
 17 |         <outer_angle>0</outer_angle>
 18 |         <falloff>0</falloff>
 19 |       </spot>
 20 |     </light>
 21 |     <model name='ground_plane'>
 22 |       <static>1</static>
 23 |       <link name='link'>
 24 |         <collision name='collision'>
 25 |           <geometry>
 26 |             <plane>
 27 |               <normal>0 0 1</normal>
 28 |               <size>100 100</size>
 29 |             </plane>
 30 |           </geometry>
 31 |           <surface>
 32 |             <friction>
 33 |               <ode>
 34 |                 <mu>100</mu>
 35 |                 <mu2>50</mu2>
 36 |               </ode>
 37 |               <torsional>
 38 |                 <ode/>
 39 |               </torsional>
 40 |             </friction>
 41 |             <contact>
 42 |               <ode/>
 43 |             </contact>
 44 |             <bounce/>
 45 |           </surface>
 46 |           <max_contacts>10</max_contacts>
 47 |         </collision>
 48 |         <visual name='visual'>
 49 |           <cast_shadows>0</cast_shadows>
 50 |           <geometry>
 51 |             <plane>
 52 |               <normal>0 0 1</normal>
 53 |               <size>100 100</size>
 54 |             </plane>
 55 |           </geometry>
 56 |           <material>
 57 |             <script>
 58 |               <uri>file://media/materials/scripts/gazebo.material</uri>
 59 |               <name>Gazebo/Grey</name>
 60 |             </script>
 61 |           </material>
 62 |         </visual>
 63 |         <self_collide>0</self_collide>
 64 |         <enable_wind>0</enable_wind>
 65 |         <kinematic>0</kinematic>
 66 |       </link>
 67 |     </model>
 68 |     <gravity>0 0 -9.8</gravity>
 69 |     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
 70 |     <atmosphere type='adiabatic'/>
 71 |     <physics type='ode'>
 72 |       <max_step_size>0.001</max_step_size>
 73 |       <real_time_factor>1</real_time_factor>
 74 |       <real_time_update_rate>1000</real_time_update_rate>
 75 |     </physics>
 76 |     <scene>
 77 |       <ambient>0.4 0.4 0.4 1</ambient>
 78 |       <background>0.7 0.7 0.7 1</background>
 79 |       <shadows>1</shadows>
 80 |     </scene>
 81 |     <wind/>
 82 |     <spherical_coordinates>
 83 |       <surface_model>EARTH_WGS84</surface_model>
 84 |       <latitude_deg>0</latitude_deg>
 85 |       <longitude_deg>0</longitude_deg>
 86 |       <elevation>0</elevation>
 87 |       <heading_deg>0</heading_deg>
 88 |     </spherical_coordinates>
 89 |     <model name='jersey_barrier'>
 90 |       <static>1</static>
 91 |       <link name='link'>
 92 |         <visual name='visual'>
 93 |           <geometry>
 94 |             <mesh>
 95 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
 96 |             </mesh>
 97 |           </geometry>
 98 |         </visual>
 99 |         <collision name='upright'>
100 |           <pose>0 0 0.5715 0 -0 0</pose>
101 |           <geometry>
102 |             <box>
103 |               <size>4.06542 0.3063 1.143</size>
104 |             </box>
105 |           </geometry>
106 |           <max_contacts>10</max_contacts>
107 |           <surface>
108 |             <contact>
109 |               <ode/>
110 |             </contact>
111 |             <bounce/>
112 |             <friction>
113 |               <torsional>
114 |                 <ode/>
115 |               </torsional>
116 |               <ode/>
117 |             </friction>
118 |           </surface>
119 |         </collision>
120 |         <collision name='base'>
121 |           <pose>0 0 0.032258 0 -0 0</pose>
122 |           <geometry>
123 |             <box>
124 |               <size>4.06542 0.8107 0.064516</size>
125 |             </box>
126 |           </geometry>
127 |           <max_contacts>10</max_contacts>
128 |           <surface>
129 |             <contact>
130 |               <ode/>
131 |             </contact>
132 |             <bounce/>
133 |             <friction>
134 |               <torsional>
135 |                 <ode/>
136 |               </torsional>
137 |               <ode/>
138 |             </friction>
139 |           </surface>
140 |         </collision>
141 |         <collision name='base2'>
142 |           <pose>0 0 0.1 0 -0 0</pose>
143 |           <geometry>
144 |             <box>
145 |               <size>4.06542 0.65 0.1</size>
146 |             </box>
147 |           </geometry>
148 |           <max_contacts>10</max_contacts>
149 |           <surface>
150 |             <contact>
151 |               <ode/>
152 |             </contact>
153 |             <bounce/>
154 |             <friction>
155 |               <torsional>
156 |                 <ode/>
157 |               </torsional>
158 |               <ode/>
159 |             </friction>
160 |           </surface>
161 |         </collision>
162 |         <collision name='base3'>
163 |           <pose>0 0 0.2 0 -0 0</pose>
164 |           <geometry>
165 |             <box>
166 |               <size>4.06542 0.5 0.1</size>
167 |             </box>
168 |           </geometry>
169 |           <max_contacts>10</max_contacts>
170 |           <surface>
171 |             <contact>
172 |               <ode/>
173 |             </contact>
174 |             <bounce/>
175 |             <friction>
176 |               <torsional>
177 |                 <ode/>
178 |               </torsional>
179 |               <ode/>
180 |             </friction>
181 |           </surface>
182 |         </collision>
183 |         <collision name='left-angle'>
184 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
185 |           <geometry>
186 |             <box>
187 |               <size>4.06542 0.5 0.064516</size>
188 |             </box>
189 |           </geometry>
190 |           <max_contacts>10</max_contacts>
191 |           <surface>
192 |             <contact>
193 |               <ode/>
194 |             </contact>
195 |             <bounce/>
196 |             <friction>
197 |               <torsional>
198 |                 <ode/>
199 |               </torsional>
200 |               <ode/>
201 |             </friction>
202 |           </surface>
203 |         </collision>
204 |         <collision name='right-angle'>
205 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
206 |           <geometry>
207 |             <box>
208 |               <size>4.06542 0.5 0.064516</size>
209 |             </box>
210 |           </geometry>
211 |           <max_contacts>10</max_contacts>
212 |           <surface>
213 |             <contact>
214 |               <ode/>
215 |             </contact>
216 |             <bounce/>
217 |             <friction>
218 |               <torsional>
219 |                 <ode/>
220 |               </torsional>
221 |               <ode/>
222 |             </friction>
223 |           </surface>
224 |         </collision>
225 |         <self_collide>0</self_collide>
226 |         <enable_wind>0</enable_wind>
227 |         <kinematic>0</kinematic>
228 |       </link>
229 |       <pose>6.00612 1.70833 0 0 -0 0</pose>
230 |     </model>
231 |     <model name='Construction Barrel'>
232 |       <link name='link'>
233 |         <inertial>
234 |           <pose>0 0 0.4 0 -0 0</pose>
235 |           <mass>500</mass>
236 |           <inertia>
237 |             <ixx>51.2096</ixx>
238 |             <iyy>51.2096</iyy>
239 |             <izz>25</izz>
240 |             <ixy>0</ixy>
241 |             <ixz>0</ixz>
242 |             <iyz>0</iyz>
243 |           </inertia>
244 |         </inertial>
245 |         <collision name='collision'>
246 |           <geometry>
247 |             <mesh>
248 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
249 |             </mesh>
250 |           </geometry>
251 |           <max_contacts>10</max_contacts>
252 |           <surface>
253 |             <contact>
254 |               <ode/>
255 |             </contact>
256 |             <bounce/>
257 |             <friction>
258 |               <torsional>
259 |                 <ode/>
260 |               </torsional>
261 |               <ode/>
262 |             </friction>
263 |           </surface>
264 |         </collision>
265 |         <visual name='visual'>
266 |           <geometry>
267 |             <mesh>
268 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
269 |             </mesh>
270 |           </geometry>
271 |         </visual>
272 |         <self_collide>0</self_collide>
273 |         <enable_wind>0</enable_wind>
274 |         <kinematic>0</kinematic>
275 |       </link>
276 |       <pose>5.88279 -0.038277 0 0 -0 0</pose>
277 |     </model>
278 |     <model name='Construction Cone'>
279 |       <link name='link'>
280 |         <collision name='collision'>
281 |           <geometry>
282 |             <mesh>
283 |               <scale>10 10 10</scale>
284 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
285 |             </mesh>
286 |           </geometry>
287 |           <max_contacts>10</max_contacts>
288 |           <surface>
289 |             <contact>
290 |               <ode/>
291 |             </contact>
292 |             <bounce/>
293 |             <friction>
294 |               <torsional>
295 |                 <ode/>
296 |               </torsional>
297 |               <ode/>
298 |             </friction>
299 |           </surface>
300 |         </collision>
301 |         <visual name='visual'>
302 |           <geometry>
303 |             <mesh>
304 |               <scale>10 10 10</scale>
305 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
306 |             </mesh>
307 |           </geometry>
308 |         </visual>
309 |         <self_collide>0</self_collide>
310 |         <inertial>
311 |           <pose>0 0 0 0 -0 0</pose>
312 |           <inertia>
313 |             <ixx>1</ixx>
314 |             <ixy>0</ixy>
315 |             <ixz>0</ixz>
316 |             <iyy>1</iyy>
317 |             <iyz>0</iyz>
318 |             <izz>1</izz>
319 |           </inertia>
320 |           <mass>1</mass>
321 |         </inertial>
322 |         <enable_wind>0</enable_wind>
323 |         <kinematic>0</kinematic>
324 |       </link>
325 |       <pose>3.51442 -0.825176 0 0 -0 0</pose>
326 |     </model>
327 |     <state world_name='default'>
328 |       <sim_time>101 588000000</sim_time>
329 |       <real_time>102 381087842</real_time>
330 |       <wall_time>1636575335 590958485</wall_time>
331 |       <iterations>101588</iterations>
332 |       <model name='Construction Barrel'>
333 |         <pose>5.88278 -0.038281 0 0 0 -3e-06</pose>
334 |         <scale>1 1 1</scale>
335 |         <link name='link'>
336 |           <pose>5.88278 -0.038281 0 0 0 -3e-06</pose>
337 |           <velocity>0 0 0 0 -0 0</velocity>
338 |           <acceleration>3.45854 5.74438 4.40609 1.34623 0.77903 3.14097</acceleration>
339 |           <wrench>1729.27 2872.19 2203.04 0 -0 0</wrench>
340 |         </link>
341 |       </model>
342 |       <model name='Construction Cone'>
343 |         <pose>3.51442 -0.825176 -0 0 -1e-06 0</pose>
344 |         <scale>1 1 1</scale>
345 |         <link name='link'>
346 |           <pose>3.51442 -0.825176 -0 0 -1e-06 0</pose>
347 |           <velocity>0 0 0 0 -0 0</velocity>
348 |           <acceleration>-0 0 0.008512 2.58585 -1.13682 -3.14159</acceleration>
349 |           <wrench>-0 0 0.008512 0 -0 0</wrench>
350 |         </link>
351 |       </model>
352 |       <model name='ground_plane'>
353 |         <pose>0 0 0 0 -0 0</pose>
354 |         <scale>1 1 1</scale>
355 |         <link name='link'>
356 |           <pose>0 0 0 0 -0 0</pose>
357 |           <velocity>0 0 0 0 -0 0</velocity>
358 |           <acceleration>0 0 0 0 -0 0</acceleration>
359 |           <wrench>0 0 0 0 -0 0</wrench>
360 |         </link>
361 |       </model>
362 |       <model name='jersey_barrier'>
363 |         <pose>6.00612 1.70833 0 0 -0 0</pose>
364 |         <scale>1 1 1</scale>
365 |         <link name='link'>
366 |           <pose>6.00612 1.70833 0 0 -0 0</pose>
367 |           <velocity>0 0 0 0 -0 0</velocity>
368 |           <acceleration>0 0 0 0 -0 0</acceleration>
369 |           <wrench>0 0 0 0 -0 0</wrench>
370 |         </link>
371 |       </model>
372 |       <light name='sun'>
373 |         <pose>0 0 10 0 -0 0</pose>
374 |       </light>
375 |     </state>
376 |     <gui fullscreen='0'>
377 |       <camera name='user_camera'>
378 |         <pose>2.9882 -12.0466 9.70847 0 0.599643 1.3882</pose>
379 |         <view_controller>orbit</view_controller>
380 |         <projection_type>perspective</projection_type>
381 |       </camera>
382 |     </gui>
383 |   </world>
384 | </sdf>
385 | 


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