├── p3dx_description ├── meshes │ ├── top.stl │ ├── back_rim.stl │ ├── chassis.stl │ ├── swivel.stl │ ├── back_sonar.stl │ ├── front_rim.stl │ ├── left_wheel.stl │ ├── center_hubcap.stl │ ├── center_wheel.stl │ ├── front_sonar.stl │ ├── left_hubcap.stl │ ├── right_hubcap.stl │ ├── right_wheel.stl │ └── Coordinates ├── launch │ ├── rviz.launch │ └── config.rviz ├── package.xml ├── .project ├── urdf │ ├── materials.xacro │ ├── pioneer3dx_wheel.xacro │ ├── pioneer3dx.gazebo │ └── pioneer3dx.xacro └── CMakeLists.txt ├── p3dx_gazebo ├── gazebo_maps │ ├── One │ │ ├── model.config │ │ └── model.sdf │ ├── Map10 │ │ ├── model.config │ │ └── model.sdf │ ├── Map11 │ │ ├── model.config │ │ └── model.sdf │ ├── Map12 │ │ ├── model.config │ │ └── model.sdf │ ├── Map2 │ │ ├── model.config │ │ └── model.sdf │ ├── Map3 │ │ ├── model.config │ │ └── model.sdf │ ├── Map4 │ │ ├── model.config │ │ └── model.sdf │ ├── Map5 │ │ ├── model.config │ │ └── model.sdf │ ├── Map6 │ │ ├── model.config │ │ └── model.sdf │ ├── Map7 │ │ ├── model.config │ │ └── model.sdf │ ├── Map8 │ │ └── model.config │ ├── Map9 │ │ ├── model.config │ │ └── model.sdf │ ├── Movis │ │ └── model.config │ ├── Boundary │ │ ├── model.config │ │ └── model.sdf │ ├── MapReal │ │ ├── model.config │ │ └── model.sdf │ ├── MapTest1 │ │ ├── model.config │ │ └── model.sdf │ ├── MazeMap │ │ └── model.config │ ├── Movis2 │ │ ├── model.config │ │ └── model.sdf │ ├── obs_1x1 │ │ ├── model.config │ │ └── model.sdf │ ├── Map1 │ │ └── model.config │ ├── MapSpiral │ │ ├── model.config │ │ └── model.sdf │ ├── bug1_test │ │ ├── model.config │ │ └── model.sdf │ ├── concavObs1 │ │ ├── model.config │ │ └── model.sdf │ └── DistBugMap1 │ │ ├── model.config │ │ └── model.sdf ├── worlds │ └── p3dx.world ├── package.xml ├── launch │ ├── p3dx.launch │ ├── spawn.launch │ ├── pioneer3dxCam.launch │ ├── pioneer3dxSonar.launch │ ├── pioneer3dx.launch │ └── pioneer3dxLaser.launch ├── .project └── CMakeLists.txt ├── p3dx_control ├── package.xml ├── config │ └── pioneer3dx.yaml ├── .project ├── mover.cpp ├── launch │ └── control.launch └── CMakeLists.txt ├── README.md └── .gitignore /p3dx_description/meshes/top.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/top.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/back_rim.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/back_rim.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/chassis.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/chassis.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/swivel.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/swivel.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/back_sonar.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/back_sonar.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/front_rim.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/front_rim.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/left_wheel.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/left_wheel.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/center_hubcap.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/center_hubcap.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/center_wheel.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/center_wheel.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/front_sonar.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/front_sonar.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/left_hubcap.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/left_hubcap.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/right_hubcap.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/right_hubcap.stl -------------------------------------------------------------------------------- /p3dx_description/meshes/right_wheel.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mario-serna/pioneer_p3dx_model/HEAD/p3dx_description/meshes/right_wheel.stl -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/One/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | One 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map10/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map10 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map11/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map11 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map12/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map12 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map2/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map2 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map3/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map3 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map4/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map4 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map5/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map5 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map6/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map6 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map7/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map7 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map8/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map8 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map9/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map9 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Movis/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Movis 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Boundary/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Boundary 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MapReal/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MapReal 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MapTest1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MapTest1 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MazeMap/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MazeMap 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Movis2/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Movis2 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/obs_1x1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | obs_1x1 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | Map1 4 | 1.0 5 | model.sdf 6 | 7 | Mario Serna 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MapSpiral/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | MapSpiral 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/bug1_test/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | bug1_test 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/concavObs1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | concavObs1 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/DistBugMap1/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | DistBugMap1 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /p3dx_gazebo/worlds/p3dx.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://sun 7 | 8 | 9 | 10 | model://ground_plane 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /p3dx_description/meshes/Coordinates: -------------------------------------------------------------------------------- 1 | ========================================= 2 | Location Coordinates (x,y,z) 3 | ========================================= 4 | 5 | Chassis : -0.045 0 0.148 6 | Top : -0.045 0 0.234 7 | 8 | Swivel : -0.185 0 0.055 9 | Center Hubcap : -0.211 0 0.037 10 | Center Wheel : -0.211 0 0.038 11 | 12 | Right Hubcap : 0 0.158 0.091 13 | Right Wheel : 0 0.158 0.091 14 | 15 | Left Hubcap : 0 -0.158 0.091 16 | Left Wheel : 0 -0.158 0.091 17 | 18 | Front Sonar : -0.2 0 0.209 19 | Back Sonar : 0.109 0 0.209 20 | 21 | -------------------------------------------------------------------------------- /p3dx_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_control 4 | 0.0.1 5 | 6 | The p3dx_control package. This is in experimental mode. 7 | 8 | 9 | Rafael Berkvens 10 | GPLv3 11 | https://github.com/RafBerkvens/ua_ros_p3dx 12 | 13 | catkin 14 | controller_manager 15 | controller_manager 16 | -------------------------------------------------------------------------------- /p3dx_description/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /p3dx_control/config/pioneer3dx.yaml: -------------------------------------------------------------------------------- 1 | # Publish all joint states ----------------------------------- 2 | joint_state_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | # Position Controllers --------------------------------------- 7 | joint1_position_controller: 8 | type: effort_controllers/JointPositionController 9 | joint: base_left_wheel_joint 10 | pid: {p: 100.0, i: 0.01, d: 10.0} 11 | joint2_position_controller: 12 | type: effort_controllers/JointPositionController 13 | joint: base_right_wheel_joint 14 | pid: {p: 100.0, i: 0.01, d: 10.0} -------------------------------------------------------------------------------- /p3dx_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_description 4 | 0.1.0 5 | 6 | A Pioneer 3DX description for Gazebo. First working version 7 | 8 | 9 | Rafael Berkvens 10 | GPLv3 11 | https://github.com/RafBerkvens/ua_ros_p3dx 12 | 13 | catkin 14 | roscpp 15 | rospy 16 | urdf 17 | roscpp 18 | rospy 19 | urdf 20 | -------------------------------------------------------------------------------- /p3dx_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_gazebo 4 | 0.1.0 5 | 6 | The p3dx_gazebo package. This is a first working version. 7 | 8 | 9 | Rafael Berkvens 10 | GPLv3 11 | https://github.com/RafBerkvens/ua_ros_p3dx 12 | 13 | catkin 14 | gazebo_ros 15 | p3dx_control 16 | p3dx_description 17 | gazebo_ros 18 | p3dx_control 19 | p3dx_description 20 | -------------------------------------------------------------------------------- /p3dx_gazebo/launch/p3dx.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /p3dx_gazebo/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_gazebo 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | 14 | 15 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 16 | full,incremental, 17 | 18 | 19 | 20 | 21 | 22 | org.eclipse.cdt.core.cnature 23 | org.eclipse.cdt.core.ccnature 24 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 25 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 26 | 27 | 28 | -------------------------------------------------------------------------------- /p3dx_control/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_control 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | 14 | 15 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 16 | full,incremental, 17 | 18 | 19 | 20 | 21 | 22 | org.eclipse.cdt.core.cnature 23 | org.eclipse.cdt.core.ccnature 24 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 25 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 26 | 27 | 28 | -------------------------------------------------------------------------------- /p3dx_description/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | p3dx_description 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | 14 | 15 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 16 | full,incremental, 17 | 18 | 19 | 20 | 21 | 22 | org.eclipse.cdt.core.cnature 23 | org.eclipse.cdt.core.ccnature 24 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 25 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 26 | 27 | 28 | -------------------------------------------------------------------------------- /p3dx_control/mover.cpp: -------------------------------------------------------------------------------- 1 | #include "ros/ros.h" 2 | #include "std_msgs/String.h" 3 | #include "geometry_msgs/Twist.h" 4 | 5 | int main(int argc, char **argv) 6 | { 7 | ros::init(argc, argv, "mover"); 8 | ros::NodeHandle nh; 9 | 10 | ros::Publisher twist_pub = nh.advertise("cmd_vel", 1000); 11 | 12 | geometry_msgs::Twist t; 13 | char cmd[50]; 14 | ros::Rate loop_rate(10); 15 | t = geometry_msgs::Twist(); 16 | 17 | while (ros::ok()) 18 | { 19 | std::cin.getline(cmd, 50); 20 | 21 | switch (cmd[0]) { 22 | case 'w': 23 | t.linear.x += 0.1; 24 | break; 25 | case 's': 26 | t.linear.x -= 0.1; 27 | break; 28 | case 'a': 29 | t.angular.z += 0.1; 30 | break; 31 | case 'd': 32 | t.angular.z -= 0.1; 33 | break; 34 | default: 35 | t = geometry_msgs::Twist(); 36 | break; 37 | } 38 | 39 | twist_pub.publish(t); 40 | 41 | ros::spinOnce(); 42 | loop_rate.sleep(); 43 | } 44 | 45 | return 0; 46 | } 47 | -------------------------------------------------------------------------------- /p3dx_control/launch/control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /p3dx_gazebo/launch/spawn.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /p3dx_description/urdf/materials.xacro: -------------------------------------------------------------------------------- 1 | 2 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Pioneer P3-DX Model 2 | 3 | A ROS/Gazebo Pioneer 3DX model created by Rafael Berkvens (rafael.berkvens@uantwerpen.be) and modified by Mario Serna Hernández. This is a model adapted to the Pioneer P3-DX robot of the Movis Research & Innovation Group. 4 | 5 | # Source repository: 6 | https://github.com/SD-Robot-Vision/PioneerModel.git 7 | 8 | # To install: 9 | ``` 10 | $ cd /src 11 | $ git clone https://github.com/mario-serna/pioneer_p3dx_model.git 12 | $ cd .. 13 | $ catkin_make 14 | ``` 15 | 16 | # To use: 17 | ``` 18 | To make sure your workspace is properly overlayed by the setup script. 19 | $ source /devel/setup.sh 20 | Launching Gazebo 21 | $ roslaunch gazebo_ros empty_world.launch 22 | Spawning Robot 23 | $ roslaunch p3dx_gazebo p3xd.launch 24 | 25 | p3dx.launch arguments: 26 | * ns:= (namespace) | default: p3dx 27 | * x:= (x position) | default: 0.0 28 | * y:= (y position) | default: 0.0 29 | * z:= (z position) | default: 0.0 30 | 31 | Spawning two or more robots 32 | $ roslaunch p3dx_gazebo p3xd.launch ns:=p3dx_1 33 | $ roslaunch p3dx_gazebo p3xd.launch ns:=p3dx_2 x:=2 34 | $ roslaunch p3dx_gazebo p3xd.launch ns:=p3dx_3 x:=2 y:=2 35 | 36 | Launching Rviz 37 | $ roslaunch p3dx_description rviz.launch 38 | ``` 39 | 40 | # Note: 41 | ``` 42 | In order to use the other included world files, it is necessary to replace the following for all the matches: 43 | 44 | Example: 45 | p3dx_gazebo/worlds/p3dx_map1.world 46 | 47 | /home/mario/catkin_ws/src/pioneer_p3dx_model/p3dx_description/meshes/chassis.stl 48 | => 49 | /home///src/pioneer_p3dx_model/p3dx_description/meshes/chassis.stl 50 | 51 | ``` -------------------------------------------------------------------------------- /p3dx_gazebo/launch/pioneer3dxCam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 25 | 26 | 27 | 28 | 32 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /p3dx_gazebo/launch/pioneer3dxSonar.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 25 | 26 | 27 | 28 | 32 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /p3dx_gazebo/launch/pioneer3dx.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 26 | 27 | 29 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /p3dx_gazebo/launch/pioneer3dxLaser.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled source # 2 | ################### 3 | *.com 4 | *.class 5 | *.dll 6 | *.exe 7 | *.o 8 | *.so 9 | 10 | # Packages # 11 | ############ 12 | # it's better to unpack these files and commit the raw source 13 | # git has its own built in compression methods 14 | *.7z 15 | *.dmg 16 | *.gz 17 | *.iso 18 | *.jar 19 | *.rar 20 | *.tar 21 | *.zip 22 | 23 | # Logs and databases # 24 | ###################### 25 | *.log 26 | *.sql 27 | *.sqlite 28 | 29 | # OS generated files # 30 | ###################### 31 | .DS_Store* 32 | ehthumbs.db 33 | Icon? 34 | Thumbs.db 35 | *~ 36 | .~* 37 | *# 38 | 39 | # LaTeX files # 40 | ############### 41 | *.acn 42 | *.acr 43 | *.alg 44 | *.aux 45 | *.bbl 46 | *.blg 47 | *.dvi 48 | *.fdb_latexmk 49 | *.glg 50 | *.glo 51 | *.gls 52 | *.idx 53 | *.ilg 54 | *.ind 55 | *.ist 56 | *.lof 57 | *.log 58 | *.lot 59 | *.maf 60 | *.mtc 61 | *.mtc0 62 | *.nav 63 | *.nlo 64 | *.out 65 | *.pdfsync 66 | *.ps 67 | *.snm 68 | *.synctex.gz 69 | *.toc 70 | *.vrb 71 | *.xdy 72 | 73 | # CMake.gitignore # 74 | ################### 75 | CMakeCache.txt 76 | CMakeFiles 77 | Makefile 78 | cmake_install.cmake 79 | install_manifest.txt 80 | 81 | # C++.gitignore # 82 | ################# 83 | # Compiled Object files 84 | *.slo 85 | *.lo 86 | *.o 87 | 88 | # Compiled Dynamic libraries 89 | *.so 90 | *.dylib 91 | 92 | # Compiled Static libraries 93 | *.lai 94 | *.la 95 | *.a 96 | 97 | # Linux.gitignore # 98 | ################### 99 | .* 100 | !.gitignore 101 | *~ 102 | 103 | # KDevelop & CMake # 104 | #################### 105 | CMakeCache.txt 106 | CMakeFiles 107 | Makefile 108 | cmake_install.cmake 109 | install_manifest.txt 110 | build/**/* 111 | 112 | # rosbuild # 113 | ############ 114 | bin/ 115 | build/ 116 | msg_gen/ 117 | 118 | # Eclipse # 119 | ########### 120 | !.project 121 | -------------------------------------------------------------------------------- /p3dx_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(p3dx_description) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | roscpp 9 | rospy 10 | urdf 11 | ) 12 | 13 | ## System dependencies are found with CMake's conventions 14 | # find_package(Boost REQUIRED COMPONENTS system) 15 | 16 | 17 | ## Uncomment this if the package has a setup.py. This macro ensures 18 | ## modules and global scripts declared therein get installed 19 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 20 | # catkin_python_setup() 21 | 22 | ####################################### 23 | ## Declare ROS messages and services ## 24 | ####################################### 25 | 26 | ## Generate messages in the 'msg' folder 27 | # add_message_files( 28 | # FILES 29 | # Message1.msg 30 | # Message2.msg 31 | # ) 32 | 33 | ## Generate services in the 'srv' folder 34 | # add_service_files( 35 | # FILES 36 | # Service1.srv 37 | # Service2.srv 38 | # ) 39 | 40 | ## Generate added messages and services with any dependencies listed here 41 | # generate_messages( 42 | # DEPENDENCIES 43 | # std_msgs # Or other packages containing msgs 44 | # ) 45 | 46 | ################################### 47 | ## catkin specific configuration ## 48 | ################################### 49 | ## The catkin_package macro generates cmake config files for your package 50 | ## Declare things to be passed to dependent projects 51 | ## INCLUDE_DIRS: uncomment this if you package contains header files 52 | ## LIBRARIES: libraries you create in this project that dependent projects also need 53 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 54 | ## DEPENDS: system dependencies of this project that dependent projects also need 55 | catkin_package( 56 | # INCLUDE_DIRS include 57 | # LIBRARIES p3dx_description 58 | # CATKIN_DEPENDS roscpp rospy urdf 59 | # DEPENDS system_lib 60 | ) 61 | 62 | ########### 63 | ## Build ## 64 | ########### 65 | 66 | ## Specify additional locations of header files 67 | ## Your package locations should be listed before other locations 68 | # include_directories(include) 69 | include_directories( 70 | ${catkin_INCLUDE_DIRS} 71 | ) 72 | 73 | ## Declare a cpp library 74 | # add_library(p3dx_description 75 | # src/${PROJECT_NAME}/p3dx_description.cpp 76 | # ) 77 | 78 | ## Declare a cpp executable 79 | # add_executable(p3dx_description src/main.cpp) 80 | 81 | ## Add cmake target dependencies of the executable/library 82 | ## as an example, message headers may need to be generated before nodes 83 | # add_dependencies(p3dx_description_node p3dx_description_generate_messages_cpp) 84 | 85 | ## Specify libraries to link a library or executable target against 86 | # target_link_libraries(p3dx_description_node 87 | # ${catkin_LIBRARIES} 88 | # ) 89 | -------------------------------------------------------------------------------- /p3dx_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(p3dx_gazebo) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | gazebo_ros 9 | p3dx_control 10 | p3dx_description 11 | ) 12 | 13 | ## System dependencies are found with CMake's conventions 14 | # find_package(Boost REQUIRED COMPONENTS system) 15 | 16 | 17 | ## Uncomment this if the package has a setup.py. This macro ensures 18 | ## modules and global scripts declared therein get installed 19 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 20 | # catkin_python_setup() 21 | 22 | ####################################### 23 | ## Declare ROS messages and services ## 24 | ####################################### 25 | 26 | ## Generate messages in the 'msg' folder 27 | # add_message_files( 28 | # FILES 29 | # Message1.msg 30 | # Message2.msg 31 | # ) 32 | 33 | ## Generate services in the 'srv' folder 34 | # add_service_files( 35 | # FILES 36 | # Service1.srv 37 | # Service2.srv 38 | # ) 39 | 40 | ## Generate added messages and services with any dependencies listed here 41 | # generate_messages( 42 | # DEPENDENCIES 43 | # std_msgs # Or other packages containing msgs 44 | # ) 45 | 46 | ################################### 47 | ## catkin specific configuration ## 48 | ################################### 49 | ## The catkin_package macro generates cmake config files for your package 50 | ## Declare things to be passed to dependent projects 51 | ## INCLUDE_DIRS: uncomment this if you package contains header files 52 | ## LIBRARIES: libraries you create in this project that dependent projects also need 53 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 54 | ## DEPENDS: system dependencies of this project that dependent projects also need 55 | catkin_package( 56 | # INCLUDE_DIRS include 57 | # LIBRARIES p3dx_gazebo 58 | # CATKIN_DEPENDS gazebo_ros p3dx_control p3dx_description 59 | # DEPENDS system_lib 60 | ) 61 | 62 | ########### 63 | ## Build ## 64 | ########### 65 | 66 | ## Specify additional locations of header files 67 | ## Your package locations should be listed before other locations 68 | # include_directories(include) 69 | include_directories( 70 | ${catkin_INCLUDE_DIRS} 71 | ) 72 | 73 | ## Declare a cpp library 74 | # add_library(p3dx_gazebo 75 | # src/${PROJECT_NAME}/p3dx_gazebo.cpp 76 | # ) 77 | 78 | ## Declare a cpp executable 79 | # add_executable(p3dx_gazebo_node src/p3dx_gazebo_node.cpp) 80 | 81 | ## Add cmake target dependencies of the executable/library 82 | ## as an example, message headers may need to be generated before nodes 83 | # add_dependencies(p3dx_gazebo_node p3dx_gazebo_generate_messages_cpp) 84 | 85 | ## Specify libraries to link a library or executable target against 86 | # target_link_libraries(p3dx_gazebo_node 87 | # ${catkin_LIBRARIES} 88 | # ) -------------------------------------------------------------------------------- /p3dx_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(p3dx_control) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | controller_manager 9 | ) 10 | 11 | ## System dependencies are found with CMake's conventions 12 | # find_package(Boost REQUIRED COMPONENTS system) 13 | 14 | 15 | ## Uncomment this if the package has a setup.py. This macro ensures 16 | ## modules and global scripts declared therein get installed 17 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 18 | # catkin_python_setup() 19 | 20 | ####################################### 21 | ## Declare ROS messages and services ## 22 | ####################################### 23 | 24 | ## Generate messages in the 'msg' folder 25 | # add_message_files( 26 | # FILES 27 | # Message1.msg 28 | # Message2.msg 29 | # ) 30 | 31 | ## Generate services in the 'srv' folder 32 | # add_service_files( 33 | # FILES 34 | # Service1.srv 35 | # Service2.srv 36 | # ) 37 | 38 | ## Generate added messages and services with any dependencies listed here 39 | # generate_messages( 40 | # DEPENDENCIES 41 | # std_msgs # Or other packages containing msgs 42 | # ) 43 | 44 | ################################### 45 | ## catkin specific configuration ## 46 | ################################### 47 | ## The catkin_package macro generates cmake config files for your package 48 | ## Declare things to be passed to dependent projects 49 | ## INCLUDE_DIRS: uncomment this if you package contains header files 50 | ## LIBRARIES: libraries you create in this project that dependent projects also need 51 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 52 | ## DEPENDS: system dependencies of this project that dependent projects also need 53 | catkin_package( 54 | # INCLUDE_DIRS include 55 | # LIBRARIES p3dx_control 56 | # CATKIN_DEPENDS controller_manager 57 | # DEPENDS system_lib 58 | ) 59 | 60 | ########### 61 | ## Build ## 62 | ########### 63 | 64 | ## Specify additional locations of header files 65 | ## Your package locations should be listed before other locations 66 | # include_directories(include) 67 | include_directories( 68 | ${catkin_INCLUDE_DIRS} 69 | ) 70 | 71 | ## Declare a cpp library 72 | # add_library(p3dx_control 73 | # src/${PROJECT_NAME}/p3dx_control.cpp 74 | # ) 75 | 76 | ## Declare a cpp executable 77 | # add_executable(p3dx_control_node src/p3dx_control_node.cpp) 78 | 79 | ## Add cmake target dependencies of the executable/library 80 | ## as an example, message headers may need to be generated before nodes 81 | # add_dependencies(p3dx_control_node p3dx_control_generate_messages_cpp) 82 | 83 | ## Specify libraries to link a library or executable target against 84 | # target_link_libraries(p3dx_control_node 85 | # ${catkin_LIBRARIES} 86 | # ) 87 | 88 | add_executable(mover mover.cpp) 89 | target_link_libraries(mover ${catkin_LIBRARIES}) 90 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map3/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0.215 -2.365 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 2 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 2 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -1.925 0 0 0 0 -1.5708 30 | 31 | 32 | 33 | 34 | 35 | 4 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 4 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0 -0.925 0 0 -0 0 56 | 57 | 58 | 59 | 60 | 61 | 2 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 2 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 1.925 0 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 4 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 4 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0 0.925 0 0 -0 3.14159 108 | 109 | 1 110 | 111 | 112 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/obs_1x1/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -2.695 -1.535 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 1 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 1 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0 0.425 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 1 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 1 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0.425 0 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 1 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 1 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0 -0.425 0 0 -0 3.14159 82 | 83 | 84 | 85 | 86 | 87 | 1 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 1 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | -0.425 0 0 0 -0 1.5708 108 | 109 | 1 110 | 111 | 112 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Boundary/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 2.094 -4.998 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 10 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 10 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -7.425 0 0 0 0 -1.5708 30 | 31 | 32 | 33 | 34 | 35 | 15 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 15 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0 -4.925 0 0 -0 0 56 | 57 | 58 | 59 | 60 | 61 | 10 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 10 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 7.425 0 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 15 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 15 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0 4.925 0 0 -0 3.14159 108 | 109 | 1 110 | 111 | 112 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map12/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0.7 -4.245 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 2 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 2 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 2.42 0 0 0 0 -1.5708 30 | 31 | 32 | 33 | 34 | 35 | 4.99 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 4.99 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0 -0.925 0 0 -0 3.14159 56 | 57 | 58 | 59 | 60 | 61 | 2 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 2 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | -2.42 0 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 4.99 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 4.99 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0 0.925 0 0 -0 0 108 | 109 | 1 110 | 111 | 112 | -------------------------------------------------------------------------------- /p3dx_description/urdf/pioneer3dx_wheel.xacro: -------------------------------------------------------------------------------- 1 | 2 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | pr2_mechanism_model/SimpleTransmission 87 | 88 | hardware_interface/EffortJointInterface 89 | 90 | 91 | EffortJointInterface 92 | ${reflect * 624/35 * 80/19} 93 | 94 | 95 | 96 | Gazebo/Yellow 97 | 98 | 99 | Gazebo/Black 100 | 0.5 101 | 50.0 102 | 100000000.0 103 | 1.0 104 | 105 | 106 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map9/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -0.385 -1.585 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 1.5 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 1.5 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -1.245 0.02 0 0 -0 1.5708 30 | 31 | 32 | 33 | 34 | 35 | 1.5 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 1.5 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | -0.645 -0.01 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 1.5 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 1.5 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | -0.015 0.01 0 0 0 -1.5708 82 | 83 | 84 | 85 | 86 | 87 | 1.5 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 1.5 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0.615 -0.02 0 0 0 -1.5708 108 | 109 | 110 | 111 | 112 | 113 | 1.5 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 1.5 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 1.245 0 0 0 0 -1.5708 134 | 135 | 1 136 | 137 | 138 | -------------------------------------------------------------------------------- /p3dx_description/urdf/pioneer3dx.gazebo: -------------------------------------------------------------------------------- 1 | 2 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | Gazebo/Red 31 | 32 | 33 | 34 | Gazebo/Black 35 | 36 | 37 | 38 | Gazebo/Grey 39 | 40 | 41 | 42 | Gazebo/Grey 43 | 44 | 45 | 46 | Gazebo/Black 47 | 0.0 48 | 0.0 49 | 1000000.0 50 | 1.0 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | true 60 | 100 61 | base_right_wheel_joint 62 | base_left_wheel_joint 63 | 0.314 64 | 0.179 65 | 5 66 | cmd_vel 67 | odom 68 | odom 69 | base_link 70 | true 71 | true 72 | 0 73 | 5 74 | na 75 | 1 76 | false 77 | 78 | 79 | 80 | 81 | 82 | true 83 | 30.0 84 | base_link 85 | base_pose_ground_truth 86 | 0.01 87 | map 88 | 89 | 0 0 0 90 | 0 0 0 91 | 92 | 93 | 94 | 95 | 96 | 0 0 0 0 0 0 97 | true 98 | 50 99 | 100 | 101 | 102 | 727 103 | 1 104 | -2.0944 105 | 2.0944 106 | 107 | 108 | 109 | 0.1 110 | 4.0 111 | 0.01 112 | 113 | 114 | gaussian 115 | 118 | 0.0 119 | 0.01 120 | 121 | 122 | 123 | laser/scan 124 | lms100 125 | 126 | 127 | 128 | 129 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map2/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0.285 -2.545 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 2 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 2 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -1.925 0 0 0 0 -1.5708 30 | 31 | 32 | 0 -0.925 0 0 -0 0 33 | 34 | -1.4975 0 1.25 0 -0 0 35 | 36 | 37 | 1.005 0.15 2.5 38 | 39 | 40 | 41 | 45 | 1 1 1 1 46 | 47 | 48 | 49 | 50 | 51 | 1.005 0.15 2.5 52 | 53 | 54 | -1.4975 0 1.25 0 -0 0 55 | 56 | 57 | 0.9525 0 1.25 0 -0 0 58 | 59 | 60 | 2.095 0.15 2.5 61 | 62 | 63 | 64 | 68 | 1 1 1 1 69 | 70 | 71 | 72 | 73 | 74 | 2.095 0.15 2.5 75 | 76 | 77 | 0.9525 0 1.25 0 -0 0 78 | 79 | 80 | -0.545 0 2.25 0 -0 0 81 | 82 | 83 | 0.9 0.15 0.5 84 | 85 | 86 | 87 | 91 | 1 1 1 1 92 | 93 | 94 | 95 | 96 | 97 | 0.9 0.15 0.5 98 | 99 | 100 | -0.545 0 2.25 0 -0 0 101 | 102 | 103 | 104 | 105 | 106 | 107 | 2 0.15 2.5 108 | 109 | 110 | 0 0 1.25 0 -0 0 111 | 112 | 113 | 0 0 1.25 0 -0 0 114 | 115 | 116 | 2 0.15 2.5 117 | 118 | 119 | 120 | 124 | 1 1 1 1 125 | 126 | 127 | 1.925 0 0 0 -0 1.5708 128 | 129 | 130 | 131 | 132 | 133 | 4 0.15 2.5 134 | 135 | 136 | 0 0 1.25 0 -0 0 137 | 138 | 139 | 0 0 1.25 0 -0 0 140 | 141 | 142 | 4 0.15 2.5 143 | 144 | 145 | 146 | 150 | 1 1 1 1 151 | 152 | 153 | 0 0.925 0 0 -0 3.14159 154 | 155 | 1 156 | 157 | 158 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/One/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -4.04362 -1.22726 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 2 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 2 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0.005148 1.41985 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 3 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 3 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0.930148 -0.005148 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 1 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 1 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0.505148 -1.43015 0 0 -0 3.14159 82 | 83 | 84 | 85 | 86 | 87 | 2 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 2 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0.080148 -0.505148 0 0 -0 1.5708 108 | 109 | 110 | 111 | 112 | 113 | 1 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 1 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | -0.344852 0.419852 0 0 -0 3.14159 134 | 135 | 136 | 137 | 138 | 139 | 1.16119 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 1.16119 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -0.844852 0.919852 0 0 -0 1.71969 160 | 161 | 1 162 | 163 | 164 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map10/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -1.69242 -1.55227 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 0.82915 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 0.82915 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -2.86784 -1.32879 0 0 0 -1.55791 30 | 31 | 32 | 33 | 34 | 35 | 5.88589 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 5.88589 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 0.004473 -1.66815 0 0 -0 0 56 | 57 | 58 | 59 | 60 | 61 | 3.48668 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 3.48668 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 2.87242 0.00019 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 1.63507 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 1.63507 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 2.12992 1.66092 0 0 0 -3.13135 108 | 109 | 110 | 111 | 112 | 113 | 2.79314 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 2.79314 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 1.37982 0.331949 0 0 0 -1.57655 134 | 135 | 136 | 137 | 138 | 139 | 4.39443 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 4.39443 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -0.75 -0.989423 0 0 -0 3.14159 160 | 161 | 1 162 | 163 | 164 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map7/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -2.82471 -9.84609 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 8 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 8 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0 2.425 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 5 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 5 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 3.925 0 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 8 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 8 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0 -2.425 0 0 -0 3.14159 82 | 83 | 84 | 85 | 86 | 87 | 5 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 5 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | -3.925 0 0 0 -0 1.5708 108 | 109 | 110 | 111 | 112 | 113 | 4 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 4 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | -0.015927 -0.484298 0 0 -0 1.5708 134 | 135 | 136 | 137 | 138 | 139 | 4 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 4 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -1.91264 0.476869 0 0 0 -1.5708 160 | 161 | 162 | 163 | 164 | 165 | 4 0.15 2.5 166 | 167 | 168 | 0 0 1.25 0 -0 0 169 | 170 | 171 | 0 0 1.25 0 -0 0 172 | 173 | 174 | 4 0.15 2.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | 1.90391 0.476869 0 0 0 -1.5708 186 | 187 | 1 188 | 189 | 190 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/concavObs1/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -0.599206 -4.07832 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 6.5 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 6.5 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0.292706 -0.667184 0 0 -0 0.523619 30 | 31 | 32 | 33 | 34 | 35 | 1.5 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 1.5 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 3.04221 1.59532 0 0 -0 1.5708 56 | 57 | 58 | 59 | 60 | 61 | 6.25 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 6.25 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | -0.007794 2.27032 0 0 -0 3.14159 82 | 83 | 84 | 85 | 86 | 87 | 1.15433 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 1.15433 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | -2.96979 1.77582 0 0 0 -1.39468 108 | 109 | 110 | 111 | 112 | 113 | 5 0.15 0.5 114 | 115 | 116 | 0 0 0.25 0 -0 0 117 | 118 | 119 | 0 0 0.25 0 -0 0 120 | 121 | 122 | 5 0.15 0.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | -0.456794 1.28132 0 0 -0 0 134 | 135 | 136 | 137 | 138 | 139 | 5.75 0.15 0.5 140 | 141 | 142 | 0 0 0.25 0 -0 0 143 | 144 | 145 | 0 0 0.25 0 -0 0 146 | 147 | 148 | 5.75 0.15 0.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -0.456794 -0.118683 0 0 0 -2.61802 160 | 161 | 162 | 163 | 164 | 165 | 1 0.15 0.5 166 | 167 | 168 | 0 0 0.25 0 -0 0 169 | 170 | 171 | 0 0 0.25 0 -0 0 172 | 173 | 174 | 1 0.15 0.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | -2.66929 -1.88668 0 0 0 -1.04713 186 | 187 | 1 188 | 189 | 190 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map11/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0.265 -1.72 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 2 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 2 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -1.6 0 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 1 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 1 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | -0.675 0.425 0 0 -0 1.5708 56 | 57 | 58 | 59 | 60 | 61 | 1.5 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 1.5 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0 0.85 0 0 -0 0 82 | 83 | 84 | 85 | 86 | 87 | 1 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 1 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0.675 0.425 0 0 0 -1.5708 108 | 109 | 110 | 111 | 112 | 113 | 2 0.15 0.5 114 | 115 | 116 | 0 0 0.25 0 -0 0 117 | 118 | 119 | 0 0 0.25 0 -0 0 120 | 121 | 122 | 2 0.15 0.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 1.6 0 0 0 -0 0 134 | 135 | 136 | 137 | 138 | 139 | 1 0.15 0.5 140 | 141 | 142 | 0 0 0.25 0 -0 0 143 | 144 | 145 | 0 0 0.25 0 -0 0 146 | 147 | 148 | 1 0.15 0.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | 2.525 -0.425 0 0 0 -1.5708 160 | 161 | 162 | 163 | 164 | 165 | 5.2 0.15 0.5 166 | 167 | 168 | 0 0 0.25 0 -0 0 169 | 170 | 171 | 0 0 0.25 0 -0 0 172 | 173 | 174 | 5.2 0.15 0.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | 0 -0.85 0 0 -0 3.14159 186 | 187 | 188 | 189 | 190 | 191 | 1 0.15 0.5 192 | 193 | 194 | 0 0 0.25 0 -0 0 195 | 196 | 197 | 0 0 0.25 0 -0 0 198 | 199 | 200 | 1 0.15 0.5 201 | 202 | 203 | 204 | 208 | 1 1 1 1 209 | 210 | 211 | -2.525 -0.425 0 0 -0 1.5708 212 | 213 | 1 214 | 215 | 216 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MapTest1/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -0.413 3.79 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 6 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 6 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -5.675 0 0 0 0 -1.5708 30 | 31 | 32 | 33 | 34 | 35 | 4.5 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 4.5 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | -3.482 0.75 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 4.5 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 4.5 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 2.954 0.729 0 0 0 -1.5708 82 | 83 | 84 | 85 | 86 | 87 | 4.5 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 4.5 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | -1.31 -0.733 0 0 -0 1.5708 108 | 109 | 110 | 111 | 112 | 113 | 4.5 0.15 0.5 114 | 115 | 116 | 0 0 0.25 0 -0 0 117 | 118 | 119 | 0 0 0.25 0 -0 0 120 | 121 | 122 | 4.5 0.15 0.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 0.903 -0.733 0 0 -0 1.5708 134 | 135 | 136 | 137 | 138 | 139 | 11.5 0.15 0.5 140 | 141 | 142 | 0 0 0.25 0 -0 0 143 | 144 | 145 | 0 0 0.25 0 -0 0 146 | 147 | 148 | 11.5 0.15 0.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | 0 -2.925 0 0 -0 0 160 | 161 | 162 | 163 | 164 | 165 | 6 0.15 0.5 166 | 167 | 168 | 0 0 0.25 0 -0 0 169 | 170 | 171 | 0 0 0.25 0 -0 0 172 | 173 | 174 | 6 0.15 0.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | 5.675 0 0 0 -0 1.5708 186 | 187 | 188 | 189 | 190 | 191 | 11.5 0.15 0.5 192 | 193 | 194 | 0 0 0.25 0 -0 0 195 | 196 | 197 | 0 0 0.25 0 -0 0 198 | 199 | 200 | 11.5 0.15 0.5 201 | 202 | 203 | 204 | 208 | 1 1 1 1 209 | 210 | 211 | 0 2.925 0 0 -0 3.14159 212 | 213 | 1 214 | 215 | 216 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MapSpiral/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -2.759 -1.114 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 8.25 0.15 0.5 10 | 11 | 12 | 0 0 0.25 0 -0 0 13 | 14 | 15 | 0 0 0.25 0 -0 0 16 | 17 | 18 | 8.25 0.15 0.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0 3.8 0 0 -0 3.14159 30 | 31 | 32 | 33 | 34 | 35 | 7.75 0.15 0.5 36 | 37 | 38 | 0 0 0.25 0 -0 0 39 | 40 | 41 | 0 0 0.25 0 -0 0 42 | 43 | 44 | 7.75 0.15 0.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | -4.05 0 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 8.25 0.15 0.5 62 | 63 | 64 | 0 0 0.25 0 -0 0 65 | 66 | 67 | 0 0 0.25 0 -0 0 68 | 69 | 70 | 8.25 0.15 0.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0 -3.8 0 0 -0 0 82 | 83 | 84 | 85 | 86 | 87 | 2.5 0.15 0.5 88 | 89 | 90 | 0 0 0.25 0 -0 0 91 | 92 | 93 | 0 0 0.25 0 -0 0 94 | 95 | 96 | 2.5 0.15 0.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0.625 0.2 0 0 -0 0 108 | 109 | 110 | 111 | 112 | 113 | 2 0.15 0.5 114 | 115 | 116 | 0 0 0.25 0 -0 0 117 | 118 | 119 | 0 0 0.25 0 -0 0 120 | 121 | 122 | 2 0.15 0.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 1.8 1.125 0 0 -0 1.5708 134 | 135 | 136 | 137 | 138 | 139 | 4.5 0.15 0.5 140 | 141 | 142 | 0 0 0.25 0 -0 0 143 | 144 | 145 | 0 0 0.25 0 -0 0 146 | 147 | 148 | 4.5 0.15 0.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -0.375 2.05 0 0 -0 3.14159 160 | 161 | 162 | 163 | 164 | 165 | 4 0.15 0.5 166 | 167 | 168 | 0 0 0.25 0 -0 0 169 | 170 | 171 | 0 0 0.25 0 -0 0 172 | 173 | 174 | 4 0.15 0.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | -2.55 0.125 0 0 0 -1.5708 186 | 187 | 188 | 189 | 190 | 191 | 6.75 0.15 0.5 192 | 193 | 194 | 0 0 0.25 0 -0 0 195 | 196 | 197 | 0 0 0.25 0 -0 0 198 | 199 | 200 | 6.75 0.15 0.5 201 | 202 | 203 | 204 | 208 | 1 1 1 1 209 | 210 | 211 | 0.75 -1.8 0 0 -0 0 212 | 213 | 214 | 215 | 216 | 217 | 5.75 0.15 0.5 218 | 219 | 220 | 0 0 0.25 0 -0 0 221 | 222 | 223 | 0 0 0.25 0 -0 0 224 | 225 | 226 | 5.75 0.15 0.5 227 | 228 | 229 | 230 | 234 | 1 1 1 1 235 | 236 | 237 | 4.05 1 0 0 -0 1.5708 238 | 239 | 1 240 | 241 | 242 | -------------------------------------------------------------------------------- /p3dx_description/urdf/pioneer3dx.xacro: -------------------------------------------------------------------------------- 1 | 2 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/bug1_test/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -0.855881 -3.1015 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 1.30678 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 1.30678 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0.60665 2.49755 0 0 -0 0.003514 30 | 31 | 32 | 33 | 34 | 35 | 4 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 4 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 1.18498 0.574585 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 1.79594 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 1.79594 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0.025693 1.67255 0 0 -0 1.56761 82 | 83 | 84 | 85 | 86 | 87 | 1.25024 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 1.25024 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 1.73498 2.49959 0 0 -0 0 108 | 109 | 110 | 111 | 112 | 113 | 5.14943 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 5.14943 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 2.28498 -0.000131 0 0 0 -1.5708 134 | 135 | 136 | 137 | 138 | 139 | 2.43505 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 2.43505 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | 1.14246 -2.49985 0 0 -0 3.14159 160 | 161 | 162 | 163 | 164 | 165 | 2.39943 0.15 2.5 166 | 167 | 168 | 0 0 1.25 0 -0 0 169 | 170 | 171 | 0 0 1.25 0 -0 0 172 | 173 | 174 | 2.39943 0.15 2.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | -6.1e-05 -1.37513 0 0 -0 1.5708 186 | 187 | 188 | 189 | 190 | 191 | 2.43505 0.15 2.5 192 | 193 | 194 | 0 0 1.25 0 -0 0 195 | 196 | 197 | 0 0 1.25 0 -0 0 198 | 199 | 200 | 2.43505 0.15 2.5 201 | 202 | 203 | 204 | 208 | 1 1 1 1 209 | 210 | 211 | -1.14258 -0.250415 0 0 -0 3.14159 212 | 213 | 214 | 215 | 216 | 217 | 1.25 0.15 2.5 218 | 219 | 220 | 0 0 1.25 0 -0 0 221 | 222 | 223 | 0 0 1.25 0 -0 0 224 | 225 | 226 | 1.25 0.15 2.5 227 | 228 | 229 | 230 | 234 | 1 1 1 1 235 | 236 | 237 | -2.28511 0.299585 0 0 -0 1.5708 238 | 239 | 240 | 241 | 242 | 243 | 2.45818 0.15 2.5 244 | 245 | 246 | 0 0 1.25 0 -0 0 247 | 248 | 249 | 0 0 1.25 0 -0 0 250 | 251 | 252 | 2.45818 0.15 2.5 253 | 254 | 255 | 256 | 260 | 1 1 1 1 261 | 262 | 263 | -1.13102 0.849585 0 0 -0 0 264 | 265 | 1 266 | 267 | 268 | -------------------------------------------------------------------------------- /p3dx_description/launch/config.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 0 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Odometry1/Shape1 9 | - /TF1/Frames1 10 | - /Marker1/Namespaces1 11 | Splitter Ratio: 0.5 12 | Tree Height: 323 13 | - Class: rviz/Selection 14 | Name: Selection 15 | - Class: rviz/Tool Properties 16 | Expanded: 17 | - /2D Pose Estimate1 18 | - /2D Nav Goal1 19 | - /Publish Point1 20 | Name: Tool Properties 21 | Splitter Ratio: 0.588679016 22 | - Class: rviz/Views 23 | Expanded: 24 | - /Current View1 25 | Name: Views 26 | Splitter Ratio: 0.5 27 | - Class: rviz/Time 28 | Experimental: false 29 | Name: Time 30 | SyncMode: 0 31 | SyncSource: LaserScan 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 0; 0; 0 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.0299999993 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 30 51 | Reference Frame: 52 | Value: true 53 | - Angle Tolerance: 0.100000001 54 | Class: rviz/Odometry 55 | Covariance: 56 | Orientation: 57 | Alpha: 0.5 58 | Color: 255; 255; 127 59 | Color Style: Unique 60 | Frame: Local 61 | Offset: 1 62 | Scale: 1 63 | Value: false 64 | Position: 65 | Alpha: 0.300000012 66 | Color: 204; 51; 204 67 | Scale: 0.100000001 68 | Value: false 69 | Value: false 70 | Enabled: false 71 | Keep: 0 72 | Name: Odometry 73 | Position Tolerance: 0.100000001 74 | Shape: 75 | Alpha: 1 76 | Axes Length: 0.0500000007 77 | Axes Radius: 0.0500000007 78 | Color: 255; 25; 0 79 | Head Length: 0.300000012 80 | Head Radius: 0.100000001 81 | Shaft Length: 1 82 | Shaft Radius: 0.0500000007 83 | Value: Axes 84 | Topic: /odom 85 | Unreliable: false 86 | Value: false 87 | - Alpha: 1 88 | Autocompute Intensity Bounds: true 89 | Autocompute Value Bounds: 90 | Max Value: 0.00348883565 91 | Min Value: -0.00233674888 92 | Value: true 93 | Axis: Z 94 | Channel Name: intensity 95 | Class: rviz/LaserScan 96 | Color: 0; 0; 0 97 | Color Transformer: FlatColor 98 | Decay Time: 0 99 | Enabled: true 100 | Invert Rainbow: false 101 | Max Color: 255; 255; 255 102 | Max Intensity: 0 103 | Min Color: 0; 0; 0 104 | Min Intensity: 0 105 | Name: LaserScan 106 | Position Transformer: XYZ 107 | Queue Size: 10 108 | Selectable: true 109 | Size (Pixels): 3 110 | Size (m): 0.00999999978 111 | Style: Points 112 | Topic: /p3dx/laser/scan 113 | Unreliable: false 114 | Use Fixed Frame: true 115 | Use rainbow: false 116 | Value: true 117 | - Class: rviz/TF 118 | Enabled: false 119 | Frame Timeout: 15 120 | Frames: 121 | All Enabled: true 122 | Marker Scale: 1 123 | Name: TF 124 | Show Arrows: true 125 | Show Axes: true 126 | Show Names: true 127 | Tree: 128 | {} 129 | Update Interval: 0 130 | Value: false 131 | - Alpha: 1 132 | Class: rviz/RobotModel 133 | Collision Enabled: false 134 | Enabled: true 135 | Links: 136 | All Links Enabled: true 137 | Expand Joint Details: false 138 | Expand Link Details: false 139 | Expand Tree: false 140 | Link Tree Style: Links in Alphabetic Order 141 | base_link: 142 | Alpha: 1 143 | Show Axes: false 144 | Show Trail: false 145 | Value: true 146 | center_hubcap: 147 | Alpha: 1 148 | Show Axes: false 149 | Show Trail: false 150 | Value: true 151 | center_wheel: 152 | Alpha: 1 153 | Show Axes: false 154 | Show Trail: false 155 | Value: true 156 | front_sonar: 157 | Alpha: 1 158 | Show Axes: false 159 | Show Trail: false 160 | Value: true 161 | lms100: 162 | Alpha: 1 163 | Show Axes: false 164 | Show Trail: false 165 | Value: true 166 | p3dx_left_hubcap: 167 | Alpha: 1 168 | Show Axes: false 169 | Show Trail: false 170 | Value: true 171 | p3dx_left_wheel: 172 | Alpha: 1 173 | Show Axes: false 174 | Show Trail: false 175 | Value: true 176 | p3dx_right_hubcap: 177 | Alpha: 1 178 | Show Axes: false 179 | Show Trail: false 180 | Value: true 181 | p3dx_right_wheel: 182 | Alpha: 1 183 | Show Axes: false 184 | Show Trail: false 185 | Value: true 186 | swivel: 187 | Alpha: 1 188 | Show Axes: false 189 | Show Trail: false 190 | Value: true 191 | top_plate: 192 | Alpha: 1 193 | Show Axes: false 194 | Show Trail: false 195 | Value: true 196 | Name: RobotModel 197 | Robot Description: robot_description 198 | TF Prefix: "" 199 | Update Interval: 0 200 | Value: true 201 | Visual Enabled: true 202 | - Alpha: 1 203 | Autocompute Intensity Bounds: true 204 | Autocompute Value Bounds: 205 | Max Value: 0.00348883565 206 | Min Value: -0.00233674888 207 | Value: true 208 | Axis: Z 209 | Channel Name: intensity 210 | Class: rviz/LaserScan 211 | Color: 0; 0; 0 212 | Color Transformer: FlatColor 213 | Decay Time: 0 214 | Enabled: true 215 | Invert Rainbow: false 216 | Max Color: 255; 255; 255 217 | Max Intensity: 0 218 | Min Color: 0; 0; 0 219 | Min Intensity: 0 220 | Name: LaserScan_Hokuyo 221 | Position Transformer: XYZ 222 | Queue Size: 10 223 | Selectable: true 224 | Size (Pixels): 3 225 | Size (m): 0.00999999978 226 | Style: Points 227 | Topic: /scan 228 | Unreliable: false 229 | Use Fixed Frame: true 230 | Use rainbow: false 231 | Value: true 232 | - Class: rviz/Marker 233 | Enabled: true 234 | Marker Topic: visualization_marker 235 | Name: Marker 236 | Namespaces: 237 | {} 238 | Queue Size: 100 239 | Value: true 240 | - Alpha: 0.699999988 241 | Class: rviz/Map 242 | Color Scheme: map 243 | Draw Behind: false 244 | Enabled: true 245 | Name: Map 246 | Topic: /map 247 | Unreliable: false 248 | Use Timestamp: false 249 | Value: true 250 | - Class: rviz/Image 251 | Enabled: false 252 | Image Topic: /usb_cam/image_raw 253 | Max Value: 1 254 | Median window: 5 255 | Min Value: 0 256 | Name: Image 257 | Normalize Range: true 258 | Queue Size: 2 259 | Transport Hint: raw 260 | Unreliable: false 261 | Value: false 262 | Enabled: true 263 | Global Options: 264 | Background Color: 255; 255; 255 265 | Default Light: true 266 | Fixed Frame: odom 267 | Frame Rate: 30 268 | Name: root 269 | Tools: 270 | - Class: rviz/Interact 271 | Hide Inactive Objects: true 272 | - Class: rviz/MoveCamera 273 | - Class: rviz/Select 274 | - Class: rviz/FocusCamera 275 | - Class: rviz/Measure 276 | - Class: rviz/SetInitialPose 277 | Topic: /initialpose 278 | - Class: rviz/SetGoal 279 | Topic: /move_base_simple/goal 280 | - Class: rviz/PublishPoint 281 | Single click: true 282 | Topic: /clicked_point 283 | Value: true 284 | Views: 285 | Current: 286 | Angle: 0 287 | Class: rviz/TopDownOrtho 288 | Enable Stereo Rendering: 289 | Stereo Eye Separation: 0.0599999987 290 | Stereo Focal Distance: 1 291 | Swap Stereo Eyes: false 292 | Value: false 293 | Invert Z Axis: false 294 | Name: Current View 295 | Near Clip Distance: 0.00999999978 296 | Scale: 33.2308884 297 | Target Frame: 298 | Value: TopDownOrtho (rviz) 299 | X: 0 300 | Y: 0 301 | Saved: ~ 302 | Window Geometry: 303 | Displays: 304 | collapsed: true 305 | Height: 715 306 | Hide Left Dock: true 307 | Hide Right Dock: true 308 | Image: 309 | collapsed: true 310 | QMainWindow State: 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311 | Selection: 312 | collapsed: false 313 | Time: 314 | collapsed: false 315 | Tool Properties: 316 | collapsed: false 317 | Views: 318 | collapsed: true 319 | Width: 681 320 | X: 0 321 | Y: 24 322 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/DistBugMap1/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -6.77706 0.444536 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 5 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 5 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | -0.968377 3.10714 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 1 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 1 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 1.45662 3.53214 0 0 -0 1.5708 56 | 57 | 58 | 59 | 60 | 61 | 2 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 2 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | -0.875 -3.03214 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 5 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 5 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 1.55 -2.10714 0 0 -0 0 108 | 109 | 110 | 111 | 112 | 113 | 1 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 1 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 3.975 -1.68214 0 0 -0 1.5708 134 | 135 | 136 | 137 | 138 | 139 | 5 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 5 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | -0.968377 3.95714 0 0 -0 3.14159 160 | 161 | 162 | 163 | 164 | 165 | 1 0.15 2.5 166 | 167 | 168 | 0 0 1.25 0 -0 0 169 | 170 | 171 | 0 0 1.25 0 -0 0 172 | 173 | 174 | 1 0.15 2.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | -3.39338 3.53214 0 0 0 -1.5708 186 | 187 | 188 | 189 | 190 | 191 | 6 0.15 2.5 192 | 193 | 194 | 0 0 1.25 0 -0 0 195 | 196 | 197 | 0 0 1.25 0 -0 0 198 | 199 | 200 | 6 0.15 2.5 201 | 202 | 203 | 204 | 208 | 1 1 1 1 209 | 210 | 211 | 1.05 -1.25714 0 0 -0 3.14159 212 | 213 | 214 | 215 | 216 | 217 | 2 0.15 2.5 218 | 219 | 220 | 0 0 1.25 0 -0 0 221 | 222 | 223 | 0 0 1.25 0 -0 0 224 | 225 | 226 | 2 0.15 2.5 227 | 228 | 229 | 230 | 234 | 1 1 1 1 235 | 236 | 237 | -1.875 -2.18214 0 0 0 -1.5708 238 | 239 | 240 | 241 | 242 | 243 | 2.25 0.15 2.5 244 | 245 | 246 | 0 0 1.25 0 -0 0 247 | 248 | 249 | 0 0 1.25 0 -0 0 250 | 251 | 252 | 2.25 0.15 2.5 253 | 254 | 255 | 256 | 260 | 1 1 1 1 261 | 262 | 263 | -2.925 -3.10714 0 0 -0 3.14159 264 | 265 | 266 | 267 | 268 | 269 | 1 0.15 2.5 270 | 271 | 272 | 0 0 1.25 0 -0 0 273 | 274 | 275 | 0 0 1.25 0 -0 0 276 | 277 | 278 | 1 0.15 2.5 279 | 280 | 281 | 282 | 286 | 1 1 1 1 287 | 288 | 289 | -3.975 -3.53214 0 0 0 -1.5708 290 | 291 | 292 | 293 | 294 | 295 | 3.25 0.15 2.5 296 | 297 | 298 | 0 0 1.25 0 -0 0 299 | 300 | 301 | 0 0 1.25 0 -0 0 302 | 303 | 304 | 3.25 0.15 2.5 305 | 306 | 307 | 308 | 312 | 1 1 1 1 313 | 314 | 315 | -2.425 -3.95714 0 0 -0 0 316 | 317 | 1 318 | 319 | 320 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map4/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -0.94 -3.17 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 2 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 2 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0.425 1.85 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 2 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 2 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 1.35 0.925 0 0 0 -1.5708 56 | 57 | 58 | 0.425 0 0 0 -0 3.14159 59 | 60 | -0.529212 0 1.25 0 -0 0 61 | 62 | 63 | 0.941575 0.15 2.5 64 | 65 | 66 | 67 | 71 | 1 1 1 1 72 | 73 | 74 | 75 | 76 | 77 | 0.941575 0.15 2.5 78 | 79 | 80 | -0.529212 0 1.25 0 -0 0 81 | 82 | 83 | 0.920788 0 1.25 0 -0 0 84 | 85 | 86 | 0.158425 0.15 2.5 87 | 88 | 89 | 90 | 94 | 1 1 1 1 95 | 96 | 97 | 98 | 99 | 100 | 0.158425 0.15 2.5 101 | 102 | 103 | 0.920788 0 1.25 0 -0 0 104 | 105 | 106 | 0.391575 0 2.25 0 -0 0 107 | 108 | 109 | 0.9 0.15 0.5 110 | 111 | 112 | 113 | 117 | 1 1 1 1 118 | 119 | 120 | 121 | 122 | 123 | 0.9 0.15 0.5 124 | 125 | 126 | 0.391575 0 2.25 0 -0 0 127 | 128 | 129 | 130 | 131 | 132 | 133 | 2 0.15 2.5 134 | 135 | 136 | 0 0 1.25 0 -0 0 137 | 138 | 139 | 0 0 1.25 0 -0 0 140 | 141 | 142 | 2 0.15 2.5 143 | 144 | 145 | 146 | 150 | 1 1 1 1 151 | 152 | 153 | -0.5 0.925 0 0 -0 1.5708 154 | 155 | 156 | 157 | 158 | 159 | 2 0.15 2.5 160 | 161 | 162 | 0 0 1.25 0 -0 0 163 | 164 | 165 | 0 0 1.25 0 -0 0 166 | 167 | 168 | 2 0.15 2.5 169 | 170 | 171 | 172 | 176 | 1 1 1 1 177 | 178 | 179 | -0.5 0.925 0 0 0 -1.5708 180 | 181 | 182 | 183 | 184 | 185 | 1 0.15 2.5 186 | 187 | 188 | 0 0 1.25 0 -0 0 189 | 190 | 191 | 0 0 1.25 0 -0 0 192 | 193 | 194 | 1 0.15 2.5 195 | 196 | 197 | 198 | 202 | 1 1 1 1 203 | 204 | 205 | -0.925 0 0 0 -0 3.14159 206 | 207 | 208 | 209 | 210 | 211 | 2 0.15 2.5 212 | 213 | 214 | 0 0 1.25 0 -0 0 215 | 216 | 217 | 0 0 1.25 0 -0 0 218 | 219 | 220 | 2 0.15 2.5 221 | 222 | 223 | 224 | 228 | 1 1 1 1 229 | 230 | 231 | -1.35 -0.925 0 0 0 -1.5708 232 | 233 | 234 | -0.425 -1.85 0 0 -0 0 235 | 236 | -0.918987 0 1.25 0 -0 0 237 | 238 | 239 | 0.162025 0.15 2.5 240 | 241 | 242 | 243 | 247 | 1 1 1 1 248 | 249 | 250 | 251 | 252 | 253 | 0.162025 0.15 2.5 254 | 255 | 256 | -0.918987 0 1.25 0 -0 0 257 | 258 | 259 | 0.531013 0 1.25 0 -0 0 260 | 261 | 262 | 0.937975 0.15 2.5 263 | 264 | 265 | 266 | 270 | 1 1 1 1 271 | 272 | 273 | 274 | 275 | 276 | 0.937975 0.15 2.5 277 | 278 | 279 | 0.531013 0 1.25 0 -0 0 280 | 281 | 282 | -0.387975 0 2.25 0 -0 0 283 | 284 | 285 | 0.9 0.15 0.5 286 | 287 | 288 | 289 | 293 | 1 1 1 1 294 | 295 | 296 | 297 | 298 | 299 | 0.9 0.15 0.5 300 | 301 | 302 | -0.387975 0 2.25 0 -0 0 303 | 304 | 305 | 306 | 307 | 308 | 309 | 2 0.15 2.5 310 | 311 | 312 | 0 0 1.25 0 -0 0 313 | 314 | 315 | 0 0 1.25 0 -0 0 316 | 317 | 318 | 2 0.15 2.5 319 | 320 | 321 | 322 | 326 | 1 1 1 1 327 | 328 | 329 | 0.5 -0.925 0 0 -0 1.5708 330 | 331 | 1 332 | 333 | 334 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Movis2/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -4.55823 1.18565 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 10 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 10 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0.001003 3.41919 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 3 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 3 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 3.4774 0.029454 0 0 -0 0 56 | 57 | 58 | 59 | 60 | 61 | 1.5 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 1.5 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | -0.247843 1.45332 0 0 -0 3.14159 82 | 83 | 84 | 85 | 86 | 87 | 2 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 2 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | -0.922843 2.37832 0 0 -0 1.5708 108 | 109 | 110 | 111 | 112 | 113 | 7 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 7 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | 4.926 -0.00581 0 0 0 -1.5708 134 | 135 | 136 | 137 | 138 | 139 | 10 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 10 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | 0.001003 -3.43081 0 0 -0 3.14159 160 | 161 | 162 | 163 | 164 | 165 | 7 0.15 2.5 166 | 167 | 168 | 0 0 1.25 0 -0 0 169 | 170 | 171 | 0 0 1.25 0 -0 0 172 | 173 | 174 | 7 0.15 2.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | -4.924 -0.00581 0 0 -0 1.5708 186 | 187 | 188 | -2.251 -1.99216 0 0 -0 0 189 | 190 | -2.21324 0 1.25 0 -0 0 191 | 192 | 193 | 1.07352 0.15 2.5 194 | 195 | 196 | 197 | 201 | 1 1 1 1 202 | 203 | 204 | 205 | 206 | 207 | 1.07352 0.15 2.5 208 | 209 | 210 | -2.21324 0 1.25 0 -0 0 211 | 212 | 213 | 1.23676 0 1.25 0 -0 0 214 | 215 | 216 | 3.02648 0.15 2.5 217 | 218 | 219 | 220 | 224 | 1 1 1 1 225 | 226 | 227 | 228 | 229 | 230 | 3.02648 0.15 2.5 231 | 232 | 233 | 1.23676 0 1.25 0 -0 0 234 | 235 | 236 | 237 | 238 | 239 | 240 | 5.5 0.15 2.5 241 | 242 | 243 | 0 0 1.25 0 -0 0 244 | 245 | 246 | 0 0 1.25 0 -0 0 247 | 248 | 249 | 5.5 0.15 2.5 250 | 251 | 252 | 253 | 257 | 1 1 1 1 258 | 259 | 260 | 0.423996 0.682839 0 0 -0 1.5708 261 | 262 | 263 | 2.03611 0.00581 0 0 0 -1.5708 264 | 265 | -2.87784 0 1.25 0 -0 0 266 | 267 | 268 | 1.24432 0.15 2.5 269 | 270 | 271 | 272 | 276 | 1 1 1 1 277 | 278 | 279 | 280 | 281 | 282 | 1.24432 0.15 2.5 283 | 284 | 285 | -2.87784 0 1.25 0 -0 0 286 | 287 | 288 | 0.009719 0 1.25 0 -0 0 289 | 290 | 291 | 2.13081 0.15 2.5 292 | 293 | 294 | 295 | 299 | 1 1 1 1 300 | 301 | 302 | 303 | 304 | 305 | 2.13081 0.15 2.5 306 | 307 | 308 | 0.009719 0 1.25 0 -0 0 309 | 310 | 311 | 2.88756 0 1.25 0 -0 0 312 | 313 | 314 | 1.22488 0.15 2.5 315 | 316 | 317 | 318 | 322 | 1 1 1 1 323 | 324 | 325 | 326 | 327 | 328 | 1.22488 0.15 2.5 329 | 330 | 331 | 2.88756 0 1.25 0 -0 0 332 | 333 | 334 | 1 335 | 336 | 337 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map6/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -2.22234 -3.3948 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 3.28179 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 3.28179 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 4.8591 3.925 0 0 -0 3.14159 30 | 31 | 32 | 33 | 34 | 35 | 5 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 5 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 3.2932 1.5 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 5 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 5 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 3.2932 1.5 0 0 -0 1.5708 82 | 83 | 84 | 85 | 86 | 87 | 6.71821 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 6.71821 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | 0.009102 3.925 0 0 -0 3.14159 108 | 109 | 110 | 111 | 112 | 113 | 5 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 5 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | -3.275 1.5 0 0 0 -1.5708 134 | 135 | 136 | 137 | 138 | 139 | 13 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 13 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | 0 3.925 0 0 -0 0 160 | 161 | 162 | 163 | 164 | 165 | 8 0.15 2.5 166 | 167 | 168 | 0 0 1.25 0 -0 0 169 | 170 | 171 | 0 0 1.25 0 -0 0 172 | 173 | 174 | 8 0.15 2.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | 6.425 0 0 0 0 -1.5708 186 | 187 | 188 | 189 | 190 | 191 | 13 0.15 2.5 192 | 193 | 194 | 0 0 1.25 0 -0 0 195 | 196 | 197 | 0 0 1.25 0 -0 0 198 | 199 | 200 | 13 0.15 2.5 201 | 202 | 203 | 204 | 208 | 1 1 1 1 209 | 210 | 211 | 0 -3.925 0 0 -0 3.14159 212 | 213 | 214 | 215 | 216 | 217 | 6.6276 0.15 2.5 218 | 219 | 220 | 0 0 1.25 0 -0 0 221 | 222 | 223 | 0 0 1.25 0 -0 0 224 | 225 | 226 | 6.6276 0.15 2.5 227 | 228 | 229 | 230 | 234 | 1 1 1 1 235 | 236 | 237 | -3.1862 -3.925 0 0 -0 0 238 | 239 | 240 | 241 | 242 | 243 | 5 0.15 2.5 244 | 245 | 246 | 0 0 1.25 0 -0 0 247 | 248 | 249 | 0 0 1.25 0 -0 0 250 | 251 | 252 | 5 0.15 2.5 253 | 254 | 255 | 256 | 260 | 1 1 1 1 261 | 262 | 263 | 0.052597 -1.5 0 0 -0 1.5708 264 | 265 | 266 | 267 | 268 | 269 | 5 0.15 2.5 270 | 271 | 272 | 0 0 1.25 0 -0 0 273 | 274 | 275 | 0 0 1.25 0 -0 0 276 | 277 | 278 | 5 0.15 2.5 279 | 280 | 281 | 282 | 286 | 1 1 1 1 287 | 288 | 289 | 0.052597 -1.5 0 0 0 -1.5708 290 | 291 | 292 | 293 | 294 | 295 | 6.5224 0.15 2.5 296 | 297 | 298 | 0 0 1.25 0 -0 0 299 | 300 | 301 | 0 0 1.25 0 -0 0 302 | 303 | 304 | 6.5224 0.15 2.5 305 | 306 | 307 | 308 | 312 | 1 1 1 1 313 | 314 | 315 | 3.2388 -3.925 0 0 -0 0 316 | 317 | 318 | 319 | 320 | 321 | 8 0.15 2.5 322 | 323 | 324 | 0 0 1.25 0 -0 0 325 | 326 | 327 | 0 0 1.25 0 -0 0 328 | 329 | 330 | 8 0.15 2.5 331 | 332 | 333 | 334 | 338 | 1 1 1 1 339 | 340 | 341 | 6.425 0 0 0 -0 1.5708 342 | 343 | 1 344 | 345 | 346 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/Map5/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -0.545 -3.21 0 0 -0 0 5 | 6 | 7 | 8 | 9 | 3 0.15 2.5 10 | 11 | 12 | 0 0 1.25 0 -0 0 13 | 14 | 15 | 0 0 1.25 0 -0 0 16 | 17 | 18 | 3 0.15 2.5 19 | 20 | 21 | 22 | 26 | 1 1 1 1 27 | 28 | 29 | 0.25 1.85 0 0 -0 0 30 | 31 | 32 | 33 | 34 | 35 | 2 0.15 2.5 36 | 37 | 38 | 0 0 1.25 0 -0 0 39 | 40 | 41 | 0 0 1.25 0 -0 0 42 | 43 | 44 | 2 0.15 2.5 45 | 46 | 47 | 48 | 52 | 1 1 1 1 53 | 54 | 55 | 1.675 0.925 0 0 0 -1.5708 56 | 57 | 58 | 59 | 60 | 61 | 3 0.15 2.5 62 | 63 | 64 | 0 0 1.25 0 -0 0 65 | 66 | 67 | 0 0 1.25 0 -0 0 68 | 69 | 70 | 3 0.15 2.5 71 | 72 | 73 | 74 | 78 | 1 1 1 1 79 | 80 | 81 | 0.25 0 0 0 -0 3.14159 82 | 83 | 84 | 85 | 86 | 87 | 2 0.15 2.5 88 | 89 | 90 | 0 0 1.25 0 -0 0 91 | 92 | 93 | 0 0 1.25 0 -0 0 94 | 95 | 96 | 2 0.15 2.5 97 | 98 | 99 | 100 | 104 | 1 1 1 1 105 | 106 | 107 | -1.175 0.925 0 0 -0 1.5708 108 | 109 | 110 | 111 | 112 | 113 | 2 0.15 2.5 114 | 115 | 116 | 0 0 1.25 0 -0 0 117 | 118 | 119 | 0 0 1.25 0 -0 0 120 | 121 | 122 | 2 0.15 2.5 123 | 124 | 125 | 126 | 130 | 1 1 1 1 131 | 132 | 133 | -1.175 0.925 0 0 0 -1.5708 134 | 135 | 136 | 137 | 138 | 139 | 2.5 0.15 2.5 140 | 141 | 142 | 0 0 1.25 0 -0 0 143 | 144 | 145 | 0 0 1.25 0 -0 0 146 | 147 | 148 | 2.5 0.15 2.5 149 | 150 | 151 | 152 | 156 | 1 1 1 1 157 | 158 | 159 | 0 0 0 0 -0 0 160 | 161 | 162 | 163 | 164 | 165 | 2 0.15 2.5 166 | 167 | 168 | 0 0 1.25 0 -0 0 169 | 170 | 171 | 0 0 1.25 0 -0 0 172 | 173 | 174 | 2 0.15 2.5 175 | 176 | 177 | 178 | 182 | 1 1 1 1 183 | 184 | 185 | 1.175 -0.925 0 0 0 -1.5708 186 | 187 | 188 | -0.25 -1.85 0 0 -0 3.14159 189 | 190 | -0.842588 0 1.25 0 -0 0 191 | 192 | 193 | 1.31482 0.15 2.5 194 | 195 | 196 | 197 | 201 | 1 1 1 1 202 | 203 | 204 | 205 | 206 | 207 | 1.31482 0.15 2.5 208 | 209 | 210 | -0.842588 0 1.25 0 -0 0 211 | 212 | 213 | 1.10741 0 1.25 0 -0 0 214 | 215 | 216 | 0.785175 0.15 2.5 217 | 218 | 219 | 220 | 224 | 1 1 1 1 225 | 226 | 227 | 228 | 229 | 230 | 0.785175 0.15 2.5 231 | 232 | 233 | 1.10741 0 1.25 0 -0 0 234 | 235 | 236 | 0.264825 0 2.25 0 -0 0 237 | 238 | 239 | 0.9 0.15 0.5 240 | 241 | 242 | 243 | 247 | 1 1 1 1 248 | 249 | 250 | 251 | 252 | 253 | 0.9 0.15 0.5 254 | 255 | 256 | 0.264825 0 2.25 0 -0 0 257 | 258 | 259 | 260 | 261 | 262 | 263 | 2 0.15 2.5 264 | 265 | 266 | 0 0 1.25 0 -0 0 267 | 268 | 269 | 0 0 1.25 0 -0 0 270 | 271 | 272 | 2 0.15 2.5 273 | 274 | 275 | 276 | 280 | 1 1 1 1 281 | 282 | 283 | -1.675 -0.925 0 0 -0 1.5708 284 | 285 | 286 | -0.25 0 0 0 -0 0 287 | 288 | -0.80985 0 1.25 0 -0 0 289 | 290 | 291 | 1.3803 0.15 2.5 292 | 293 | 294 | 295 | 299 | 1 1 1 1 300 | 301 | 302 | 303 | 304 | 305 | 1.3803 0.15 2.5 306 | 307 | 308 | -0.80985 0 1.25 0 -0 0 309 | 310 | 311 | 1.14015 0 1.25 0 -0 0 312 | 313 | 314 | 0.7197 0.15 2.5 315 | 316 | 317 | 318 | 322 | 1 1 1 1 323 | 324 | 325 | 326 | 327 | 328 | 0.7197 0.15 2.5 329 | 330 | 331 | 1.14015 0 1.25 0 -0 0 332 | 333 | 334 | 0.3303 0 2.25 0 -0 0 335 | 336 | 337 | 0.9 0.15 0.5 338 | 339 | 340 | 341 | 345 | 1 1 1 1 346 | 347 | 348 | 349 | 350 | 351 | 0.9 0.15 0.5 352 | 353 | 354 | 0.3303 0 2.25 0 -0 0 355 | 356 | 357 | 1 358 | 359 | 360 | -------------------------------------------------------------------------------- /p3dx_gazebo/gazebo_maps/MapReal/model.sdf: 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339 | 340 | 341 | -1.20507 0.789675 0 0 -0 1.5708 342 | 343 | 344 | 345 | 346 | 347 | 2 0.15 0.5 348 | 349 | 350 | 0 0 0.25 0 -0 0 351 | 352 | 353 | 0 0 0.25 0 -0 0 354 | 355 | 356 | 2 0.15 0.5 357 | 358 | 359 | 360 | 364 | 1 1 1 1 365 | 366 | 367 | 1.729 -0.684 0 0 -0 1.5708 368 | 369 | 1 370 | 371 | 372 | --------------------------------------------------------------------------------