├── .gitignore
├── README.md
├── racecar_control
    ├── CMakeLists.txt
    ├── config
    │   └── racecar_control.yaml
    ├── launch
    │   ├── gazebo_sim_joy.launch
    │   ├── racecar_control.launch
    │   └── teleop.launch
    ├── package.xml
    └── scripts
    │   ├── keyboard_teleop.py
    │   └── servo_commands.py
├── racecar_description
    ├── CMakeLists.txt
    ├── meshes
    │   ├── chassis.STL
    │   ├── chassis.dae
    │   ├── cone.dae
    │   ├── hokuyo.dae
    │   ├── left_front_wheel.STL
    │   ├── left_front_wheel.dae
    │   ├── left_rear_wheel.STL
    │   ├── left_rear_wheel.dae
    │   ├── left_steering_hinge.STL
    │   ├── left_steering_hinge.dae
    │   ├── parking_1.dae
    │   ├── right_front_wheel.STL
    │   ├── right_front_wheel.dae
    │   ├── right_rear_wheel.STL
    │   ├── right_rear_wheel.dae
    │   ├── right_steering_hinge.STL
    │   ├── right_steering_hinge.dae
    │   └── walker_racecourse.dae
    ├── models
    │   ├── MIT_Tunnel
    │   │   ├── model.config
    │   │   └── model.sdf
    │   ├── ar_tags
    │   │   ├── marker0
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker0.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker0.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker1
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker1.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker1.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker10
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker10.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker10.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker11
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker11.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker11.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker12
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker12.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker12.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker13
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker13.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker13.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker14
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker14.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker14.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker15
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker15.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker15.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker16
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker16.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker16.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker17
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker17.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker17.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker2
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker2.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker2.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker3
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker3.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker3.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker4
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker4.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker4.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker5
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker5.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker5.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker6
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker6.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker6.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker7
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker7.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker7.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   ├── marker8
    │   │   │   ├── marker0
    │   │   │   │   ├── marker0
    │   │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   │   └── model.config
    │   │   │   │   ├── model-1_5.sdf
    │   │   │   │   └── model.config
    │   │   │   ├── materials
    │   │   │   │   └── textures
    │   │   │   │   │   └── Marker8.png
    │   │   │   ├── meshes
    │   │   │   │   └── Marker8.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   │   └── marker9
    │   │   │   ├── marker0
    │   │   │       ├── marker0
    │   │   │       │   ├── model-1_5.sdf
    │   │   │       │   └── model.config
    │   │   │       ├── model-1_5.sdf
    │   │   │       └── model.config
    │   │   │   ├── materials
    │   │   │       └── textures
    │   │   │       │   └── Marker9.png
    │   │   │   ├── meshes
    │   │   │       └── Marker9.dae
    │   │   │   ├── model-1_4.sdf
    │   │   │   ├── model-1_5.sdf
    │   │   │   ├── model.config
    │   │   │   └── model.sdf
    │   ├── cone
    │   │   ├── model.config
    │   │   └── model.sdf
    │   ├── parking_1
    │   │   ├── model.config
    │   │   └── model.sdf
    │   └── walker_racecourse
    │   │   ├── model.config
    │   │   └── model.sdf
    ├── package.xml
    └── urdf
    │   ├── macros.xacro
    │   ├── materials.xacro
    │   ├── racecar.gazebo
    │   └── racecar.xacro
└── racecar_gazebo
    ├── CMakeLists.txt
    ├── launch
        ├── racecar.launch
        ├── racecar_ar.launch
        ├── racecar_parking_1.launch
        ├── racecar_tunnel.launch
        └── racecar_walker.launch
    ├── package.xml
    ├── scripts
        └── gazebo_odometry.py
    └── worlds
        ├── racecar.world
        ├── racecar_ar.world
        ├── racecar_cones.world
        ├── racecar_parking_1.world
        ├── racecar_tunnel.world
        └── racecar_walker.world


/.gitignore:
--------------------------------------------------------------------------------
1 | *~
2 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | Racecar Simulator
2 | =================
3 | Simulates an RC car in the MIT tunnel.
4 | 
5 | 1. Run "roslaunch racecar_gazebo racecar.launch" or "roslaunch racecar_gazebo racecar_tunnel.launch"
6 | 


--------------------------------------------------------------------------------
/racecar_control/config/racecar_control.yaml:
--------------------------------------------------------------------------------
 1 | racecar:
 2 |   # Publish all joint states -----------------------------------
 3 |   joint_state_controller:
 4 |     type: joint_state_controller/JointStateController
 5 |     publish_rate: 50
 6 |   
 7 | 
 8 |   # Velocity Controllers ---------------------------------------
 9 |   left_rear_wheel_velocity_controller:
10 |     type: effort_controllers/JointVelocityController
11 |     joint: left_rear_wheel_joint
12 |     pid: {p: 1.0, i: 0.0, d: 0.0, i_clamp: 0.0}
13 |   right_rear_wheel_velocity_controller:
14 |     type: effort_controllers/JointVelocityController
15 |     joint: right_rear_wheel_joint
16 |     pid: {p: 1.0, i: 0.0, d: 0.0, i_clamp: 0.0}
17 |   left_front_wheel_velocity_controller:
18 |     type: effort_controllers/JointVelocityController
19 |     joint: left_front_wheel_joint
20 |     pid: {p: 0.5, i: 0.0, d: 0.0, i_clamp: 0.0}
21 |   right_front_wheel_velocity_controller:
22 |     type: effort_controllers/JointVelocityController
23 |     joint: right_front_wheel_joint
24 |     pid: {p: 0.5, i: 0.0, d: 0.0, i_clamp: 0.0}
25 | 
26 | 
27 |   # Position Controllers ---------------------------------------
28 |   left_steering_hinge_position_controller:
29 |     joint: left_steering_hinge_joint
30 |     type: effort_controllers/JointPositionController
31 |     pid: {p: 1.0, i: 0.0, d: 0.5}
32 |   right_steering_hinge_position_controller:
33 |     joint: right_steering_hinge_joint
34 |     type: effort_controllers/JointPositionController
35 |     pid: {p: 1.0, i: 0.0, d: 0.5}
36 | 
37 | 


--------------------------------------------------------------------------------
/racecar_control/launch/gazebo_sim_joy.launch:
--------------------------------------------------------------------------------
 1 | <!-- -*- mode: XML -*- -->
 2 | 
 3 | <launch>
 4 | 
 5 |   <remap from="/ackermann_cmd_mux/input/teleop" to="/racecar/ackermann_cmd_mux/input/teleop"/>
 6 | 
 7 |   <include file="$(find racecar_gazebo)/launch/racecar_tunnel.launch"/>
 8 | 
 9 |   <include file="$(find racecar_control)/launch/teleop.launch"/>
10 | 
11 | </launch>
12 | 


--------------------------------------------------------------------------------
/racecar_control/launch/racecar_control.launch:
--------------------------------------------------------------------------------
 1 | <?xml version='1.0'?>
 2 | 
 3 | <launch>
 4 | 
 5 |   <!-- Load joint controller configurations from YAML file to parameter server -->
 6 |   <rosparam file="$(find racecar_control)/config/racecar_control.yaml" command="load"/>
 7 | 
 8 |   <!-- load the controllers -->
 9 |   <node name="controller_manager" pkg="controller_manager" type="spawner" respawn="false"
10 |         output="screen" ns="/racecar" args="left_rear_wheel_velocity_controller right_rear_wheel_velocity_controller
11 |                                             left_front_wheel_velocity_controller right_front_wheel_velocity_controller
12 |                                             left_steering_hinge_position_controller right_steering_hinge_position_controller
13 |                                             joint_state_controller"/>
14 | 
15 |   <!-- convert joint states to TF transforms for rviz, etc -->
16 |   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
17 |     <remap from="/joint_states" to="/racecar/joint_states" />
18 |   </node>
19 | 
20 |   <!-- servo node -->
21 |   <node pkg="racecar_control" type="servo_commands.py" name="servo_commands" output="screen">
22 |     <remap from="/racecar/ackermann_cmd_mux/output" to="/vesc/low_level/ackermann_cmd_mux/output"/>
23 |   </node>
24 | 
25 |   <!-- Allow for Gazebo to broadcast odom -->
26 |   <node pkg="racecar_gazebo" name="gazebo_odometry_node" type="gazebo_odometry.py"/>
27 | 
28 | </launch>
29 | 


--------------------------------------------------------------------------------
/racecar_control/launch/teleop.launch:
--------------------------------------------------------------------------------
 1 | <!-- -*- mode: XML -*- -->
 2 | <!--
 3 |  This work is sponsored by the Department of the Air Force under Air Force
 4 |  Contract FA8721-05-C-0002. Opinions, interpretations, conclusions, and
 5 |  recommendations are those of the author and are not necessarily endorsed by
 6 |  the United States Government.
 7 | -->
 8 | 
 9 | <launch>
10 | 
11 |   <arg name="racecar_version" default="racecar-v2" />
12 |   <arg name="run_camera" default="false"/>
13 | 
14 |   <!-- joystick node -->
15 |   <include file="$(find racecar)/launch/includes/common/joy_teleop.launch.xml" >
16 |     <arg name="racecar_version" value="$(arg racecar_version)" />
17 |   </include>
18 | 
19 | </launch>
20 | 


--------------------------------------------------------------------------------
/racecar_control/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>racecar_control</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The racecar_control package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/racecar_control</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, mutiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintianers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 | 
44 | 
45 |   <!-- The export tag contains other, unspecified, tags -->
46 |   <export>
47 |     <!-- Other tools can request additional information be placed here -->
48 | 
49 |   </export>
50 | </package>


--------------------------------------------------------------------------------
/racecar_control/scripts/keyboard_teleop.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | import rospy
 3 | 
 4 | from ackermann_msgs.msg import AckermannDriveStamped
 5 | 
 6 | import sys, select, termios, tty
 7 | 
 8 | banner = """
 9 | Reading from the keyboard  and Publishing to AckermannDriveStamped!
10 | ---------------------------
11 | Moving around:
12 |         w
13 |    a    s    d
14 | anything else : stop
15 | CTRL-C to quit
16 | """
17 | 
18 | keyBindings = {
19 |   'w':(1,0),
20 |   'd':(1,-1),
21 |   'a':(1,1),
22 |   's':(-1,0),
23 | }
24 | 
25 | def getKey():
26 |    tty.setraw(sys.stdin.fileno())
27 |    select.select([sys.stdin], [], [], 0)
28 |    key = sys.stdin.read(1)
29 |    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
30 |    return key
31 | 
32 | speed = 0.5
33 | turn = 0.25
34 | 
35 | def vels(speed,turn):
36 |   return "currently:\tspeed %s\tturn %s " % (speed,turn)
37 | 
38 | if __name__=="__main__":
39 |   settings = termios.tcgetattr(sys.stdin)
40 |   pub = rospy.Publisher('/vesc/ackermann_cmd_mux/input/teleop', AckermannDriveStamped)
41 |   rospy.init_node('keyop')
42 | 
43 |   x = 0
44 |   th = 0
45 |   status = 0
46 | 
47 |   try:
48 |     while(1):
49 |        key = getKey()
50 |        if key in keyBindings.keys():
51 |           x = keyBindings[key][0]
52 |           th = keyBindings[key][1]
53 |        else:
54 |           x = 0
55 |           th = 0
56 |           if (key == '\x03'):
57 |              break
58 |        msg = AckermannDriveStamped();
59 |        msg.header.stamp = rospy.Time.now();
60 |        msg.header.frame_id = "base_link";
61 | 
62 |        msg.drive.speed = x*speed;
63 |        msg.drive.acceleration = 1;
64 |        msg.drive.jerk = 1;
65 |        msg.drive.steering_angle = th*turn
66 |        msg.drive.steering_angle_velocity = 1
67 | 
68 |        pub.publish(msg)
69 | 
70 |   except:
71 |     print 'error'
72 | 
73 |   finally:
74 |     msg = AckermannDriveStamped();
75 |     msg.header.stamp = rospy.Time.now();
76 |     msg.header.frame_id = "base_link";
77 | 
78 |     msg.drive.speed = 0;
79 |     msg.drive.acceleration = 1;
80 |     msg.drive.jerk = 1;
81 |     msg.drive.steering_angle = 0
82 |     msg.drive.steering_angle_velocity = 1
83 |     pub.publish(msg)
84 | 
85 |     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
86 | 


--------------------------------------------------------------------------------
/racecar_control/scripts/servo_commands.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | import rospy
 3 | from std_msgs.msg import Bool
 4 | from std_msgs.msg import Float32
 5 | from std_msgs.msg import Float64
 6 | from ackermann_msgs.msg import AckermannDriveStamped
 7 | 
 8 | flag_move = 0
 9 | 
10 | def set_throttle_steer(data):
11 | 
12 |     global flag_move
13 | 
14 |     pub_vel_left_rear_wheel = rospy.Publisher('/racecar/left_rear_wheel_velocity_controller/command', Float64, queue_size=1)
15 |     pub_vel_right_rear_wheel = rospy.Publisher('/racecar/right_rear_wheel_velocity_controller/command', Float64, queue_size=1)
16 |     pub_vel_left_front_wheel = rospy.Publisher('/racecar/left_front_wheel_velocity_controller/command', Float64, queue_size=1)
17 |     pub_vel_right_front_wheel = rospy.Publisher('/racecar/right_front_wheel_velocity_controller/command', Float64, queue_size=1)
18 | 
19 |     pub_pos_left_steering_hinge = rospy.Publisher('/racecar/left_steering_hinge_position_controller/command', Float64, queue_size=1)
20 |     pub_pos_right_steering_hinge = rospy.Publisher('/racecar/right_steering_hinge_position_controller/command', Float64, queue_size=1)
21 | 
22 |     throttle = data.drive.speed/0.1
23 |     steer = data.drive.steering_angle
24 | 
25 |     pub_vel_left_rear_wheel.publish(throttle)
26 |     pub_vel_right_rear_wheel.publish(throttle)
27 |     pub_vel_left_front_wheel.publish(throttle)
28 |     pub_vel_right_front_wheel.publish(throttle)
29 |     pub_pos_left_steering_hinge.publish(steer)
30 |     pub_pos_right_steering_hinge.publish(steer)
31 | 
32 | def servo_commands():
33 | 
34 |     rospy.init_node('servo_commands', anonymous=True)
35 | 
36 |     rospy.Subscriber("/racecar/ackermann_cmd_mux/output", AckermannDriveStamped, set_throttle_steer)
37 | 
38 |     # spin() simply keeps python from exiting until this node is stopped
39 |     rospy.spin()
40 | 
41 | if __name__ == '__main__':
42 |     try:
43 |         servo_commands()
44 |     except rospy.ROSInterruptException:
45 |         pass
46 | 


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/racecar_description/models/MIT_Tunnel/model.config:
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 1 | <?xml version="1.0" ?>
 2 | <model>
 3 |     <name>MIT_Tunnel</name>
 4 |     <version>1.0</version>
 5 |     <sdf version="1.4">model.sdf</sdf>
 6 |     <author>
 7 |         <name>Abhishek Agarwal</name>
 8 |         <email>abhia@mit.edu</email>
 9 |     </author>
10 |     <description>Building 32-081</description>
11 | </model>
12 | 


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/racecar_description/models/ar_tags/marker0/marker0/marker0/model-1_5.sdf:
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 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker0/marker0/marker0/model.config:
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 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


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/racecar_description/models/ar_tags/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker0/marker0/model.config:
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 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


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/racecar_description/models/ar_tags/marker0/materials/textures/Marker0.png:
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https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker0/materials/textures/Marker0.png


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/racecar_description/models/ar_tags/marker0/meshes/Marker0.dae:
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  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker0.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


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/racecar_description/models/ar_tags/marker0/model-1_4.sdf:
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 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker0">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker0/model-1_5.sdf:
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 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker0">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker0/model.config:
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 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker0</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


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/racecar_description/models/ar_tags/marker0/model.sdf:
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 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker0">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/materials/textures/Marker1.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker1/materials/textures/Marker1.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/meshes/Marker1.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker1.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker1">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker1">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker1</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker1/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker1">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |               <uri>model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>
15 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/materials/textures/Marker10.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker10/materials/textures/Marker10.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/meshes/Marker10.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker10.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker10">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker10">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker10</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker10/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker10">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/materials/textures/Marker11.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker11/materials/textures/Marker11.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/meshes/Marker11.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker11.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker11">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker11/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker11">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker11</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker11/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker11">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/materials/textures/Marker12.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker12/materials/textures/Marker12.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/meshes/Marker12.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker12.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker12">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker12/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker12">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker12</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker12/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker12">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/materials/textures/Marker13.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker13/materials/textures/Marker13.png


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/racecar_description/models/ar_tags/marker13/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker13">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker13/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker13">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker13</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker13/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker13">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/materials/textures/Marker14.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker14/materials/textures/Marker14.png


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/racecar_description/models/ar_tags/marker14/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker14">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker14/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker14">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker14</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker14/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker14">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker15/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker15/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker15/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker15/materials/textures/Marker15.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker15/materials/textures/Marker15.png


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/racecar_description/models/ar_tags/marker15/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker15">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker15/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker15">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker15/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker15</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker15/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker15">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker16/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker16/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker16/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


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/racecar_description/models/ar_tags/marker16/materials/textures/Marker16.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker16/materials/textures/Marker16.png


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/racecar_description/models/ar_tags/marker16/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker16">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker16/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker16">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker16/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker16</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker16/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker16">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker17/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker17/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker17/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker17/materials/textures/Marker17.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker17/materials/textures/Marker17.png


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/racecar_description/models/ar_tags/marker17/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker17">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker17/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker17">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker17/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker17</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker17/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker17">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/materials/textures/Marker2.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker2/materials/textures/Marker2.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/meshes/Marker2.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker2.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker2">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker2/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker2">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker2</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker2/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker2">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


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/racecar_description/models/ar_tags/marker3/materials/textures/Marker3.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker3/materials/textures/Marker3.png


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/racecar_description/models/ar_tags/marker3/meshes/Marker3.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker3.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker3">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker3">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker3</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker3/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker3">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/materials/textures/Marker4.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker4/materials/textures/Marker4.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/meshes/Marker4.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker4.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker4">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker4">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker4</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker4/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker4">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/materials/textures/Marker5.png:
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https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker5/materials/textures/Marker5.png


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/racecar_description/models/ar_tags/marker5/meshes/Marker5.dae:
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  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker5.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker5">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker5/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker5">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker5/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker5</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker5/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker5">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/materials/textures/Marker6.png:
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https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker6/materials/textures/Marker6.png


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/racecar_description/models/ar_tags/marker6/meshes/Marker6.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker6.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker6">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker6">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker6</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker6/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker6">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/materials/textures/Marker7.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker7/materials/textures/Marker7.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/meshes/Marker7.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker7.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker7">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker7">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker7</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker7/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker7">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/materials/textures/Marker8.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker8/materials/textures/Marker8.png


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/meshes/Marker8.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker8.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/model-1_4.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker8">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker8">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker8</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


--------------------------------------------------------------------------------
/racecar_description/models/ar_tags/marker8/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker8">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker9/marker0/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


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/racecar_description/models/ar_tags/marker9/marker0/model-1_5.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <sdf version="1.4">
 3 |   <model name="Marker0">
 4 |     <static>true</static>
 5 |     <link name="link">
 6 |       <visual name="visual">
 7 |         <geometry>
 8 |           <mesh>
 9 |             <uri>model://marker0/meshes/Marker0.dae</uri>
10 |           </mesh>
11 |         </geometry>
12 |       </visual>
13 |     </link>
14 |   </model>
15 | </sdf>
16 | 


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/racecar_description/models/ar_tags/marker9/marker0/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <model>
 4 |   <name>Marker0</name>
 5 |   <version>1.0</version>
 6 |   <sdf version="1.6">model.sdf</sdf>
 7 |   <sdf version="1.5">model-1_5.sdf</sdf>
 8 |   <sdf version="1.4">model-1_4.sdf</sdf>
 9 | 
10 |   <author>
11 |     <name>Mikael Arguedas</name>
12 |     <email>mikael.arguedas@gmail.com</email>
13 |   </author>
14 | 
15 |   <description>
16 |     A model of AR marker
17 |   </description>
18 | 
19 | </model>
20 | 


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/racecar_description/models/ar_tags/marker9/materials/textures/Marker9.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mit-racecar/racecar_gazebo/effd29f9edc20a03c8a1f666fb6fb6c0cbbee8ff/racecar_description/models/ar_tags/marker9/materials/textures/Marker9.png


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/racecar_description/models/ar_tags/marker9/meshes/Marker9.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
  2 |   <asset>
  3 |     <contributor>
  4 |       <author>Blender User</author>
  5 |       <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
  6 |     </contributor>
  7 |     <created>2015-04-05T02:03:25</created>
  8 |     <modified>2015-04-05T02:03:25</modified>
  9 |     <unit meter="1" name="meter"/>
 10 |     <up_axis>Z_UP</up_axis>
 11 |   </asset>
 12 |   <library_images>
 13 |     <image id="Marker0_png" name="Marker0_png">
 14 |       <init_from>Marker9.png</init_from>
 15 |     </image>
 16 |   </library_images>
 17 |   <library_effects>
 18 |     <effect id="Marker0Mat-effect">
 19 |       <profile_COMMON>
 20 |         <newparam sid="Marker0_png-surface">
 21 |           <surface type="2D">
 22 |             <init_from>Marker0_png</init_from>
 23 |           </surface>
 24 |         </newparam>
 25 |         <newparam sid="Marker0_png-sampler">
 26 |           <sampler2D>
 27 |             <source>Marker0_png-surface</source>
 28 |           </sampler2D>
 29 |         </newparam>
 30 |         <technique sid="common">
 31 |           <phong>
 32 |             <emission>
 33 |               <color sid="emission">0 0 0 1</color>
 34 |             </emission>
 35 |             <ambient>
 36 |               <color sid="ambient">0.9 0.9 0.9 1</color>
 37 |             </ambient>
 38 |             <diffuse>
 39 |               <texture texcoord="UVMap" texture="Marker0_png-sampler"/>
 40 |             </diffuse>
 41 |             <specular>
 42 |               <color sid="specular">0.5 0.5 0.5 1</color>
 43 |             </specular>
 44 |             <shininess>
 45 |               <float sid="shininess">50</float>
 46 |             </shininess>
 47 |             <index_of_refraction>
 48 |               <float sid="index_of_refraction">1</float>
 49 |             </index_of_refraction>
 50 |           </phong>
 51 |         </technique>
 52 |       </profile_COMMON>
 53 |     </effect>
 54 |   </library_effects>
 55 |   <library_materials>
 56 |     <material id="Marker0Mat-material" name="Marker0Mat">
 57 |       <instance_effect url="#Marker0Mat-effect"/>
 58 |     </material>
 59 |   </library_materials>
 60 |   <library_geometries>
 61 |     <geometry id="Cube-mesh" name="Cube">
 62 |       <mesh>
 63 |         <source id="Cube-mesh-positions">
 64 |           <float_array count="24" id="Cube-mesh-positions-array">1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991</float_array>
 65 |           <technique_common>
 66 |             <accessor count="8" source="#Cube-mesh-positions-array" stride="3">
 67 |               <param name="X" type="float"/>
 68 |               <param name="Y" type="float"/>
 69 |               <param name="Z" type="float"/>
 70 |             </accessor>
 71 |           </technique_common>
 72 |         </source>
 73 |         <source id="Cube-mesh-normals">
 74 |           <float_array count="36" id="Cube-mesh-normals-array">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7</float_array>
 75 |           <technique_common>
 76 |             <accessor count="12" source="#Cube-mesh-normals-array" stride="3">
 77 |               <param name="X" type="float"/>
 78 |               <param name="Y" type="float"/>
 79 |               <param name="Z" type="float"/>
 80 |             </accessor>
 81 |           </technique_common>
 82 |         </source>
 83 |         <source id="Cube-mesh-map-0">
 84 |           <float_array count="72" id="Cube-mesh-map-0-array">0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0</float_array>
 85 |           <technique_common>
 86 |             <accessor count="36" source="#Cube-mesh-map-0-array" stride="2">
 87 |               <param name="S" type="float"/>
 88 |               <param name="T" type="float"/>
 89 |             </accessor>
 90 |           </technique_common>
 91 |         </source>
 92 |         <vertices id="Cube-mesh-vertices">
 93 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
 94 |         </vertices>
 95 |         <polylist count="12" material="Marker0Mat-material">
 96 |           <input offset="0" semantic="VERTEX" source="#Cube-mesh-vertices"/>
 97 |           <input offset="1" semantic="NORMAL" source="#Cube-mesh-normals"/>
 98 |           <input offset="2" semantic="TEXCOORD" set="0" source="#Cube-mesh-map-0"/>
 99 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
100 |           <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
101 |         </polylist>
102 |       </mesh>
103 |     </geometry>
104 |   </library_geometries>
105 |   <library_controllers/>
106 |   <library_visual_scenes>
107 |     <visual_scene id="Scene" name="Scene">
108 |       <node id="Marker0" name="Marker0" type="NODE">
109 |         <matrix sid="transform">0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1</matrix>
110 |         <instance_geometry url="#Cube-mesh">
111 |           <bind_material>
112 |             <technique_common>
113 |               <instance_material symbol="Marker0Mat-material" target="#Marker0Mat-material">
114 |                 <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVMap"/>
115 |               </instance_material>
116 |             </technique_common>
117 |           </bind_material>
118 |         </instance_geometry>
119 |       </node>
120 |     </visual_scene>
121 |   </library_visual_scenes>
122 |   <scene>
123 |     <instance_visual_scene url="#Scene"/>
124 |   </scene>
125 | </COLLADA>


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/racecar_description/models/ar_tags/marker9/model-1_4.sdf:
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 1 | <?xml version="1.0" ?><sdf version="1.4">
 2 |   <model name="Marker9">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker9/model-1_5.sdf:
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 1 | <?xml version="1.0" ?><sdf version="1.5">
 2 |   <model name="Marker9">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/ar_tags/marker9/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><model>
 2 |   <name>Marker9</name>
 3 |   <version>1.0</version>
 4 |   <sdf version="1.6">model.sdf</sdf>
 5 |   <sdf version="1.5">model-1_5.sdf</sdf>
 6 |   <sdf version="1.4">model-1_4.sdf</sdf>
 7 | 
 8 |   <author>
 9 |     <name>Mikael Arguedas</name>
10 |     <email>mikael.arguedas@gmail.com</email>
11 |   </author>
12 | 
13 |   <description>
14 |     A model of AR marker
15 |   </description>
16 | 
17 | </model>


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/racecar_description/models/ar_tags/marker9/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?><sdf version="1.6">
 2 |   <model name="Marker9">
 3 |     <static>true</static>
 4 |     <link name="link">
 5 |       <visual name="visual">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae</uri>
 9 |           <scale>0.1 0.1 0.1</scale></mesh>
10 |         </geometry>
11 |       </visual>
12 |     </link>
13 |   </model>
14 | </sdf>


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/racecar_description/models/cone/model.config:
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1 | <?xml version="1.0" ?>
2 | <model>
3 |     <name>cone</name>
4 |     <version>1.0</version>
5 |     <sdf version="1.4">model.sdf</sdf>
6 |     <description>A bright orange cone</description>
7 | </model>
8 | 


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/racecar_description/models/cone/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version='1.0'?>
 2 | <sdf version='1.4'>
 3 |   <model name="Cone">
 4 |     <link name="link">
 5 |       <collision name="collision">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/meshes/cone.dae</uri>
 9 |           </mesh>
10 |         </geometry>
11 |       </collision>
12 |       <visual name="visual">
13 |         <geometry>
14 |           <mesh>
15 |             <uri>model://racecar_description/meshes/cone.dae</uri>
16 |           </mesh>
17 |         </geometry>
18 |         <material>
19 |           <ambient>1 0.2 0 1</ambient>
20 |           <diffuse>1 0.2 0 1</diffuse>
21 |           <specular>0.1 0.1 0.1 1</specular>
22 |           <emissive>0 0 0 0</emissive>
23 |         </material>
24 |       </visual>
25 |     </link>
26 |   </model>
27 | </sdf>
28 | 


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/racecar_description/models/parking_1/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <model>
 3 |     <name>walker_racecourse</name>
 4 |     <version>1.0</version>
 5 |     <sdf version="1.4">model.sdf</sdf>
 6 |     <author>
 7 |         <name>Owen Guldner</name>
 8 |         <email>owen.guldner@ll.mit.edu</email>
 9 |     </author>
10 | </model>
11 | 


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/racecar_description/models/parking_1/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version='1.0'?>
 2 | <sdf version='1.4'>
 3 |   <model name="parking_1">
 4 |     <link name="link">
 5 |       <collision name="collision">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/meshes/parking_1.dae</uri>
 9 |           </mesh>
10 |         </geometry>
11 |       </collision>
12 |       <visual name="visual">
13 |         <geometry>
14 |           <mesh>
15 |             <uri>model://racecar_description/meshes/parking_1.dae</uri>
16 |           </mesh>
17 |         </geometry>
18 |       </visual>
19 |     </link>
20 |     <static>1</static>
21 |   </model>
22 | </sdf>
23 | 


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/racecar_description/models/walker_racecourse/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" ?>
 2 | <model>
 3 |     <name>walker_racecourse</name>
 4 |     <version>1.0</version>
 5 |     <sdf version="1.4">model.sdf</sdf>
 6 |     <author>
 7 |         <name>Owen Guldner</name>
 8 |         <email>owen.guldner@ll.mit.edu</email>
 9 |     </author>
10 | </model>
11 | 


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/racecar_description/models/walker_racecourse/model.sdf:
--------------------------------------------------------------------------------
 1 | <?xml version='1.0'?>
 2 | <sdf version='1.4'>
 3 |   <model name="walker_racecourse">
 4 |     <link name="link">
 5 |       <collision name="collision">
 6 |         <geometry>
 7 |           <mesh>
 8 |             <uri>model://racecar_description/meshes/walker_racecourse.dae</uri>
 9 |           </mesh>
10 |         </geometry>
11 |       </collision>
12 |       <visual name="visual">
13 |         <geometry>
14 |           <mesh>
15 |             <uri>model://racecar_description/meshes/walker_racecourse.dae</uri>
16 |           </mesh>
17 |         </geometry>
18 |       </visual>
19 |     </link>
20 |     <static>1</static>
21 |   </model>
22 | </sdf>
23 | 


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/racecar_description/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>racecar_description</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The racecar_description package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/racecar_description</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, mutiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintianers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 | 
44 | 
45 |   <!-- The export tag contains other, unspecified, tags -->
46 |   <export>
47 |         
48 |   </export>
49 | </package>
50 | 


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/racecar_description/urdf/macros.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 | 
  4 | <!-- inertial parameter macros -->
  5 | 
  6 | <xacro:macro name="chassis_inertial_params">
  7 |   <origin xyz="0.1477 0 0" rpy="0 0 0" />
  8 |   <mass value="4.0" />
  9 |   <inertia ixx="0.010609" ixy="0"          ixz="0"
 10 |                           iyy="0.050409"   iyz="0"
 11 |                                            izz="0.05865" />
 12 | </xacro:macro>
 13 | 
 14 | <xacro:macro name="left_wheels_inertial_params">
 15 |   <origin xyz="0 0 -0.0225" rpy="0 0 0" />
 16 |   <mass value="0.34055" />
 17 |   <inertia ixx="0.00026046" ixy="0"          ixz="0"
 18 |                             iyy="0.00026046" iyz="0"
 19 |                                              izz="0.00041226" />
 20 | </xacro:macro>
 21 | 
 22 | <xacro:macro name="right_wheels_inertial_params">
 23 |   <origin xyz="0 0 0.0225" rpy="0 0 0" />
 24 |   <mass value="0.34055" />
 25 |   <inertia ixx="0.00026046" ixy="0"          ixz="0"
 26 |                             iyy="0.00026046" iyz="0"
 27 |                                              izz="0.00041226" />
 28 | </xacro:macro>
 29 | 
 30 | <xacro:macro name="steering_hinge_inertial_params">
 31 |   <origin xyz="0 0 0" rpy="0 0 0" />
 32 |   <mass value="0.100" />
 33 |   <inertia ixx="4E-06" ixy="0"           ixz="0"
 34 |                             iyy="4E-06"  iyz="0"
 35 |                                               izz="4E-06" />
 36 | </xacro:macro>
 37 | 
 38 | <xacro:macro name="hokuyo_inertial_params">
 39 |   <origin xyz="0 0 0" rpy="0 0 0" />
 40 |   <mass value="0.130" />
 41 |   <inertia ixx="4E-06" ixy="0"           ixz="0"
 42 |                             iyy="4E-06"  iyz="0"
 43 |                                               izz="4E-06" />
 44 | </xacro:macro>
 45 | 
 46 | 
 47 | <!-- geometry macros -->
 48 | 
 49 | <xacro:macro name="chassis_geometry">
 50 |   <origin xyz="0 0 0" rpy="0 0 0" />
 51 |   <geometry>
 52 |     <mesh filename="package://racecar_description/meshes/chassis.STL" />
 53 |   </geometry>
 54 | </xacro:macro>
 55 | 
 56 | 
 57 | <xacro:macro name="left_rear_wheel_geometry">
 58 |   <origin xyz="0 0 0" rpy="0 0 0" />
 59 |   <geometry>
 60 |     <mesh filename="package://racecar_description/meshes/left_rear_wheel.STL" />
 61 |   </geometry>
 62 | </xacro:macro>
 63 | 
 64 | <xacro:macro name="right_rear_wheel_geometry">
 65 |   <origin xyz="0 0 0" rpy="0 0 0" />
 66 |   <geometry>
 67 |     <mesh filename="package://racecar_description/meshes/right_rear_wheel.STL" />
 68 |   </geometry>
 69 | </xacro:macro>
 70 | 
 71 | <xacro:macro name="left_front_wheel_geometry">
 72 |   <origin xyz="0 0 0" rpy="0 0 0" />
 73 |   <geometry>
 74 |     <mesh filename="package://racecar_description/meshes/left_front_wheel.STL" />
 75 |   </geometry>
 76 | </xacro:macro>
 77 | 
 78 | <xacro:macro name="right_front_wheel_geometry">
 79 |   <origin xyz="0 0 0" rpy="0 0 0" />
 80 |   <geometry>
 81 |     <mesh filename="package://racecar_description/meshes/right_front_wheel.STL" />
 82 |   </geometry>
 83 | </xacro:macro>
 84 | 
 85 | <xacro:macro name="left_steering_hinge_geometry">
 86 |   <origin xyz="0 0 0" rpy="0 0 0" />
 87 |   <geometry>
 88 |     <mesh filename="package://racecar_description/meshes/left_steering_hinge.STL" />
 89 |   </geometry>
 90 | </xacro:macro>
 91 | 
 92 | <xacro:macro name="right_steering_hinge_geometry">
 93 |   <origin xyz="0 0 0" rpy="0 0 0" />
 94 |   <geometry>
 95 |     <mesh filename="package://racecar_description/meshes/right_steering_hinge.STL" />
 96 |   </geometry>
 97 | </xacro:macro>
 98 | 
 99 | <xacro:macro name="left_wheels_collision_geometry">
100 |   <origin xyz="0 0 -0.0225" rpy="0 0 0" />
101 |   <geometry>
102 |     <cylinder length="0.045" radius="0.05" />
103 |   </geometry>
104 | </xacro:macro>
105 | 
106 | <xacro:macro name="right_wheels_collision_geometry">
107 |   <origin xyz="0 0 0.0225" rpy="0 0 0" />
108 |   <geometry>
109 |     <cylinder length="0.045" radius="0.05" />
110 |   </geometry>
111 | </xacro:macro>
112 | 
113 | <!-- transmission macros -->
114 | 
115 | <xacro:macro name="wheel_transmission" params="name">
116 |   <transmission name="${name}_transmission" type="SimpleTransmission">
117 |     <type>transmission_interface/SimpleTransmission</type>
118 |     <joint name="${name}_joint">
119 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
120 |     </joint>
121 |     <actuator name="${name}_motor">
122 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
123 |       <mechanicalReduction>1</mechanicalReduction>
124 |     </actuator>
125 |   </transmission>
126 | </xacro:macro>
127 | 
128 | <xacro:macro name="steering_hinge_transmission" params="name">
129 |   <transmission name="${name}_transmission" type="SimpleTransmission">
130 |     <type>transmission_interface/SimpleTransmission</type>
131 |     <joint name="${name}_joint">
132 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
133 |     </joint>
134 |     <actuator name="${name}_motor">
135 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
136 |       <mechanicalReduction>1</mechanicalReduction>
137 |     </actuator>
138 |   </transmission>
139 | </xacro:macro>
140 | 
141 | </robot>
142 | 


--------------------------------------------------------------------------------
/racecar_description/urdf/materials.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 | 
 4 | <material name="black">
 5 |   <color rgba="0.0 0.0 0.0 1.0"/>
 6 | </material>
 7 | 
 8 | <material name="blue">
 9 |   <color rgba="0.0 0.0 0.8 1.0"/>
10 | </material>
11 | 
12 | <material name="green">
13 |   <color rgba="0.0 0.8 0.0 1.0"/>
14 | </material>
15 | 
16 | <material name="grey">
17 |   <color rgba="0.2 0.2 0.2 1.0"/>
18 | </material>
19 | 
20 | <material name="orange">
21 |   <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
22 | </material>
23 | 
24 | <material name="brown">
25 |   <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
26 | </material>
27 | 
28 | <material name="red">
29 |   <color rgba="0.8 0.0 0.0 1.0"/>
30 | </material>
31 | 
32 | <material name="white">
33 |   <color rgba="1.0 1.0 1.0 1.0"/>
34 | </material>
35 | 
36 | </robot>
37 | 


--------------------------------------------------------------------------------
/racecar_description/urdf/racecar.gazebo:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 | 
  4 | <!-- Gazebo references -->
  5 | 
  6 | <gazebo reference="chassis">
  7 |   <mu1 value="0.0"/>
  8 |   <mu2 value="0.0"/>
  9 |   <kp  value="10000000.0" />
 10 |   <kd  value="1.0" />
 11 |   <material>Gazebo/Blue</material>
 12 | </gazebo>
 13 | 
 14 | <gazebo reference="left_rear_wheel">
 15 |   <mu1 value="1.0"/>
 16 |   <mu2 value="1.0"/>
 17 |   <kp  value="10000000.0" />
 18 |   <kd  value="1.0" />
 19 |   <fdir1 value="1 0 0"/>
 20 |   <material>Gazebo/Black</material>
 21 | </gazebo>
 22 | 
 23 | <gazebo reference="right_rear_wheel">
 24 |   <mu1 value="1.0"/>
 25 |   <mu2 value="1.0"/>
 26 |   <kp  value="10000000.0" />
 27 |   <kd  value="1.0" />
 28 |   <fdir1 value="1 0 0"/>
 29 |   <material>Gazebo/Black</material>
 30 | </gazebo>
 31 | 
 32 | <gazebo reference="left_front_wheel">
 33 |   <mu1 value="1.0"/>
 34 |   <mu2 value="1.0"/>
 35 |   <kp  value="10000000.0" />
 36 |   <kd  value="1.0" />
 37 |   <fdir1 value="0 0 1"/>
 38 |   <material>Gazebo/Black</material>
 39 | </gazebo>
 40 | 
 41 | <gazebo reference="right_front_wheel">
 42 |   <mu1 value="1.0"/>
 43 |   <mu2 value="1.0"/>
 44 |   <kp  value="10000000.0" />
 45 |   <kd  value="1.0" />
 46 |   <fdir1 value="0 0 1"/>
 47 |   <material>Gazebo/Black</material>
 48 | </gazebo>
 49 | 
 50 | <!-- Gazebo plugins -->
 51 | 
 52 | <gazebo>
 53 |   <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
 54 |     <robotNamespace>/racecar</robotNamespace>
 55 |     <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
 56 |   </plugin>
 57 | </gazebo>
 58 | 
 59 |   <!-- hokuyo -->
 60 | <xacro:unless value="$(optenv DISABLE_GAZEBO_LASER false)">
 61 |   <gazebo reference="laser">
 62 |     <material>Gazebo/Grey</material>
 63 |     <sensor type="ray" name="hokuyo_sensor">
 64 |       <pose>0 0 0.0124 0 0 0</pose>
 65 |       <visualize>true</visualize>
 66 |       <update_rate>40</update_rate>
 67 |       <ray>
 68 |         <scan>
 69 |           <horizontal>
 70 |             <samples>1081</samples>
 71 |             <resolution>1</resolution>
 72 |             <min_angle>-2.3561944902</min_angle>
 73 |             <max_angle>2.3561944902</max_angle>
 74 |           </horizontal>
 75 |         </scan>
 76 |         <range>
 77 |           <min>0.1</min>
 78 |           <max>10.0</max>
 79 |           <resolution>0.01</resolution>
 80 |         </range>
 81 |         <noise>
 82 |           <mean>0.0</mean>
 83 |           <stddev>0.01</stddev>
 84 |         </noise>
 85 |       </ray>
 86 |       <plugin name="gazebo_ros_hokuyo_controller" filename="libgazebo_ros_laser.so">
 87 |         <topicName>/scan</topicName>
 88 |         <frameName>laser</frameName>
 89 |       </plugin>
 90 |     </sensor>
 91 |   </gazebo>
 92 | </xacro:unless>
 93 | 
 94 | <!-- zed camera -->
 95 | <xacro:unless value="$(optenv DISABLE_GAZEBO_CAMERA false)">
 96 |   <gazebo reference="camera_link">
 97 |     <sensor type="camera" name="zed_camera_left_sensor">
 98 |       <update_rate>30.0</update_rate>
 99 |       <!-- math.atan(320 / 687.8065795898438) * 2 -->
100 |       <camera name="zed_camera_left_camera">
101 |         <horizontal_fov>0.8709216071359963</horizontal_fov>
102 |         <image>
103 |           <width>640</width>
104 |           <height>480</height>
105 |           <format>B8G8R8</format>
106 |         </image>
107 |         <clip>
108 |           <near>0.02</near>
109 |           <far>300</far>
110 |         </clip>
111 |         <noise>
112 |           <type>gaussian</type>
113 |           <mean>0.0</mean>
114 |           <stddev>0.007</stddev>
115 |         </noise>
116 |       </camera>
117 |       <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
118 |         <alwaysOn>true</alwaysOn>
119 |         <updateRate>30.0</updateRate>
120 |         <cameraName>/camera/zed</cameraName>
121 |         <imageTopicName>rgb/image_rect_color</imageTopicName>
122 |         <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
123 |         <frameName>camera_link</frameName>
124 |         <hackBaseline>0</hackBaseline><!-- set this to 0.12 for the second camera -->
125 |         <distortionK1>0.0</distortionK1>
126 |         <distortionK2>0.0</distortionK2>
127 |         <distortionK3>0.0</distortionK3>
128 |         <distortionT1>0.0</distortionT1>
129 |         <distortionT2>0.0</distortionT2>
130 |       </plugin>
131 |     </sensor>
132 |   </gazebo>
133 | </xacro:unless>
134 | 
135 | </robot>
136 | 


--------------------------------------------------------------------------------
/racecar_gazebo/launch/racecar.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 |   <arg name="world_name" default="racecar" />
 4 |   <arg name="gui" default="true" />
 5 |   <arg name="run_camera" default="false"/>
 6 | 
 7 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
 8 |     <arg name="world_name" value="$(find racecar_gazebo)/worlds/$(arg world_name).world"/>
 9 |     <arg name="gui" value="$(arg gui)"/>
10 |   </include>
11 | 
12 |   <!-- urdf xml robot description loaded on the Parameter Server, converting the xacro into a proper urdf file-->
13 |   <param name="robot_description" command="$(find xacro)/xacro '$(find racecar_description)/urdf/racecar.xacro'" />
14 | 
15 |   <!-- push robot_description to factory and spawn robot in gazebo -->
16 |   <node name="racecar_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model racecar -z 0.05" />
17 | 
18 |   <!-- ros_control racecar launch file -->
19 |   <include file="$(find racecar_control)/launch/racecar_control.launch" ns="/"/>
20 | 
21 |   <!-- Spawn the MUXs -->
22 |   <arg name="racecar_version" default="racecar-v2" />
23 |   <include file="$(find racecar)/launch/mux.launch" ns="vesc" />
24 | 
25 |   <!-- Publish "better odom" topic that is normally generated by the particle filter -->
26 |     <node name="better_odom" pkg="topic_tools" type="relay"
27 |           args="/vesc/odom /pf/pose/odom" />
28 | </launch>
29 | 


--------------------------------------------------------------------------------
/racecar_gazebo/launch/racecar_ar.launch:
--------------------------------------------------------------------------------
1 | <?xml version="1.0"?>
2 | <launch>
3 |   <include file="$(find racecar_gazebo)/launch/racecar.launch">
4 |     <arg name="world_name" value="racecar_ar"/>
5 |   </include>
6 | </launch>
7 | 


--------------------------------------------------------------------------------
/racecar_gazebo/launch/racecar_parking_1.launch:
--------------------------------------------------------------------------------
1 | <?xml version="1.0"?>
2 | <launch>
3 |   <include file="$(find racecar_gazebo)/launch/racecar.launch">
4 |     <arg name="world_name" value="racecar_parking_1"/>
5 |   </include>
6 | </launch>
7 | 


--------------------------------------------------------------------------------
/racecar_gazebo/launch/racecar_tunnel.launch:
--------------------------------------------------------------------------------
1 | <?xml version="1.0"?>
2 | <launch>
3 |   <include file="$(find racecar_gazebo)/launch/racecar.launch">
4 |     <arg name="world_name" value="racecar_tunnel"/>
5 |   </include>
6 | </launch>
7 | 


--------------------------------------------------------------------------------
/racecar_gazebo/launch/racecar_walker.launch:
--------------------------------------------------------------------------------
1 | <?xml version="1.0"?>
2 | <launch>
3 |   <include file="$(find racecar_gazebo)/launch/racecar.launch">
4 |     <arg name="world_name" value="racecar_walker"/>
5 |   </include>
6 | </launch>
7 | 


--------------------------------------------------------------------------------
/racecar_gazebo/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>racecar_gazebo</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The racecar_gazebo package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/racecar_gazebo</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, mutiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintianers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 |   <build_depend>gazebo_ros</build_depend>
44 |   <run_depend>gazebo_ros</run_depend>
45 |   <run_depend>controller_manager</run_depend>
46 |   <run_depend>ros_controllers</run_depend>
47 |   <run_depend>ros_control</run_depend>
48 |   <run_depend>gazebo_ros_control</run_depend>
49 | 
50 | 
51 |   <!-- The export tag contains other, unspecified, tags -->
52 |   <export>
53 |     <gazebo_ros gazebo_model_path="${prefix}/.." />
54 |   </export>
55 | </package>
56 | 


--------------------------------------------------------------------------------
/racecar_gazebo/scripts/gazebo_odometry.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | 
 3 | '''
 4 | This script makes Gazebo less fail by translating gazebo status messages to odometry data.
 5 | Since Gazebo also publishes data faster than normal odom data, this script caps the update to 20hz.
 6 | Winter Guerra
 7 | '''
 8 | 
 9 | import rospy
10 | from nav_msgs.msg import Odometry
11 | from geometry_msgs.msg import Pose, Twist, Transform, TransformStamped
12 | from gazebo_msgs.msg import LinkStates
13 | from std_msgs.msg import Header
14 | import numpy as np
15 | import math
16 | import tf2_ros
17 | 
18 | class OdometryNode:
19 |     # Set publishers
20 |     pub_odom = rospy.Publisher('/vesc/odom', Odometry, queue_size=1)
21 | 
22 |     def __init__(self):
23 |         # init internals
24 |         self.last_received_pose = Pose()
25 |         self.last_received_twist = Twist()
26 |         self.last_recieved_stamp = None
27 | 
28 |         # Set the update rate
29 |         rospy.Timer(rospy.Duration(.05), self.timer_callback) # 20hz
30 | 
31 |         self.tf_pub = tf2_ros.TransformBroadcaster()
32 | 
33 |         # Set subscribers
34 |         rospy.Subscriber('/gazebo/link_states', LinkStates, self.sub_robot_pose_update)
35 | 
36 |     def sub_robot_pose_update(self, msg):
37 |         # Find the index of the racecar
38 |         try:
39 |             arrayIndex = msg.name.index('racecar::base_link')
40 |         except ValueError as e:
41 |             # Wait for Gazebo to startup
42 |             pass
43 |         else:
44 |             # Extract our current position information
45 |             self.last_received_pose = msg.pose[arrayIndex]
46 |             self.last_received_twist = msg.twist[arrayIndex]
47 |         self.last_recieved_stamp = rospy.Time.now()
48 | 
49 |     def timer_callback(self, event):
50 |         if self.last_recieved_stamp is None:
51 |             return
52 | 
53 |         cmd = Odometry()
54 |         cmd.header.stamp = self.last_recieved_stamp
55 |         cmd.header.frame_id = 'map'
56 |         cmd.child_frame_id = 'odom'
57 |         cmd.pose.pose = self.last_received_pose
58 |         cmd.twist.twist = self.last_received_twist
59 |         self.pub_odom.publish(cmd)
60 | 
61 |         tf = TransformStamped(
62 |             header=Header(
63 |                 frame_id=cmd.header.frame_id,
64 |                 stamp=cmd.header.stamp
65 |             ),
66 |             child_frame_id=cmd.child_frame_id,
67 |             transform=Transform(
68 |                 translation=cmd.pose.pose.position,
69 |                 rotation=cmd.pose.pose.orientation
70 |             )
71 |         )
72 |         self.tf_pub.sendTransform(tf)
73 | 
74 | # Start the node
75 | if __name__ == '__main__':
76 |     rospy.init_node("gazebo_odometry_node")
77 |     node = OdometryNode()
78 |     rospy.spin()
79 | 


--------------------------------------------------------------------------------
/racecar_gazebo/worlds/racecar.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version="1.4">
 3 | <world name="racecar_tunnel">
 4 | 
 5 |   <include>
 6 |     <uri>model://sun</uri>
 7 |   </include>
 8 | 
 9 |   <model name="ground_plane">
10 |     <static>true</static>
11 |     <link name="link">
12 |       <collision name="collision">
13 |         <geometry>
14 |           <plane>
15 |             <normal>0 0 1</normal>
16 |             <size>150 150</size>
17 |           </plane>
18 |         </geometry>
19 |         <surface>
20 |           <friction>
21 |             <ode>
22 |               <mu>100</mu>
23 |               <mu2>50</mu2>
24 |             </ode>
25 |           </friction>
26 |         </surface>
27 |       </collision>
28 |       <visual name="visual">
29 |         <cast_shadows>false</cast_shadows>
30 |         <geometry>
31 |           <plane>
32 |             <normal>0 0 1</normal>
33 |             <size>150 150</size>
34 |           </plane>
35 |         </geometry>
36 |         <material>
37 |           <script>
38 |             <uri>file://media/materials/scripts/gazebo.material</uri>
39 |             <name>Gazebo/Grey</name>
40 |           </script>
41 |         </material>
42 |       </visual>
43 |     </link>
44 |   </model>
45 | 
46 | </world>
47 | </sdf>
48 | 


--------------------------------------------------------------------------------
/racecar_gazebo/worlds/racecar_ar.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version="1.4">
 3 | <world name="racecar_tunnel">
 4 |   <scene>
 5 |     <ambient>0.75 0.75 0.75 1.0</ambient>
 6 |   </scene>
 7 | 
 8 |   <include>
 9 |     <uri>model://sun</uri>
10 |   </include>
11 | 
12 |   <model name="ground_plane">
13 |     <static>true</static>
14 |     <link name="link">
15 |       <collision name="collision">
16 |         <geometry>
17 |           <plane>
18 |             <normal>0 0 1</normal>
19 |             <size>150 150</size>
20 |           </plane>
21 |         </geometry>
22 |         <surface>
23 |           <friction>
24 |             <ode>
25 |               <mu>100</mu>
26 |               <mu2>50</mu2>
27 |             </ode>
28 |           </friction>
29 |         </surface>
30 |       </collision>
31 |       <visual name="visual">
32 |         <cast_shadows>false</cast_shadows>
33 |         <geometry>
34 |           <plane>
35 |             <normal>0 0 1</normal>
36 |             <size>150 150</size>
37 |           </plane>
38 |         </geometry>
39 |         <material>
40 |           <script>
41 |             <uri>file://media/materials/scripts/gazebo.material</uri>
42 |             <name>Gazebo/Grey</name>
43 |           </script>
44 |         </material>
45 |       </visual>
46 |     </link>
47 |   </model>
48 | 
49 |   <include>
50 |       <uri>model://racecar_description/models/ar_tags/marker1</uri>
51 |     <pose>1 0 0 0 0 0</pose>
52 |     <name>marker_1</name>
53 |   </include>
54 |   </world>
55 | </sdf>
56 | 


--------------------------------------------------------------------------------
/racecar_gazebo/worlds/racecar_cones.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version="1.4">
 3 | <world name="racecar_tunnel">
 4 |   <scene>
 5 |     <ambient>0.75 0.75 0.75 1.0</ambient>
 6 |   </scene>
 7 | 
 8 |   <include>
 9 |     <uri>model://sun</uri>
10 |   </include>
11 | 
12 |   <model name="ground_plane">
13 |     <static>true</static>
14 |     <link name="link">
15 |       <collision name="collision">
16 |         <geometry>
17 |           <plane>
18 |             <normal>0 0 1</normal>
19 |             <size>150 150</size>
20 |           </plane>
21 |         </geometry>
22 |         <surface>
23 |           <friction>
24 |             <ode>
25 |               <mu>100</mu>
26 |               <mu2>50</mu2>
27 |             </ode>
28 |           </friction>
29 |         </surface>
30 |       </collision>
31 |       <visual name="visual">
32 |         <cast_shadows>false</cast_shadows>
33 |         <geometry>
34 |           <plane>
35 |             <normal>0 0 1</normal>
36 |             <size>150 150</size>
37 |           </plane>
38 |         </geometry>
39 |         <material>
40 |           <script>
41 |             <uri>file://media/materials/scripts/gazebo.material</uri>
42 |             <name>Gazebo/Grey</name>
43 |           </script>
44 |         </material>
45 |       </visual>
46 |     </link>
47 |   </model>
48 | 
49 |   <include>
50 |     <uri>model://racecar_description/models/cone</uri>
51 |     <pose>1 0 0 0 0 0</pose>
52 |     <name>cone_1</name>
53 |   </include>
54 |   <include>
55 |     <uri>model://racecar_description/models/cone</uri>
56 |     <pose>2 0 0 0 0 0</pose>
57 |     <name>cone_2</name>
58 |   </include>
59 |   <include>
60 |     <uri>model://racecar_description/models/cone</uri>
61 |     <pose>3 0 0 0 0 0</pose>
62 |     <name>cone_3</name>
63 |   </include>
64 |   <include>
65 |     <uri>model://racecar_description/models/cone</uri>
66 |     <pose>4 0 0 0 0 0</pose>
67 |     <name>cone_4</name>
68 |   </include>
69 |   <include>
70 |     <uri>model://racecar_description/models/cone</uri>
71 |     <pose>5 0 0 0 0 0</pose>
72 |     <name>cone_5</name>
73 |   </include>
74 | </world>
75 | </sdf>
76 | 


--------------------------------------------------------------------------------
/racecar_gazebo/worlds/racecar_parking_1.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version="1.4">
 3 | <world name="racecar_parking_1">
 4 | 
 5 |   <include>
 6 |     <uri>model://sun</uri>
 7 |   </include>
 8 | 
 9 |   <gui>
10 |     <camera name='main'>
11 |       <pose>0 0 10 0 1.571 0</pose>
12 |     </camera>
13 |   </gui>
14 | 
15 |   <model name="ground_plane">
16 |     <static>true</static>
17 |     <link name="link">
18 |       <collision name="collision">
19 |         <geometry>
20 |           <plane>
21 |             <normal>0 0 1</normal>
22 |             <size>150 150</size>
23 |           </plane>
24 |         </geometry>
25 |         <surface>
26 |           <friction>
27 |             <ode>
28 |               <mu>100</mu>
29 |               <mu2>50</mu2>
30 |             </ode>
31 |           </friction>
32 |         </surface>
33 |       </collision>
34 |       <visual name="visual">
35 |         <cast_shadows>false</cast_shadows>
36 |         <geometry>
37 |           <plane>
38 |             <normal>0 0 1</normal>
39 |             <size>150 150</size>
40 |           </plane>
41 |         </geometry>
42 |         <material>
43 |           <script>
44 |             <uri>file://media/materials/scripts/gazebo.material</uri>
45 |             <name>Gazebo/Grey</name>
46 |           </script>
47 |         </material>
48 |       </visual>
49 |     </link>
50 |   </model>
51 | 
52 |   <include>
53 |     <uri>model://racecar_description/models/parking_1</uri>
54 |     <pose>-1.2 0.25 0 0 0 -1.57</pose>
55 |   </include>
56 | 
57 | </world>
58 | </sdf>
59 | 


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/racecar_gazebo/worlds/racecar_tunnel.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version="1.4">
 3 | <world name="racecar_tunnel">
 4 | 
 5 |   <include>
 6 |     <uri>model://sun</uri>
 7 |   </include>
 8 | 
 9 |   <gui>
10 |     <camera name='main'>
11 |       <pose>0 0 10 0 1.571 0</pose>
12 |     </camera>
13 |   </gui>
14 | 
15 |   <model name="ground_plane">
16 |     <static>true</static>
17 |     <link name="link">
18 |       <collision name="collision">
19 |         <geometry>
20 |           <plane>
21 |             <normal>0 0 1</normal>
22 |             <size>150 150</size>
23 |           </plane>
24 |         </geometry>
25 |         <surface>
26 |           <friction>
27 |             <ode>
28 |               <mu>100</mu>
29 |               <mu2>50</mu2>
30 |             </ode>
31 |           </friction>
32 |         </surface>
33 |       </collision>
34 |       <visual name="visual">
35 |         <cast_shadows>false</cast_shadows>
36 |         <geometry>
37 |           <plane>
38 |             <normal>0 0 1</normal>
39 |             <size>150 150</size>
40 |           </plane>
41 |         </geometry>
42 |         <material>
43 |           <script>
44 |             <uri>file://media/materials/scripts/gazebo.material</uri>
45 |             <name>Gazebo/Grey</name>
46 |           </script>
47 |         </material>
48 |       </visual>
49 |     </link>
50 |   </model>
51 | 
52 |   <include>
53 |     <uri>model://racecar_description/models/MIT_Tunnel</uri>
54 |     <pose>6 20 0 0 0 0</pose>
55 |   </include>
56 | 
57 | </world>
58 | </sdf>
59 | 


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/racecar_gazebo/worlds/racecar_walker.world:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <sdf version="1.4">
 3 | <world name="racecar_walker">
 4 | 
 5 |   <scene>
 6 |     <ambient>0.5 0.5 0.5 1.0</ambient>
 7 |     <shadows>0</shadows>
 8 |   </scene>
 9 | 
10 |   <include>
11 |     <uri>model://sun</uri>
12 |     <pose>0.0 0.0 15.0 0 0 0</pose>
13 |     <cast_shadows>false</cast_shadows>
14 |     <attenuation>
15 |       <constant>0.5</constant>
16 |       <linear>0.01</linear>
17 |       <quadratic>0.0</quadratic>
18 |       <range>100</range>
19 |     </attenuation>
20 |   </include>
21 | 
22 |   <light type="point" name="Light 1">
23 |               <pose>0 0 15 0 0 0</pose>
24 |               <diffuse>.9 .9 .9 1</diffuse>
25 |               <specular>.1 .1 .1 1</specular>
26 |               <attenuation>
27 |               <constant>0.5</constant>
28 |               <linear>0.01</linear>
29 |               <quadratic>0.0</quadratic>
30 |               <range>50</range>
31 |               </attenuation>
32 |               <direction>0 0 -1</direction>
33 |               <cast_shadows>false</cast_shadows>
34 |           </light>
35 | 
36 |   <include>
37 |     <uri>model://racecar_description/models/walker_racecourse</uri>
38 |     <pose>-4 2 -.5 0 0 -1.57</pose>
39 |     <name>walker_racecourse</name>
40 |   </include>
41 | 
42 | 
43 | 
44 | </world>
45 | </sdf>
46 | 


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