├── README.md ├── description_pkg ├── CMakeLists.txt ├── launch │ ├── one_robot.launch │ └── robots.launch ├── meshes │ └── lidar.STL ├── package.xml ├── readme ├── urdf │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── material.xacro │ └── robots.xacro └── worlds │ └── wall.world └── navigtion_pkg ├── CMakeLists.txt ├── launch ├── amcl_robot1.launch ├── amcl_robot2.launch ├── amcl_robot3.launch ├── move_base_robot1.launch ├── move_base_robot2.launch ├── move_base_robot3.launch └── multi_navigation.launch ├── maps ├── map.pgm └── map.yaml ├── package.xml ├── parameter ├── base_local_planner_params.yaml ├── costmap_common_params.yaml ├── costmap_common_params_three.yaml ├── costmap_common_params_two.yaml ├── dwa_local_planner_params.yaml ├── global_costmap_params.yaml ├── global_planner_params.yaml ├── local_costmap_params.yaml └── move_base_params.yaml ├── rviz └── multi_navigation.rviz └── script └── goal_pase.py /README.md: -------------------------------------------------------------------------------- 1 | # Multiple Robots Project 2 | 3 | Welcome to the Multiple Robots project! 4 | 5 | ## Table of Contents 6 | 7 | - [Robots](#robots) 8 | - [Description](#description) 9 | - [Installation](#installation) 10 | - [Usage](#usage) 11 | 12 | 13 | ## Robots 14 | This project involves the use of three robots: 15 | - Robot 1 16 | - Robot 2 17 | - Robot 3 18 | 19 | Each of these robots is equipped with a two-wheel drive system and Lidar (Light Detection and Ranging) for sensing. 20 | 21 | ## Description 22 | These autonomous mobile robots are built using the URDF (Unified Robot Description Format) and are designed for mapping and navigation in a simulated environment using Gazebo. Here are the key components and functionalities: 23 | 24 | - *Mapping*: The project utilizes the `gmapping` package to perform laser-based SLAM (Simultaneous Localization and Mapping), creating a 2D occupancy grid map. 25 | 26 | - *Localization*: The robots are localized within the map using the `AMCL` (Adaptive Monte Carlo Localization) algorithm. 27 | 28 | - *Navigation*: To enable autonomous navigation, the project employs the Navigation stack, allowing the robots to move autonomously in their environments while avoiding obstacles and reaching target locations. This navigation stack utilizes the `move_base` package and the A* algorithm for path planning. 29 | 30 | 31 | ## Installation 32 | 33 | To use these robots, follow these installation steps: 34 | 35 | 1. Creating a workspace: 36 | ``` 37 | $ mkdir -p ~/multi_robot_ws/src 38 | $ cd ~/catkin_ws/src 39 | ``` 40 | 41 | 2. Clone this repository to your local machine: 42 | 43 | ```bash 44 | git clone https://github.com/sherif1152/multiple-robots.git 45 | ``` 46 | 3. Build the workspace: 47 | ``` 48 | $ cd .. 49 | $ catkin_make 50 | ``` 51 | 52 | ## Usage 53 | 1. Run robots in gazebo : 54 | ```bash 55 | roslaunch description_pkg robots.launch 56 | ``` 57 | 2. Run Nav in RVIZ 58 | ``` 59 | roslaunch navigtion_pkg multi_navigation.launch 60 | ``` 61 | 62 | 63 | 64 | 65 | -------------------------------------------------------------------------------- /description_pkg/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(description_pkg) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | ) 15 | 16 | ## System dependencies are found with CMake's conventions 17 | # find_package(Boost REQUIRED COMPONENTS system) 18 | 19 | 20 | ## Uncomment this if the package has a setup.py. This macro ensures 21 | ## modules and global scripts declared therein get installed 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 23 | # catkin_python_setup() 24 | 25 | ################################################ 26 | ## Declare ROS messages, services and actions ## 27 | ################################################ 28 | 29 | ## To declare and build messages, services or actions from within this 30 | ## package, follow these steps: 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 33 | ## * In the file package.xml: 34 | ## * add a build_depend tag for "message_generation" 35 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 37 | ## but can be declared for certainty nonetheless: 38 | ## * add a exec_depend tag for "message_runtime" 39 | ## * In this file (CMakeLists.txt): 40 | ## * add "message_generation" and every package in MSG_DEP_SET to 41 | ## find_package(catkin REQUIRED COMPONENTS ...) 42 | ## * add "message_runtime" and every package in MSG_DEP_SET to 43 | ## catkin_package(CATKIN_DEPENDS ...) 44 | ## * uncomment the add_*_files sections below as needed 45 | ## and list every .msg/.srv/.action file to be processed 46 | ## * uncomment the generate_messages entry below 47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 48 | 49 | ## Generate messages in the 'msg' folder 50 | # add_message_files( 51 | # FILES 52 | # Message1.msg 53 | # Message2.msg 54 | # ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | # generate_messages( 72 | # DEPENDENCIES 73 | # std_msgs 74 | # ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if your package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES description_pkg 108 | # CATKIN_DEPENDS roscpp rospy std_msgs 109 | # DEPENDS system_lib 110 | ) 111 | 112 | ########### 113 | ## Build ## 114 | ########### 115 | 116 | ## Specify additional locations of header files 117 | ## Your package locations should be listed before other locations 118 | include_directories( 119 | # include 120 | ${catkin_INCLUDE_DIRS} 121 | ) 122 | 123 | ## Declare a C++ library 124 | # add_library(${PROJECT_NAME} 125 | # src/${PROJECT_NAME}/description_pkg.cpp 126 | # ) 127 | 128 | ## Add cmake target dependencies of the library 129 | ## as an example, code may need to be generated before libraries 130 | ## either from message generation or dynamic reconfigure 131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Declare a C++ executable 134 | ## With catkin_make all packages are built within a single CMake context 135 | ## The recommended prefix ensures that target names across packages don't collide 136 | # add_executable(${PROJECT_NAME}_node src/description_pkg_node.cpp) 137 | 138 | ## Rename C++ executable without prefix 139 | ## The above recommended prefix causes long target names, the following renames the 140 | ## target back to the shorter version for ease of user use 141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 143 | 144 | ## Add cmake target dependencies of the executable 145 | ## same as for the library above 146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | 148 | ## Specify libraries to link a library or executable target against 149 | # target_link_libraries(${PROJECT_NAME}_node 150 | # ${catkin_LIBRARIES} 151 | # ) 152 | 153 | ############# 154 | ## Install ## 155 | ############# 156 | 157 | # all install targets should use catkin DESTINATION variables 158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 159 | 160 | ## Mark executable scripts (Python etc.) for installation 161 | ## in contrast to setup.py, you can choose the destination 162 | # catkin_install_python(PROGRAMS 163 | # scripts/my_python_script 164 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 165 | # ) 166 | 167 | ## Mark executables for installation 168 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html 169 | # install(TARGETS ${PROJECT_NAME}_node 170 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 171 | # ) 172 | 173 | ## Mark libraries for installation 174 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html 175 | # install(TARGETS ${PROJECT_NAME} 176 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 177 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 178 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} 179 | # ) 180 | 181 | ## Mark cpp header files for installation 182 | # install(DIRECTORY include/${PROJECT_NAME}/ 183 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 184 | # FILES_MATCHING PATTERN "*.h" 185 | # PATTERN ".svn" EXCLUDE 186 | # ) 187 | 188 | ## Mark other files for installation (e.g. launch and bag files, etc.) 189 | # install(FILES 190 | # # myfile1 191 | # # myfile2 192 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 193 | # ) 194 | 195 | ############# 196 | ## Testing ## 197 | ############# 198 | 199 | ## Add gtest based cpp test target and link libraries 200 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_description_pkg.cpp) 201 | # if(TARGET ${PROJECT_NAME}-test) 202 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 203 | # endif() 204 | 205 | ## Add folders to be run by python nosetests 206 | # catkin_add_nosetests(test) 207 | -------------------------------------------------------------------------------- /description_pkg/launch/one_robot.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /description_pkg/launch/robots.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /description_pkg/meshes/lidar.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sherif1152/multiple-robots/f2ee90d5323792ff82cc51200663ed471096f71d/description_pkg/meshes/lidar.STL -------------------------------------------------------------------------------- /description_pkg/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | description_pkg 4 | 0.0.0 5 | The description_pkg package 6 | 7 | 8 | 9 | 10 | sherif 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | roscpp 56 | rospy 57 | std_msgs 58 | roscpp 59 | rospy 60 | std_msgs 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /description_pkg/readme: -------------------------------------------------------------------------------- 1 | # Multiple Robots Project 2 | 3 | Welcome to the Multiple Robots project! 4 | 5 | ## Table of Contents 6 | 7 | - [Robots](#robots) 8 | - [Description](#description) 9 | - [Installation](#installation) 10 | - [Usage](#usage) 11 | 12 | 13 | ## Robots 14 | 15 | - Robot 1 16 | - Robot 2 17 | - Robot 3 18 | 19 | used two wheel and Lidar (Light Detection and Ranging ) 20 | 21 | ## Description 22 | This Autonomous mobile robot with diff drive ,I built it by `URDF`, build map and implementation in gazebo . 23 | 24 | Used `gmapping pkg` provides laser-based SLAM (Simultaneous Localization and Mapping) to create a 2D occupancy grid map . 25 | 26 | Then Used `AMCL` to localization robot moving in the map. 27 | 28 | I used Navigation stack its used to enable robots to autonomously navigate and move in their environments while avoiding obstacles and reaching target locations. 29 | i used using the `move_base package` ,and A* algorithm 30 | 31 | 32 | ## Installation 33 | 34 | To use these robots, follow these installation steps: 35 | 36 | 1. Creating a workspace: 37 | ``` 38 | $ mkdir -p ~/multi_robot_ws/src 39 | $ cd ~/catkin_ws/src 40 | ``` 41 | 42 | 2. Clone this repository to your local machine: 43 | 44 | ```bash 45 | git clone https://github.com/your-username/your-repo-name.git 46 | ``` 47 | 3. 48 | ``` 49 | $ cd .. 50 | $ catkin_make 51 | ``` 52 | 53 | ## Usage 54 | 1. Run robots in gazebo : 55 | ```bash 56 | roslaunch description_pkg robots.launch 57 | ``` 58 | 2. Run Nav in RVIZ 59 | ``` 60 | roslaunch navigtion_pkg multi_navigation.launch 61 | ``` 62 | 63 | 64 | 65 | 66 | -------------------------------------------------------------------------------- /description_pkg/urdf/.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "browse": { 5 | "databaseFilename": "${default}", 6 | "limitSymbolsToIncludedHeaders": false 7 | }, 8 | "includePath": [ 9 | "/opt/ros/noetic/include/**", 10 | "/home/sherif/robot_ws/src/gazebo_pkg/include/**", 11 | "/home/sherif/robot_ws/src/robot_description_pkg/include/**", 12 | "/usr/include/**" 13 | ], 14 | "name": "ROS", 15 | "intelliSenseMode": "gcc-x64", 16 | "compilerPath": "/usr/bin/gcc", 17 | "cStandard": "gnu11", 18 | "cppStandard": "c++14" 19 | } 20 | ], 21 | "version": 4 22 | } -------------------------------------------------------------------------------- /description_pkg/urdf/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/opt/ros/noetic/lib/python3/dist-packages" 4 | ] 5 | } -------------------------------------------------------------------------------- /description_pkg/urdf/material.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /description_pkg/urdf/robots.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 30.0 173 | cmd_vel 174 | odom 175 | odom 176 | world 177 | true 178 | base_link 179 | false 180 | true 181 | true 182 | false 183 | 30 184 | joint_front_left_wheel 185 | joint_front_right_wheel 186 | 0.5 187 | 0.2 188 | 10 189 | 20 190 | na 191 | 192 | 193 | 194 | 195 | 196 | Gazebo/White 197 | 198 | 199 | Gazebo/White 200 | 201 | 202 | Gazebo/White 203 | 204 | 205 | Gazebo/Black 206 | 207 | 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| 384 | 385 | 0 386 | 1e+06 387 | 388 | 389 | 0 390 | 1 391 | 1 392 | 393 | 0 394 | 0.2 395 | 1e+13 396 | 1 397 | 0.01 398 | 0 399 | 400 | 401 | 1 402 | -0.01 403 | 0 404 | 0.2 405 | 1e+13 406 | 1 407 | 408 | 409 | 410 | 411 | 412 | 0 413 | 10 414 | 2.96545 0 0.25 0 -0 0 415 | 416 | 417 | 4.06909 0.15 0.5 418 | 419 | 420 | 421 | 422 | 423 | 1 424 | 1 425 | 0 0 0 426 | 0 427 | 0 428 | 429 | 430 | 1 431 | 0 432 | 0 433 | 1 434 | 435 | 0 436 | 437 | 438 | 439 | 440 | 0 441 | 1e+06 442 | 443 | 444 | 0 445 | 1 446 | 1 447 | 448 | 0 449 | 0.2 450 | 1e+13 451 | 1 452 | 0.01 453 | 0 454 | 455 | 456 | 1 457 | -0.01 458 | 0 459 | 0.2 460 | 1e+13 461 | 1 462 | 463 | 464 | 465 | 466 | 467 | 0 468 | 10 469 | -2.03455 0 1.25 0 -0 0 470 | 471 | 472 | 5.93091 0.15 2.5 473 | 474 | 475 | 476 | 477 | 478 | 1 479 | 1 480 | 0 0 0 481 | 0 482 | 0 483 | 484 | 485 | 1 486 | 0 487 | 0 488 | 1 489 | 490 | 0 491 | 492 | 493 | 494 | 495 | 0 496 | 1e+06 497 | 498 | 499 | 0 500 | 1 501 | 1 502 | 503 | 0 504 | 0.2 505 | 1e+13 506 | 1 507 | 0.01 508 | 0 509 | 510 | 511 | 1 512 | -0.01 513 | 0 514 | 0.2 515 | 1e+13 516 | 1 517 | 518 | 519 | 520 | 521 | 522 | 0 523 | 10 524 | 3.36545 0 1.5 0 -0 0 525 | 526 | 527 | 3.26909 0.15 2 528 | 529 | 530 | 531 | 532 | 533 | 1 534 | 1 535 | 0 0 0 536 | 0 537 | 0 538 | 539 | 540 | 1 541 | 0 542 | 0 543 | 1 544 | 545 | 0 546 | 547 | 548 | 549 | 550 | 0 551 | 1e+06 552 | 553 | 554 | 0 555 | 1 556 | 1 557 | 558 | 0 559 | 0.2 560 | 1e+13 561 | 1 562 | 0.01 563 | 0 564 | 565 | 566 | 1 567 | -0.01 568 | 0 569 | 0.2 570 | 1e+13 571 | 1 572 | 573 | 574 | 575 | 576 | 577 | 578 | 5.60011 -0.174608 0 0 -0 3.14159 579 | 0 580 | 0 581 | 0 582 | 583 | 1.96822 0 1.5 0 -0 0 584 | 585 | 586 | 3.81356 0.15 2 587 | 588 | 589 | 590 | 594 | 1 1 1 1 595 | 596 | 597 | 598 | 0 599 | 600 | 0 601 | 1 602 | 603 | 604 | -0.338562 0 1.9 0 -0 0 605 | 606 | 607 | 0.8 0.15 1.2 608 | 609 | 610 | 611 | 615 | 1 1 1 1 616 | 617 | 618 | 619 | 0 620 | 621 | 0 622 | 1 623 | 624 | 625 | -2.30678 0 1.25 0 -0 0 626 | 627 | 628 | 3.13644 0.15 2.5 629 | 630 | 631 | 632 | 636 | 1 1 1 1 637 | 638 | 639 | 640 | 0 641 | 642 | 0 643 | 1 644 | 645 | 646 | 1.56822 0 0.25 0 -0 0 647 | 648 | 649 | 4.61356 0.15 0.5 650 | 651 | 652 | 653 | 657 | 1 1 1 1 658 | 659 | 660 | 661 | 0 662 | 663 | 0 664 | 1 665 | 666 | 667 | 0 668 | 10 669 | -0.338562 0 1.9 0 -0 0 670 | 671 | 672 | 0.8 0.15 1.2 673 | 674 | 675 | 676 | 677 | 678 | 1 679 | 1 680 | 0 0 0 681 | 0 682 | 0 683 | 684 | 685 | 1 686 | 0 687 | 0 688 | 1 689 | 690 | 0 691 | 692 | 693 | 694 | 695 | 0 696 | 1e+06 697 | 698 | 699 | 0 700 | 1 701 | 1 702 | 703 | 0 704 | 0.2 705 | 1e+13 706 | 1 707 | 0.01 708 | 0 709 | 710 | 711 | 1 712 | -0.01 713 | 0 714 | 0.2 715 | 1e+13 716 | 1 717 | 718 | 719 | 720 | 721 | 722 | 0 723 | 10 724 | 1.96822 0 1.5 0 -0 0 725 | 726 | 727 | 3.81356 0.15 2 728 | 729 | 730 | 731 | 732 | 733 | 1 734 | 1 735 | 0 0 0 736 | 0 737 | 0 738 | 739 | 740 | 1 741 | 0 742 | 0 743 | 1 744 | 745 | 0 746 | 747 | 748 | 749 | 750 | 0 751 | 1e+06 752 | 753 | 754 | 0 755 | 1 756 | 1 757 | 758 | 0 759 | 0.2 760 | 1e+13 761 | 1 762 | 0.01 763 | 0 764 | 765 | 766 | 1 767 | -0.01 768 | 0 769 | 0.2 770 | 1e+13 771 | 1 772 | 773 | 774 | 775 | 776 | 777 | 0 778 | 10 779 | 1.56822 0 0.25 0 -0 0 780 | 781 | 782 | 4.61356 0.15 0.5 783 | 784 | 785 | 786 | 787 | 788 | 1 789 | 1 790 | 0 0 0 791 | 0 792 | 0 793 | 794 | 795 | 1 796 | 0 797 | 0 798 | 1 799 | 800 | 0 801 | 802 | 803 | 804 | 805 | 0 806 | 1e+06 807 | 808 | 809 | 0 810 | 1 811 | 1 812 | 813 | 0 814 | 0.2 815 | 1e+13 816 | 1 817 | 0.01 818 | 0 819 | 820 | 821 | 1 822 | -0.01 823 | 0 824 | 0.2 825 | 1e+13 826 | 1 827 | 828 | 829 | 830 | 831 | 832 | 0 833 | 10 834 | -2.30678 0 1.25 0 -0 0 835 | 836 | 837 | 3.13644 0.15 2.5 838 | 839 | 840 | 841 | 842 | 843 | 1 844 | 1 845 | 0 0 0 846 | 0 847 | 0 848 | 849 | 850 | 1 851 | 0 852 | 0 853 | 1 854 | 855 | 0 856 | 857 | 858 | 859 | 860 | 0 861 | 1e+06 862 | 863 | 864 | 0 865 | 1 866 | 1 867 | 868 | 0 869 | 0.2 870 | 1e+13 871 | 1 872 | 0.01 873 | 0 874 | 875 | 876 | 1 877 | -0.01 878 | 0 879 | 0.2 880 | 1e+13 881 | 1 882 | 883 | 884 | 885 | 886 | 887 | 888 | 1.85011 -4.92461 0 0 0 -1.56027 889 | 0 890 | 0 891 | 0 892 | 893 | 0 0 1.25 0 -0 0 894 | 895 | 896 | 9.65053 0.15 2.5 897 | 898 | 899 | 900 | 904 | 1 1 1 1 905 | 906 | 907 | 908 | 0 909 | 910 | 0 911 | 1 912 | 913 | 914 | 0 915 | 10 916 | 0 0 1.25 0 -0 0 917 | 918 | 919 | 9.65053 0.15 2.5 920 | 921 | 922 | 923 | 924 | 925 | 1 926 | 1 927 | 0 0 0 928 | 0 929 | 0 930 | 931 | 932 | 1 933 | 0 934 | 0 935 | 1 936 | 937 | 0 938 | 939 | 940 | 941 | 942 | 0 943 | 1e+06 944 | 945 | 946 | 0 947 | 1 948 | 1 949 | 950 | 0 951 | 0.2 952 | 1e+13 953 | 1 954 | 0.01 955 | 0 956 | 957 | 958 | 1 959 | -0.01 960 | 0 961 | 0.2 962 | 1e+13 963 | 1 964 | 965 | 966 | 967 | 968 | 969 | 970 | -3.77489 -9.67461 0 0 -0 3.14159 971 | 0 972 | 0 973 | 0 974 | 975 | 3.13925 0 1.5 0 -0 0 976 | 977 | 978 | 5.22149 0.15 2 979 | 980 | 981 | 982 | 986 | 1 1 1 1 987 | 988 | 989 | 990 | 0 991 | 992 | 0 993 | 1 994 | 995 | 996 | 0.128511 0 1.9 0 -0 0 997 | 998 | 999 | 0.8 0.15 1.2 1000 | 1001 | 1002 | 1003 | 1007 | 1 1 1 1 1008 | 1009 | 1010 | 1011 | 0 1012 | 1013 | 0 1014 | 1 1015 | 1016 | 1017 | 2.73925 0 0.25 0 -0 0 1018 | 1019 | 1020 | 6.02149 0.15 0.5 1021 | 1022 | 1023 | 1024 | 1028 | 1 1 1 1 1029 | 1030 | 1031 | 1032 | 0 1033 | 1034 | 0 1035 | 1 1036 | 1037 | 1038 | -3.01075 0 1.25 0 -0 0 1039 | 1040 | 1041 | 5.47851 0.15 2.5 1042 | 1043 | 1044 | 1045 | 1049 | 1 1 1 1 1050 | 1051 | 1052 | 1053 | 0 1054 | 1055 | 0 1056 | 1 1057 | 1058 | 1059 | 0 1060 | 10 1061 | -3.01075 0 1.25 0 -0 0 1062 | 1063 | 1064 | 5.47851 0.15 2.5 1065 | 1066 | 1067 | 1068 | 1069 | 1070 | 1 1071 | 1 1072 | 0 0 0 1073 | 0 1074 | 0 1075 | 1076 | 1077 | 1 1078 | 0 1079 | 0 1080 | 1 1081 | 1082 | 0 1083 | 1084 | 1085 | 1086 | 1087 | 0 1088 | 1e+06 1089 | 1090 | 1091 | 0 1092 | 1 1093 | 1 1094 | 1095 | 0 1096 | 0.2 1097 | 1e+13 1098 | 1 1099 | 0.01 1100 | 0 1101 | 1102 | 1103 | 1 1104 | -0.01 1105 | 0 1106 | 0.2 1107 | 1e+13 1108 | 1 1109 | 1110 | 1111 | 1112 | 1113 | 1114 | 0 1115 | 10 1116 | 2.73925 0 0.25 0 -0 0 1117 | 1118 | 1119 | 6.02149 0.15 0.5 1120 | 1121 | 1122 | 1123 | 1124 | 1125 | 1 1126 | 1 1127 | 0 0 0 1128 | 0 1129 | 0 1130 | 1131 | 1132 | 1 1133 | 0 1134 | 0 1135 | 1 1136 | 1137 | 0 1138 | 1139 | 1140 | 1141 | 1142 | 0 1143 | 1e+06 1144 | 1145 | 1146 | 0 1147 | 1 1148 | 1 1149 | 1150 | 0 1151 | 0.2 1152 | 1e+13 1153 | 1 1154 | 0.01 1155 | 0 1156 | 1157 | 1158 | 1 1159 | -0.01 1160 | 0 1161 | 0.2 1162 | 1e+13 1163 | 1 1164 | 1165 | 1166 | 1167 | 1168 | 1169 | 0 1170 | 10 1171 | 3.13925 0 1.5 0 -0 0 1172 | 1173 | 1174 | 5.22149 0.15 2 1175 | 1176 | 1177 | 1178 | 1179 | 1180 | 1 1181 | 1 1182 | 0 0 0 1183 | 0 1184 | 0 1185 | 1186 | 1187 | 1 1188 | 0 1189 | 0 1190 | 1 1191 | 1192 | 0 1193 | 1194 | 1195 | 1196 | 1197 | 0 1198 | 1e+06 1199 | 1200 | 1201 | 0 1202 | 1 1203 | 1 1204 | 1205 | 0 1206 | 0.2 1207 | 1e+13 1208 | 1 1209 | 0.01 1210 | 0 1211 | 1212 | 1213 | 1 1214 | -0.01 1215 | 0 1216 | 0.2 1217 | 1e+13 1218 | 1 1219 | 1220 | 1221 | 1222 | 1223 | 1224 | 0 1225 | 10 1226 | 0.128511 0 1.9 0 -0 0 1227 | 1228 | 1229 | 0.8 0.15 1.2 1230 | 1231 | 1232 | 1233 | 1234 | 1235 | 1 1236 | 1 1237 | 0 0 0 1238 | 0 1239 | 0 1240 | 1241 | 1242 | 1 1243 | 0 1244 | 0 1245 | 1 1246 | 1247 | 0 1248 | 1249 | 1250 | 1251 | 1252 | 0 1253 | 1e+06 1254 | 1255 | 1256 | 0 1257 | 1 1258 | 1 1259 | 1260 | 0 1261 | 0.2 1262 | 1e+13 1263 | 1 1264 | 0.01 1265 | 0 1266 | 1267 | 1268 | 1 1269 | -0.01 1270 | 0 1271 | 0.2 1272 | 1e+13 1273 | 1 1274 | 1275 | 1276 | 1277 | 1278 | 1279 | 1280 | -5.88625 2.08947 0 0 -0 0 1281 | 0 1282 | 0 1283 | 0 1284 | 1285 | 0 0 1.25 0 -0 0 1286 | 1287 | 1288 | 7.25 0.15 2.5 1289 | 1290 | 1291 | 1292 | 1296 | 1 1 1 1 1297 | 1298 | 1299 | 1300 | 0 1301 | 1302 | 0 1303 | 1 1304 | 1305 | 1306 | 0 1307 | 10 1308 | 0 0 1.25 0 -0 0 1309 | 1310 | 1311 | 7.25 0.15 2.5 1312 | 1313 | 1314 | 1315 | 1316 | 1317 | 1 1318 | 1 1319 | 0 0 0 1320 | 0 1321 | 0 1322 | 1323 | 1324 | 1 1325 | 0 1326 | 0 1327 | 1 1328 | 1329 | 0 1330 | 1331 | 1332 | 1333 | 1334 | 0 1335 | 1e+06 1336 | 1337 | 1338 | 0 1339 | 1 1340 | 1 1341 | 1342 | 0 1343 | 0.2 1344 | 1e+13 1345 | 1 1346 | 0.01 1347 | 0 1348 | 1349 | 1350 | 1 1351 | -0.01 1352 | 0 1353 | 0.2 1354 | 1e+13 1355 | 1 1356 | 1357 | 1358 | 1359 | 1360 | 1361 | 1362 | -2.33625 5.01447 0 0 -0 1.5708 1363 | 0 1364 | 0 1365 | 0 1366 | 1367 | 0 0 1.25 0 -0 0 1368 | 1369 | 1370 | 6 0.15 2.5 1371 | 1372 | 1373 | 1374 | 1378 | 1 1 1 1 1379 | 1380 | 1381 | 1382 | 0 1383 | 1384 | 0 1385 | 1 1386 | 1387 | 1388 | 0 1389 | 10 1390 | 0 0 1.25 0 -0 0 1391 | 1392 | 1393 | 6 0.15 2.5 1394 | 1395 | 1396 | 1397 | 1398 | 1399 | 1 1400 | 1 1401 | 0 0 0 1402 | 0 1403 | 0 1404 | 1405 | 1406 | 1 1407 | 0 1408 | 0 1409 | 1 1410 | 1411 | 0 1412 | 1413 | 1414 | 1415 | 1416 | 0 1417 | 1e+06 1418 | 1419 | 1420 | 0 1421 | 1 1422 | 1 1423 | 1424 | 0 1425 | 0.2 1426 | 1e+13 1427 | 1 1428 | 0.01 1429 | 0 1430 | 1431 | 1432 | 1 1433 | -0.01 1434 | 0 1435 | 0.2 1436 | 1e+13 1437 | 1 1438 | 1439 | 1440 | 1441 | 1442 | 1443 | 1444 | -6.13625 -3.81577 0 0 -0 0 1445 | 0 1446 | 0 1447 | 0 1448 | 1449 | 0 0 1.25 0 -0 0 1450 | 1451 | 1452 | 6.75 0.15 2.5 1453 | 1454 | 1455 | 1456 | 1460 | 1 1 1 1 1461 | 1462 | 1463 | 1464 | 0 1465 | 1466 | 0 1467 | 1 1468 | 1469 | 1470 | 0 1471 | 10 1472 | 0 0 1.25 0 -0 0 1473 | 1474 | 1475 | 6.75 0.15 2.5 1476 | 1477 | 1478 | 1479 | 1480 | 1481 | 1 1482 | 1 1483 | 0 0 0 1484 | 0 1485 | 0 1486 | 1487 | 1488 | 1 1489 | 0 1490 | 0 1491 | 1 1492 | 1493 | 0 1494 | 1495 | 1496 | 1497 | 1498 | 0 1499 | 1e+06 1500 | 1501 | 1502 | 0 1503 | 1 1504 | 1 1505 | 1506 | 0 1507 | 0.2 1508 | 1e+13 1509 | 1 1510 | 0.01 1511 | 0 1512 | 1513 | 1514 | 1 1515 | -0.01 1516 | 0 1517 | 0.2 1518 | 1e+13 1519 | 1 1520 | 1521 | 1522 | 1523 | 1524 | 1525 | 1526 | -2.83625 -4.86577 0 0 0 -1.5708 1527 | 0 1528 | 0 1529 | 0 1530 | 1531 | 0 0 1.25 0 -0 0 1532 | 1533 | 1534 | 2.25 0.15 2.5 1535 | 1536 | 1537 | 1538 | 1542 | 1 1 1 1 1543 | 1544 | 1545 | 1546 | 0 1547 | 1548 | 0 1549 | 1 1550 | 1551 | 1552 | 0 1553 | 10 1554 | 0 0 1.25 0 -0 0 1555 | 1556 | 1557 | 2.25 0.15 2.5 1558 | 1559 | 1560 | 1561 | 1562 | 1563 | 1 1564 | 1 1565 | 0 0 0 1566 | 0 1567 | 0 1568 | 1569 | 1570 | 1 1571 | 0 1572 | 0 1573 | 1 1574 | 1575 | 0 1576 | 1577 | 1578 | 1579 | 1580 | 0 1581 | 1e+06 1582 | 1583 | 1584 | 0 1585 | 1 1586 | 1 1587 | 1588 | 0 1589 | 0.2 1590 | 1e+13 1591 | 1 1592 | 0.01 1593 | 0 1594 | 1595 | 1596 | 1 1597 | -0.01 1598 | 0 1599 | 0.2 1600 | 1e+13 1601 | 1 1602 | 1603 | 1604 | 1605 | 1606 | 1607 | 1608 | 7.02489 5.01549 0 0 -0 3.14159 1609 | 0 1610 | 0 1611 | 0 1612 | 1613 | 0 0 1.25 0 -0 0 1614 | 1615 | 1616 | 5 0.15 2.5 1617 | 1618 | 1619 | 1620 | 1624 | 1 1 1 1 1625 | 1626 | 1627 | 1628 | 0 1629 | 1630 | 0 1631 | 1 1632 | 1633 | 1634 | 0 1635 | 10 1636 | 0 0 1.25 0 -0 0 1637 | 1638 | 1639 | 5 0.15 2.5 1640 | 1641 | 1642 | 1643 | 1644 | 1645 | 1 1646 | 1 1647 | 0 0 0 1648 | 0 1649 | 0 1650 | 1651 | 1652 | 1 1653 | 0 1654 | 0 1655 | 1 1656 | 1657 | 0 1658 | 1659 | 1660 | 1661 | 1662 | 0 1663 | 1e+06 1664 | 1665 | 1666 | 0 1667 | 1 1668 | 1 1669 | 1670 | 0 1671 | 0.2 1672 | 1e+13 1673 | 1 1674 | 0.01 1675 | 0 1676 | 1677 | 1678 | 1 1679 | -0.01 1680 | 0 1681 | 0.2 1682 | 1e+13 1683 | 1 1684 | 1685 | 1686 | 1687 | 1688 | 1689 | 1690 | 4.5999 5.9405 0 0 -0 1.5708 1691 | 0 1692 | 0 1693 | 0 1694 | 1695 | 0 0 1.25 0 -0 0 1696 | 1697 | 1698 | 2 0.15 2.5 1699 | 1700 | 1701 | 1702 | 1706 | 1 1 1 1 1707 | 1708 | 1709 | 1710 | 0 1711 | 1712 | 0 1713 | 1 1714 | 1715 | 1716 | 0 1717 | 10 1718 | 0 0 1.25 0 -0 0 1719 | 1720 | 1721 | 2 0.15 2.5 1722 | 1723 | 1724 | 1725 | 1726 | 1727 | 1 1728 | 1 1729 | 0 0 0 1730 | 0 1731 | 0 1732 | 1733 | 1734 | 1 1735 | 0 1736 | 0 1737 | 1 1738 | 1739 | 0 1740 | 1741 | 1742 | 1743 | 1744 | 0 1745 | 1e+06 1746 | 1747 | 1748 | 0 1749 | 1 1750 | 1 1751 | 1752 | 0 1753 | 0.2 1754 | 1e+13 1755 | 1 1756 | 0.01 1757 | 0 1758 | 1759 | 1760 | 1 1761 | -0.01 1762 | 0 1763 | 0.2 1764 | 1e+13 1765 | 1 1766 | 1767 | 1768 | 1769 | 1770 | 1771 | 1772 | -9.44989 0.000392 0 0 0 -1.5708 1773 | 0 1774 | 0 1775 | 0 1776 | 1777 | -4.89433 0 1.25 0 -0 0 1778 | 1779 | 1780 | 9.71134 0.15 2.5 1781 | 1782 | 1783 | 1784 | 1788 | 1 1 1 1 1789 | 1790 | 1791 | 1792 | 0 1793 | 1794 | 0 1795 | 1 1796 | 1797 | 1798 | 5.30567 0 1.25 0 -0 0 1799 | 1800 | 1801 | 8.88866 0.15 2.5 1802 | 1803 | 1804 | 1805 | 1809 | 1 1 1 1 1810 | 1811 | 1812 | 1813 | 0 1814 | 1815 | 0 1816 | 1 1817 | 1818 | 1819 | 0.411338 0 2.25 0 -0 0 1820 | 1821 | 1822 | 0.9 0.15 0.5 1823 | 1824 | 1825 | 1826 | 1830 | 1 1 1 1 1831 | 1832 | 1833 | 1834 | 0 1835 | 1836 | 0 1837 | 1 1838 | 1839 | 1840 | 0 1841 | 10 1842 | -4.89433 0 1.25 0 -0 0 1843 | 1844 | 1845 | 9.71134 0.15 2.5 1846 | 1847 | 1848 | 1849 | 1850 | 1851 | 1 1852 | 1 1853 | 0 0 0 1854 | 0 1855 | 0 1856 | 1857 | 1858 | 1 1859 | 0 1860 | 0 1861 | 1 1862 | 1863 | 0 1864 | 1865 | 1866 | 1867 | 1868 | 0 1869 | 1e+06 1870 | 1871 | 1872 | 0 1873 | 1 1874 | 1 1875 | 1876 | 0 1877 | 0.2 1878 | 1e+13 1879 | 1 1880 | 0.01 1881 | 0 1882 | 1883 | 1884 | 1 1885 | -0.01 1886 | 0 1887 | 0.2 1888 | 1e+13 1889 | 1 1890 | 1891 | 1892 | 1893 | 1894 | 1895 | 0 1896 | 10 1897 | 5.30567 0 1.25 0 -0 0 1898 | 1899 | 1900 | 8.88866 0.15 2.5 1901 | 1902 | 1903 | 1904 | 1905 | 1906 | 1 1907 | 1 1908 | 0 0 0 1909 | 0 1910 | 0 1911 | 1912 | 1913 | 1 1914 | 0 1915 | 0 1916 | 1 1917 | 1918 | 0 1919 | 1920 | 1921 | 1922 | 1923 | 0 1924 | 1e+06 1925 | 1926 | 1927 | 0 1928 | 1 1929 | 1 1930 | 1931 | 0 1932 | 0.2 1933 | 1e+13 1934 | 1 1935 | 0.01 1936 | 0 1937 | 1938 | 1939 | 1 1940 | -0.01 1941 | 0 1942 | 0.2 1943 | 1e+13 1944 | 1 1945 | 1946 | 1947 | 1948 | 1949 | 1950 | 0 1951 | 10 1952 | 0.411338 0 2.25 0 -0 0 1953 | 1954 | 1955 | 0.9 0.15 0.5 1956 | 1957 | 1958 | 1959 | 1960 | 1961 | 1 1962 | 1 1963 | 0 0 0 1964 | 0 1965 | 0 1966 | 1967 | 1968 | 1 1969 | 0 1970 | 0 1971 | 1 1972 | 1973 | 0 1974 | 1975 | 1976 | 1977 | 1978 | 0 1979 | 1e+06 1980 | 1981 | 1982 | 0 1983 | 1 1984 | 1 1985 | 1986 | 0 1987 | 0.2 1988 | 1e+13 1989 | 1 1990 | 0.01 1991 | 0 1992 | 1993 | 1994 | 1 1995 | -0.01 1996 | 0 1997 | 0.2 1998 | 1e+13 1999 | 1 2000 | 2001 | 2002 | 2003 | 2004 | 2005 | 2006 | -0.024894 9.67539 0 0 -0 0 2007 | 0 2008 | 0 2009 | 0 2010 | 2011 | 0 0 1.25 0 -0 0 2012 | 2013 | 2014 | 19 0.15 2.5 2015 | 2016 | 2017 | 2018 | 2022 | 1 1 1 1 2023 | 2024 | 2025 | 2026 | 0 2027 | 2028 | 0 2029 | 1 2030 | 2031 | 2032 | 0 2033 | 10 2034 | 0 0 1.25 0 -0 0 2035 | 2036 | 2037 | 19 0.15 2.5 2038 | 2039 | 2040 | 2041 | 2042 | 2043 | 1 2044 | 1 2045 | 0 0 0 2046 | 0 2047 | 0 2048 | 2049 | 2050 | 1 2051 | 0 2052 | 0 2053 | 1 2054 | 2055 | 0 2056 | 2057 | 2058 | 2059 | 2060 | 0 2061 | 1e+06 2062 | 2063 | 2064 | 0 2065 | 1 2066 | 1 2067 | 2068 | 0 2069 | 0.2 2070 | 1e+13 2071 | 1 2072 | 0.01 2073 | 0 2074 | 2075 | 2076 | 1 2077 | -0.01 2078 | 0 2079 | 0.2 2080 | 1e+13 2081 | 1 2082 | 2083 | 2084 | 2085 | 2086 | 2087 | 2088 | 2089 | 1 2090 | 2091 | 0.166667 2092 | 0 2093 | 0 2094 | 0.166667 2095 | 0 2096 | 0.166667 2097 | 2098 | 2099 | 1.55961 2.69048 0.5 0 -0 0 2100 | 2101 | 0 0 0 0 -0 0 2102 | 2103 | 2104 | 1 1 1 2105 | 2106 | 2107 | 2108 | 1 2109 | 2113 | 2114 | 2115 | 0 2116 | 1 2117 | 2118 | 2119 | 0 2120 | 10 2121 | 0 0 0 0 -0 0 2122 | 2123 | 2124 | 1 1 1 2125 | 2126 | 2127 | 2128 | 2129 | 2130 | 1 2131 | 1 2132 | 0 0 0 2133 | 0 2134 | 0 2135 | 2136 | 2137 | 1 2138 | 0 2139 | 0 2140 | 1 2141 | 2142 | 0 2143 | 2144 | 2145 | 2146 | 2147 | 0 2148 | 1e+06 2149 | 2150 | 2151 | 0 2152 | 1 2153 | 1 2154 | 2155 | 0 2156 | 0.2 2157 | 1e+13 2158 | 1 2159 | 0.01 2160 | 0 2161 | 2162 | 2163 | 1 2164 | -0.01 2165 | 0 2166 | 0.2 2167 | 1e+13 2168 | 1 2169 | 2170 | 2171 | 2172 | 2173 | 0 2174 | 0 2175 | 0 2176 | 2177 | 2178 | 2179 | 1 2180 | 2181 | 0.145833 2182 | 0 2183 | 0 2184 | 0.145833 2185 | 0 2186 | 0.125 2187 | 2188 | 2189 | 6.17527 1.6726 0.5 0 -0 0 2190 | 2191 | 0 0 0 0 -0 0 2192 | 2193 | 2194 | 0.5 2195 | 1 2196 | 2197 | 2198 | 2199 | 1 2200 | 2204 | 2205 | 2206 | 0 2207 | 1 2208 | 2209 | 2210 | 0 2211 | 10 2212 | 0 0 0 0 -0 0 2213 | 2214 | 2215 | 0.5 2216 | 1 2217 | 2218 | 2219 | 2220 | 2221 | 2222 | 1 2223 | 1 2224 | 0 0 0 2225 | 0 2226 | 0 2227 | 2228 | 2229 | 1 2230 | 0 2231 | 0 2232 | 1 2233 | 2234 | 0 2235 | 2236 | 2237 | 2238 | 2239 | 0 2240 | 1e+06 2241 | 2242 | 2243 | 0 2244 | 1 2245 | 1 2246 | 2247 | 0 2248 | 0.2 2249 | 1e+13 2250 | 1 2251 | 0.01 2252 | 0 2253 | 2254 | 2255 | 1 2256 | -0.01 2257 | 0 2258 | 0.2 2259 | 1e+13 2260 | 1 2261 | 2262 | 2263 | 2264 | 2265 | 0 2266 | 0 2267 | 0 2268 | 2269 | 2270 | 2271 | 1 2272 | 2273 | 0.145833 2274 | 0 2275 | 0 2276 | 0.145833 2277 | 0 2278 | 0.125 2279 | 2280 | 2281 | -1.47751 -7.48411 0.5 0 -0 0 2282 | 2283 | 0 0 0 0 -0 0 2284 | 2285 | 2286 | 0.5 2287 | 1 2288 | 2289 | 2290 | 2291 | 1 2292 | 2296 | 2297 | 2298 | 0 2299 | 1 2300 | 2301 | 2302 | 0 2303 | 10 2304 | 0 0 0 0 -0 0 2305 | 2306 | 2307 | 0.5 2308 | 1 2309 | 2310 | 2311 | 2312 | 2313 | 2314 | 1 2315 | 1 2316 | 0 0 0 2317 | 0 2318 | 0 2319 | 2320 | 2321 | 1 2322 | 0 2323 | 0 2324 | 1 2325 | 2326 | 0 2327 | 2328 | 2329 | 2330 | 2331 | 0 2332 | 1e+06 2333 | 2334 | 2335 | 0 2336 | 1 2337 | 1 2338 | 2339 | 0 2340 | 0.2 2341 | 1e+13 2342 | 1 2343 | 0.01 2344 | 0 2345 | 2346 | 2347 | 1 2348 | -0.01 2349 | 0 2350 | 0.2 2351 | 1e+13 2352 | 1 2353 | 2354 | 2355 | 2356 | 2357 | 0 2358 | 0 2359 | 0 2360 | 2361 | 2362 | 2363 | 1 2364 | 2365 | 0.166667 2366 | 0 2367 | 0 2368 | 0.166667 2369 | 0 2370 | 0.166667 2371 | 2372 | 2373 | -6.13265 -1.49738 0.5 0 -0 0 2374 | 2375 | 0 0 0 0 -0 0 2376 | 2377 | 2378 | 1 1 1 2379 | 2380 | 2381 | 2382 | 1 2383 | 2387 | 2388 | 2389 | 0 2390 | 1 2391 | 2392 | 2393 | 0 2394 | 10 2395 | 0 0 0 0 -0 0 2396 | 2397 | 2398 | 1 1 1 2399 | 2400 | 2401 | 2402 | 2403 | 2404 | 1 2405 | 1 2406 | 0 0 0 2407 | 0 2408 | 0 2409 | 2410 | 2411 | 1 2412 | 0 2413 | 0 2414 | 1 2415 | 2416 | 0 2417 | 2418 | 2419 | 2420 | 2421 | 0 2422 | 1e+06 2423 | 2424 | 2425 | 0 2426 | 1 2427 | 1 2428 | 2429 | 0 2430 | 0.2 2431 | 1e+13 2432 | 1 2433 | 0.01 2434 | 0 2435 | 2436 | 2437 | 1 2438 | -0.01 2439 | 0 2440 | 0.2 2441 | 1e+13 2442 | 1 2443 | 2444 | 2445 | 2446 | 2447 | 0 2448 | 0 2449 | 0 2450 | 2451 | 2452 | 2453 | 1 2454 | 2455 | 0.1 2456 | 0 2457 | 0 2458 | 0.1 2459 | 0 2460 | 0.1 2461 | 2462 | 2463 | 0.043479 6.76017 0.5 0 -0 0 2464 | 2465 | 0 0 0 0 -0 0 2466 | 2467 | 2468 | 0.5 2469 | 2470 | 2471 | 2472 | 1 2473 | 2477 | 2478 | 2479 | 0 2480 | 1 2481 | 2482 | 2483 | 0 2484 | 10 2485 | 0 0 0 0 -0 0 2486 | 2487 | 2488 | 0.5 2489 | 2490 | 2491 | 2492 | 2493 | 2494 | 1 2495 | 1 2496 | 0 0 0 2497 | 0 2498 | 0 2499 | 2500 | 2501 | 1 2502 | 0 2503 | 0 2504 | 1 2505 | 2506 | 0 2507 | 2508 | 2509 | 2510 | 2511 | 0 2512 | 1e+06 2513 | 2514 | 2515 | 0 2516 | 1 2517 | 1 2518 | 2519 | 0 2520 | 0.2 2521 | 1e+13 2522 | 1 2523 | 0.01 2524 | 0 2525 | 2526 | 2527 | 1 2528 | -0.01 2529 | 0 2530 | 0.2 2531 | 1e+13 2532 | 1 2533 | 2534 | 2535 | 2536 | 2537 | 0 2538 | 0 2539 | 0 2540 | 2541 | 2542 | 2543 | 0 0 0.21682 0 1.5707 0 2544 | 2545 | 12 2546 | 2547 | 0.167005 2548 | 0 2549 | 0 2550 | 0.167005 2551 | 0 2552 | 0.282065 2553 | 2554 | 0 0 0 0 -0 0 2555 | 2556 | 2557 | 2558 | 2559 | 0.21682 2560 | 0.16116 2561 | 2562 | 2563 | 2564 | 2565 | 2566 | 1 2567 | 1 2568 | 0 0 1 2569 | 0 2570 | 0 2571 | 2572 | 2573 | 2574 | 2575 | 2576 | 2577 | 2578 | 0.005 2579 | 1e+08 2580 | 2581 | 2582 | 2583 | 2584 | 10 2585 | 2586 | 2587 | 0 0 -0.08058 0 -0 0 2588 | 2589 | 2590 | model://car_wheel/meshes/car_wheel.dae 2591 | 2592 | 2593 | 2594 | 0 2595 | 0 2596 | 0 2597 | 2598 | 5.4959 3.68997 0 0 -0 0 2599 | 2600 | 2601 | 1 2602 | 2603 | 2604 | 0 0 1 0 -0 0 2605 | 2606 | 2607 | 1.5 0.8 0.03 2608 | 2609 | 2610 | 2611 | 2612 | 2613 | 0.6 2614 | 0.6 2615 | 2616 | 2617 | 2618 | 2619 | 2620 | 2621 | 2622 | 2623 | 2624 | 2625 | 10 2626 | 2627 | 2628 | 0 0 1 0 -0 0 2629 | 2630 | 2631 | 1.5 0.8 0.03 2632 | 2633 | 2634 | 2635 | 2639 | 2640 | 2641 | 2642 | 0.68 0.38 0.5 0 -0 0 2643 | 2644 | 2645 | 0.02 2646 | 1 2647 | 2648 | 2649 | 10 2650 | 2651 | 2652 | 2653 | 2654 | 2655 | 2656 | 2657 | 2658 | 2659 | 2660 | 2661 | 2662 | 2663 | 2664 | 0.68 0.38 0.5 0 -0 0 2665 | 2666 | 2667 | 0.02 2668 | 1 2669 | 2670 | 2671 | 2672 | 2676 | 2677 | 2678 | 2679 | 0.68 -0.38 0.5 0 -0 0 2680 | 2681 | 2682 | 0.02 2683 | 1 2684 | 2685 | 2686 | 10 2687 | 2688 | 2689 | 2690 | 2691 | 2692 | 2693 | 2694 | 2695 | 2696 | 2697 | 2698 | 2699 | 2700 | 2701 | 0.68 -0.38 0.5 0 -0 0 2702 | 2703 | 2704 | 0.02 2705 | 1 2706 | 2707 | 2708 | 2709 | 2713 | 2714 | 2715 | 2716 | -0.68 -0.38 0.5 0 -0 0 2717 | 2718 | 2719 | 0.02 2720 | 1 2721 | 2722 | 2723 | 10 2724 | 2725 | 2726 | 2727 | 2728 | 2729 | 2730 | 2731 | 2732 | 2733 | 2734 | 2735 | 2736 | 2737 | 2738 | -0.68 -0.38 0.5 0 -0 0 2739 | 2740 | 2741 | 0.02 2742 | 1 2743 | 2744 | 2745 | 2746 | 2750 | 2751 | 2752 | 2753 | -0.68 0.38 0.5 0 -0 0 2754 | 2755 | 2756 | 0.02 2757 | 1 2758 | 2759 | 2760 | 10 2761 | 2762 | 2763 | 2764 | 2765 | 2766 | 2767 | 2768 | 2769 | 2770 | 2771 | 2772 | 2773 | 2774 | 2775 | -0.68 0.38 0.5 0 -0 0 2776 | 2777 | 2778 | 0.02 2779 | 1 2780 | 2781 | 2782 | 2783 | 2787 | 2788 | 2789 | 0 2790 | 0 2791 | 0 2792 | 2793 | 6.54341 7.45484 0 0 -0 0 2794 | 2795 | 2796 | 1 2797 | 2798 | 2799 | 0 0 1 0 -0 0 2800 | 2801 | 2802 | 1.5 0.8 0.03 2803 | 2804 | 2805 | 2806 | 2807 | 2808 | 0.6 2809 | 0.6 2810 | 2811 | 2812 | 2813 | 2814 | 2815 | 2816 | 2817 | 2818 | 2819 | 2820 | 10 2821 | 2822 | 2823 | 0 0 1 0 -0 0 2824 | 2825 | 2826 | 1.5 0.8 0.03 2827 | 2828 | 2829 | 2830 | 2834 | 2835 | 2836 | 2837 | 0.68 0.38 0.5 0 -0 0 2838 | 2839 | 2840 | 0.02 2841 | 1 2842 | 2843 | 2844 | 10 2845 | 2846 | 2847 | 2848 | 2849 | 2850 | 2851 | 2852 | 2853 | 2854 | 2855 | 2856 | 2857 | 2858 | 2859 | 0.68 0.38 0.5 0 -0 0 2860 | 2861 | 2862 | 0.02 2863 | 1 2864 | 2865 | 2866 | 2867 | 2871 | 2872 | 2873 | 2874 | 0.68 -0.38 0.5 0 -0 0 2875 | 2876 | 2877 | 0.02 2878 | 1 2879 | 2880 | 2881 | 10 2882 | 2883 | 2884 | 2885 | 2886 | 2887 | 2888 | 2889 | 2890 | 2891 | 2892 | 2893 | 2894 | 2895 | 2896 | 0.68 -0.38 0.5 0 -0 0 2897 | 2898 | 2899 | 0.02 2900 | 1 2901 | 2902 | 2903 | 2904 | 2908 | 2909 | 2910 | 2911 | -0.68 -0.38 0.5 0 -0 0 2912 | 2913 | 2914 | 0.02 2915 | 1 2916 | 2917 | 2918 | 10 2919 | 2920 | 2921 | 2922 | 2923 | 2924 | 2925 | 2926 | 2927 | 2928 | 2929 | 2930 | 2931 | 2932 | 2933 | -0.68 -0.38 0.5 0 -0 0 2934 | 2935 | 2936 | 0.02 2937 | 1 2938 | 2939 | 2940 | 2941 | 2945 | 2946 | 2947 | 2948 | -0.68 0.38 0.5 0 -0 0 2949 | 2950 | 2951 | 0.02 2952 | 1 2953 | 2954 | 2955 | 10 2956 | 2957 | 2958 | 2959 | 2960 | 2961 | 2962 | 2963 | 2964 | 2965 | 2966 | 2967 | 2968 | 2969 | 2970 | -0.68 0.38 0.5 0 -0 0 2971 | 2972 | 2973 | 0.02 2974 | 1 2975 | 2976 | 2977 | 2978 | 2982 | 2983 | 2984 | 0 2985 | 0 2986 | 0 2987 | 2988 | 4.08791 0.625425 0 0 -0 0 2989 | 2990 | 2991 | 1 2992 | 2993 | 2994 | 0 0 1 0 -0 0 2995 | 2996 | 2997 | 1.5 0.8 0.03 2998 | 2999 | 3000 | 3001 | 3002 | 3003 | 0.6 3004 | 0.6 3005 | 3006 | 3007 | 3008 | 3009 | 3010 | 3011 | 3012 | 3013 | 3014 | 3015 | 10 3016 | 3017 | 3018 | 0 0 1 0 -0 0 3019 | 3020 | 3021 | 1.5 0.8 0.03 3022 | 3023 | 3024 | 3025 | 3029 | 3030 | 3031 | 3032 | 0.68 0.38 0.5 0 -0 0 3033 | 3034 | 3035 | 0.02 3036 | 1 3037 | 3038 | 3039 | 10 3040 | 3041 | 3042 | 3043 | 3044 | 3045 | 3046 | 3047 | 3048 | 3049 | 3050 | 3051 | 3052 | 3053 | 3054 | 0.68 0.38 0.5 0 -0 0 3055 | 3056 | 3057 | 0.02 3058 | 1 3059 | 3060 | 3061 | 3062 | 3066 | 3067 | 3068 | 3069 | 0.68 -0.38 0.5 0 -0 0 3070 | 3071 | 3072 | 0.02 3073 | 1 3074 | 3075 | 3076 | 10 3077 | 3078 | 3079 | 3080 | 3081 | 3082 | 3083 | 3084 | 3085 | 3086 | 3087 | 3088 | 3089 | 3090 | 3091 | 0.68 -0.38 0.5 0 -0 0 3092 | 3093 | 3094 | 0.02 3095 | 1 3096 | 3097 | 3098 | 3099 | 3103 | 3104 | 3105 | 3106 | -0.68 -0.38 0.5 0 -0 0 3107 | 3108 | 3109 | 0.02 3110 | 1 3111 | 3112 | 3113 | 10 3114 | 3115 | 3116 | 3117 | 3118 | 3119 | 3120 | 3121 | 3122 | 3123 | 3124 | 3125 | 3126 | 3127 | 3128 | -0.68 -0.38 0.5 0 -0 0 3129 | 3130 | 3131 | 0.02 3132 | 1 3133 | 3134 | 3135 | 3136 | 3140 | 3141 | 3142 | 3143 | -0.68 0.38 0.5 0 -0 0 3144 | 3145 | 3146 | 0.02 3147 | 1 3148 | 3149 | 3150 | 10 3151 | 3152 | 3153 | 3154 | 3155 | 3156 | 3157 | 3158 | 3159 | 3160 | 3161 | 3162 | 3163 | 3164 | 3165 | -0.68 0.38 0.5 0 -0 0 3166 | 3167 | 3168 | 0.02 3169 | 1 3170 | 3171 | 3172 | 3173 | 3177 | 3178 | 3179 | 0 3180 | 0 3181 | 0 3182 | 3183 | -6.82467 -7.33475 0 0 -0 0 3184 | 3185 | 3186 | 1 3187 | -6.48197 5.99069 0.648 0 -0 0 3188 | 3189 | 3190 | 3191 | 3192 | model:///table_marble/meshes/table_lightmap.dae 3193 | 0.25 0.25 0.25 3194 | 3195 | 3196 | 10 3197 | 3198 | 3199 | 3200 | 3201 | 3202 | 3203 | 3204 | 3205 | 3206 | 3207 | 3208 | 3209 | 3210 | 3211 | 3212 | 3213 | model://table_marble/meshes/table_lightmap.dae 3214 | 0.25 0.25 0.25 3215 | 3216 | 3217 | 3218 | 3223 | 0 3224 | 3225 | 3226 | 0 3227 | 0 3228 | 0 3229 | 3230 | 3231 | 1 3232 | 1 3233 | 0.039728 -0.270912 0 0 -0 0 3234 | 3235 | 3236 | 3237 | 12.5513 13.4102 38.8605 0 1.08357 -2.34122 3238 | orbit 3239 | perspective 3240 | 3241 | 3242 | 3243 | 3244 | -------------------------------------------------------------------------------- /navigtion_pkg/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(navigtion_pkg) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | ) 15 | 16 | ## System dependencies are found with CMake's conventions 17 | # find_package(Boost REQUIRED COMPONENTS system) 18 | 19 | 20 | ## Uncomment this if the package has a setup.py. This macro ensures 21 | ## modules and global scripts declared therein get installed 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 23 | # catkin_python_setup() 24 | 25 | ################################################ 26 | ## Declare ROS messages, services and actions ## 27 | ################################################ 28 | 29 | ## To declare and build messages, services or actions from within this 30 | ## package, follow these steps: 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 33 | ## * In the file package.xml: 34 | ## * add a build_depend tag for "message_generation" 35 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 37 | ## but can be declared for certainty nonetheless: 38 | ## * add a exec_depend tag for "message_runtime" 39 | ## * In this file (CMakeLists.txt): 40 | ## * add "message_generation" and every package in MSG_DEP_SET to 41 | ## find_package(catkin REQUIRED COMPONENTS ...) 42 | ## * add "message_runtime" and every package in MSG_DEP_SET to 43 | ## catkin_package(CATKIN_DEPENDS ...) 44 | ## * uncomment the add_*_files sections below as needed 45 | ## and list every .msg/.srv/.action file to be processed 46 | ## * uncomment the generate_messages entry below 47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 48 | 49 | ## Generate messages in the 'msg' folder 50 | # add_message_files( 51 | # FILES 52 | # Message1.msg 53 | # Message2.msg 54 | # ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | # generate_messages( 72 | # DEPENDENCIES 73 | # std_msgs 74 | # ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if your package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES navigtion_pkg 108 | # CATKIN_DEPENDS roscpp rospy std_msgs 109 | # DEPENDS system_lib 110 | ) 111 | 112 | ########### 113 | ## Build ## 114 | ########### 115 | 116 | ## Specify additional locations of header files 117 | ## Your package locations should be listed before other locations 118 | include_directories( 119 | # include 120 | ${catkin_INCLUDE_DIRS} 121 | ) 122 | 123 | ## Declare a C++ library 124 | # add_library(${PROJECT_NAME} 125 | # src/${PROJECT_NAME}/navigtion_pkg.cpp 126 | # ) 127 | 128 | ## Add cmake target dependencies of the library 129 | ## as an example, code may need to be generated before libraries 130 | ## either from message generation or dynamic reconfigure 131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Declare a C++ executable 134 | ## With catkin_make all packages are built within a single CMake context 135 | ## The recommended prefix ensures that target names across packages don't collide 136 | # add_executable(${PROJECT_NAME}_node src/navigtion_pkg_node.cpp) 137 | 138 | ## Rename C++ executable without prefix 139 | ## The above recommended prefix causes long target names, the following renames the 140 | ## target back to the shorter version for ease of user use 141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 143 | 144 | ## Add cmake target dependencies of the executable 145 | ## same as for the library above 146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | 148 | ## Specify libraries to link a library or executable target against 149 | # target_link_libraries(${PROJECT_NAME}_node 150 | # ${catkin_LIBRARIES} 151 | # ) 152 | 153 | ############# 154 | ## Install ## 155 | ############# 156 | 157 | # all install targets should use catkin DESTINATION variables 158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 159 | 160 | ## Mark executable scripts (Python etc.) for installation 161 | ## in contrast to setup.py, you can choose the destination 162 | # catkin_install_python(PROGRAMS 163 | # scripts/my_python_script 164 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 165 | # ) 166 | 167 | ## Mark executables for installation 168 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html 169 | # install(TARGETS ${PROJECT_NAME}_node 170 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 171 | # ) 172 | 173 | ## Mark libraries for installation 174 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html 175 | # install(TARGETS ${PROJECT_NAME} 176 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 177 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 178 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} 179 | # ) 180 | 181 | ## Mark cpp header files for installation 182 | # install(DIRECTORY include/${PROJECT_NAME}/ 183 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 184 | # FILES_MATCHING PATTERN "*.h" 185 | # PATTERN ".svn" EXCLUDE 186 | # ) 187 | 188 | ## Mark other files for installation (e.g. launch and bag files, etc.) 189 | # install(FILES 190 | # # myfile1 191 | # # myfile2 192 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 193 | # ) 194 | 195 | ############# 196 | ## Testing ## 197 | ############# 198 | 199 | ## Add gtest based cpp test target and link libraries 200 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_navigtion_pkg.cpp) 201 | # if(TARGET ${PROJECT_NAME}-test) 202 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 203 | # endif() 204 | 205 | ## Add folders to be run by python nosetests 206 | # catkin_add_nosetests(test) 207 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/amcl_robot1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/amcl_robot2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/amcl_robot3.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/move_base_robot1.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/move_base_robot2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/move_base_robot3.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /navigtion_pkg/launch/multi_navigation.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /navigtion_pkg/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sherif1152/multiple-robots/f2ee90d5323792ff82cc51200663ed471096f71d/navigtion_pkg/maps/map.pgm -------------------------------------------------------------------------------- /navigtion_pkg/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-20.000000, -20.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /navigtion_pkg/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | navigtion_pkg 4 | 0.0.0 5 | The navigtion_pkg package 6 | 7 | 8 | 9 | 10 | sherif 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | roscpp 56 | rospy 57 | std_msgs 58 | roscpp 59 | rospy 60 | std_msgs 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/base_local_planner_params.yaml: -------------------------------------------------------------------------------- 1 | TrajectoryPlannerROS: 2 | 3 | # Robot Configuration Parameters 4 | max_vel_x: 0.18 5 | min_vel_x: 0.08 6 | 7 | max_vel_theta: 1.0 8 | min_vel_theta: -1.0 9 | min_in_place_vel_theta: 1.0 10 | 11 | acc_lim_x: 1.0 12 | acc_lim_y: 0.0 13 | acc_lim_theta: 0.6 14 | 15 | # Goal Tolerance Parameters 16 | xy_goal_tolerance: 0.10 17 | yaw_goal_tolerance: 0.05 18 | 19 | # Differential-drive robot configuration 20 | holonomic_robot: true 21 | 22 | # Forward Simulation Parameters 23 | sim_time: 0.8 24 | vx_samples: 18 25 | vtheta_samples: 20 26 | sim_granularity: 0.05 27 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | max_obstacle_height: 0.60 2 | 3 | footprint: [[-0.35, -0.29], [-0.35, 0.29], [0.35, 0.29], [0.35, -0.29]] 4 | 5 | 6 | 7 | laser_layer: 8 | observation_sources: scan 9 | scan: 10 | data_type: LaserScan 11 | topic: /robot1/scan 12 | marking: true 13 | clearing: true 14 | min_obstacle_height: 0.05 15 | max_obstacle_height: 0.35 16 | obstacle_range: 4.0 17 | raytrace_range: 5.0 18 | 19 | #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns 20 | 21 | static_layer: 22 | enabled: true 23 | map_topic: map 24 | subscribe_to_updates: true 25 | track_unknown_space: true 26 | 27 | #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns 28 | inflation_layer: 29 | enabled: true 30 | cost_scaling_factor: 3 # exponential rate at which the obstacle cost drops off (default: 10) 31 | inflation_radius: 0.7 # max. distance from an obstacle at which costs are incurred for planning 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/costmap_common_params_three.yaml: -------------------------------------------------------------------------------- 1 | max_obstacle_height: 0.60 2 | 3 | footprint: [[-0.35, -0.29], [-0.35, 0.29], [0.35, 0.29], [0.35, -0.29]] 4 | 5 | 6 | 7 | laser_layer: 8 | observation_sources: scan 9 | scan: 10 | data_type: LaserScan 11 | topic: /robot3/scan 12 | marking: true 13 | clearing: true 14 | min_obstacle_height: 0.05 15 | max_obstacle_height: 0.35 16 | obstacle_range: 4.0 17 | raytrace_range: 5.0 18 | 19 | #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns 20 | 21 | static_layer: 22 | enabled: true 23 | map_topic: map 24 | subscribe_to_updates: true 25 | track_unknown_space: true 26 | 27 | #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns 28 | inflation_layer: 29 | enabled: true 30 | cost_scaling_factor: 3 # exponential rate at which the obstacle cost drops off (default: 10) 31 | inflation_radius: 0.7 # max. distance from an obstacle at which costs are incurred for planning 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/costmap_common_params_two.yaml: -------------------------------------------------------------------------------- 1 | max_obstacle_height: 0.60 2 | 3 | footprint: [[-0.35, -0.29], [-0.35, 0.29], [0.35, 0.29], [0.35, -0.29]] 4 | 5 | 6 | 7 | laser_layer: 8 | observation_sources: scan 9 | scan: 10 | data_type: LaserScan 11 | topic: /robot2/scan 12 | marking: true 13 | clearing: true 14 | min_obstacle_height: 0.05 15 | max_obstacle_height: 0.35 16 | obstacle_range: 4.0 17 | raytrace_range: 5.0 18 | 19 | #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns 20 | 21 | static_layer: 22 | enabled: true 23 | map_topic: map 24 | subscribe_to_updates: true 25 | track_unknown_space: true 26 | 27 | #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns 28 | inflation_layer: 29 | enabled: true 30 | cost_scaling_factor: 3 # exponential rate at which the obstacle cost drops off (default: 10) 31 | inflation_radius: 0.7 # max. distance from an obstacle at which costs are incurred for planning 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/dwa_local_planner_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | 3 | # Robot Configuration Parameters 4 | max_vel_x: 0.5 5 | min_vel_x: 0.0 6 | 7 | max_vel_y: 0.0 8 | min_vel_y: 0.0 9 | meter_scoring : true 10 | 11 | # The velocity when robot is moving in a straight line 12 | max_vel_trans: 0.56 13 | min_vel_trans: 0.13 14 | 15 | max_vel_theta: 1.82 16 | min_vel_theta: -0.1 17 | 18 | acc_lim_x: 2.5 19 | acc_lim_y: 0.0 20 | acc_lim_theta: 3.2 21 | 22 | # Goal Tolerance Parameters 23 | xy_goal_tolerance: 0.15 24 | yaw_goal_tolerance: 0.27 25 | latch_xy_goal_tolerance: false 26 | 27 | # Forward Simulation Parameters 28 | sim_time: 2.0 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | controller_frequency: 10.0 33 | 34 | # Trajectory Scoring Parameters 35 | path_distance_bias: 32.0 36 | goal_distance_bias: 20.0 37 | occdist_scale: 0.02 38 | forward_point_distance: 0.325 39 | stop_time_buffer: 0.2 40 | scaling_speed: 0.25 41 | max_scaling_factor: 0.2 42 | 43 | # Oscillation Prevention Parameters 44 | oscillation_reset_dist: 0.05 45 | 46 | # Debugging 47 | publish_traj_pc : true 48 | publish_cost_grid_pc: true 49 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | #Set the global and robot frames for the costmap 3 | global_frame: map 4 | robot_base_frame: base_link 5 | 6 | #Set the update and publish frequency of the costmap 7 | update_frequency: 5.0 8 | publish_frequency: 10.0 9 | 10 | #We'll use a map served by the map_server to initialize this costmap 11 | static_map: true 12 | rolling_window: false 13 | transform_tolerance: 0.5 14 | 15 | plugins: 16 | - {name: static_layer, type: "costmap_2d::StaticLayer"} #static map 17 | 18 | - {name: laser_layer, type: "costmap_2d::ObstacleLayer"} #laser use on walls and objects 19 | 20 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} #inflation layer 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | 2 | GlobalPlanner: # Also see: http://wiki.ros.org/global_planner 3 | old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false 4 | use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true 5 | use_dijkstra: false # Use dijkstra's algorithm. Otherwise, A*, default true 6 | use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false 7 | 8 | allow_unknown: false # Allow planner to plan through unknown space, default true 9 | #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work 10 | planner_window_x: 0.0 # default 0.0 11 | planner_window_y: 0.0 # default 0.0 12 | default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 13 | 14 | publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 15 | planner_costmap_publish_frequency: 0.0 # default 0.0 16 | 17 | lethal_cost: 253 # default 253 18 | neutral_cost: 50 # default 50 19 | cost_factor: 3.0 # Factor to multiply each cost from costmap by, default 3.0 20 | publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true 21 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | #We'll publish the voxel grid used by this costmap 3 | # publish_voxel_map: true 4 | 5 | #Set the global and robot frames for the costmap 6 | global_frame: odom 7 | robot_base_frame: base_link 8 | 9 | #Set the update and publish frequency of the costmap 10 | update_frequency: 10.0 11 | publish_frequency: 10.0 12 | transform_tolerance: 0.5 13 | 14 | 15 | #We'll configure this costmap to be a rolling window... meaning it is always 16 | #centered at the robot 17 | static_map: false 18 | rolling_window: true 19 | width: 3.0 20 | height: 3.0 21 | resolution: 0.025 22 | 23 | plugins: 24 | - {name: laser_layer, type: "costmap_2d::ObstacleLayer"} 25 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /navigtion_pkg/parameter/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | shutdown_costmaps: false 2 | 3 | controller_frequency: 10.0 4 | controller_patience: 5.0 5 | 6 | 7 | planner_frequency: 1.0 8 | planner_patience: 15.0 9 | 10 | oscillation_timeout: 30.0 11 | oscillation_distance: 0.5 12 | 13 | # local planner - default is trajectory rollout 14 | base_local_planner: "dwa_local_planner/DWAPlannerROS" 15 | 16 | base_global_planner: "global_planner/GlobalPlanner" #"navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner 17 | -------------------------------------------------------------------------------- /navigtion_pkg/rviz/multi_navigation.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /TF1/Frames1 8 | - /TF1/Tree1 9 | Splitter Ratio: 0.4153297543525696 10 | Tree Height: 363 11 | - Class: rviz/Selection 12 | Name: Selection 13 | - Class: rviz/Tool Properties 14 | Expanded: 15 | - /2D Pose Estimate1 16 | - /2D Pose Estimate2 17 | - /2D Nav Goal1 18 | - /2D Nav Goal2 19 | Name: Tool Properties 20 | Splitter Ratio: 0.5886790156364441 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Name: Time 28 | SyncMode: 0 29 | SyncSource: LaserScan_robot1 30 | Preferences: 31 | PromptSaveOnExit: true 32 | Toolbars: 33 | toolButtonStyle: 2 34 | Visualization Manager: 35 | Class: "" 36 | Displays: 37 | - Alpha: 0.5 38 | Cell Size: 1 39 | Class: rviz/Grid 40 | Color: 160; 160; 164 41 | Enabled: true 42 | Line Style: 43 | Line Width: 0.029999999329447746 44 | Value: Lines 45 | Name: Grid 46 | Normal Cell Count: 0 47 | Offset: 48 | X: 0 49 | Y: 0 50 | Z: 0 51 | Plane: XY 52 | Plane Cell Count: 20 53 | Reference Frame: 54 | Value: true 55 | - Alpha: 1 56 | Class: rviz/RobotModel 57 | Collision Enabled: false 58 | Enabled: true 59 | Links: 60 | All Links Enabled: true 61 | Expand Joint Details: false 62 | Expand Link Details: false 63 | Expand Tree: false 64 | Link Tree Style: Links in Alphabetic Order 65 | base_link: 66 | Alpha: 1 67 | Show Axes: false 68 | Show Trail: false 69 | chassis: 70 | Alpha: 1 71 | Show Axes: false 72 | Show Trail: false 73 | Value: true 74 | front_left_wheel: 75 | Alpha: 1 76 | Show Axes: false 77 | Show Trail: false 78 | Value: true 79 | front_right_wheel: 80 | Alpha: 1 81 | Show Axes: false 82 | Show Trail: false 83 | Value: true 84 | lidar: 85 | Alpha: 1 86 | Show Axes: false 87 | Show Trail: false 88 | Value: true 89 | Name: Robot1Model 90 | Robot Description: /robot_description 91 | TF Prefix: robot1 92 | Update Interval: 0 93 | Value: true 94 | Visual Enabled: true 95 | - Alpha: 1 96 | Class: rviz/RobotModel 97 | Collision Enabled: false 98 | Enabled: true 99 | Links: 100 | All Links Enabled: true 101 | Expand Joint Details: false 102 | Expand Link Details: false 103 | Expand Tree: false 104 | Link Tree Style: Links in Alphabetic Order 105 | base_link: 106 | Alpha: 1 107 | Show Axes: false 108 | Show Trail: false 109 | chassis: 110 | Alpha: 1 111 | Show Axes: false 112 | Show Trail: false 113 | Value: true 114 | front_left_wheel: 115 | Alpha: 1 116 | Show Axes: false 117 | Show Trail: false 118 | Value: true 119 | front_right_wheel: 120 | Alpha: 1 121 | Show Axes: false 122 | Show Trail: false 123 | Value: true 124 | lidar: 125 | Alpha: 1 126 | Show Axes: false 127 | Show Trail: false 128 | Value: true 129 | Name: Robot3Model 130 | Robot Description: robot_description 131 | TF Prefix: robot3 132 | Update Interval: 0 133 | Value: true 134 | Visual Enabled: true 135 | - Alpha: 1 136 | Class: rviz/RobotModel 137 | Collision Enabled: false 138 | Enabled: true 139 | Links: 140 | All Links Enabled: true 141 | Expand Joint Details: false 142 | Expand Link Details: false 143 | Expand Tree: false 144 | Link Tree Style: Links in Alphabetic Order 145 | base_link: 146 | Alpha: 1 147 | Show Axes: false 148 | Show Trail: false 149 | chassis: 150 | Alpha: 1 151 | Show Axes: false 152 | Show Trail: false 153 | Value: true 154 | front_left_wheel: 155 | Alpha: 1 156 | Show Axes: false 157 | Show Trail: false 158 | Value: true 159 | front_right_wheel: 160 | Alpha: 1 161 | Show Axes: false 162 | Show Trail: false 163 | Value: true 164 | lidar: 165 | Alpha: 1 166 | Show Axes: false 167 | Show Trail: false 168 | Value: true 169 | Name: Robot2Model 170 | Robot Description: /robot_description 171 | TF Prefix: robot2 172 | Update Interval: 0 173 | Value: true 174 | Visual Enabled: true 175 | - Class: rviz/TF 176 | Enabled: false 177 | Filter (blacklist): "" 178 | Filter (whitelist): "" 179 | Frame Timeout: 15 180 | Frames: 181 | All Enabled: false 182 | Marker Alpha: 1 183 | Marker Scale: 1 184 | Name: TF 185 | Show Arrows: true 186 | Show Axes: true 187 | Show Names: false 188 | Tree: 189 | {} 190 | Update Interval: 0 191 | Value: false 192 | - Class: rviz/Image 193 | Enabled: false 194 | Image Topic: /tb3_0/rrbot/camera1/image_raw 195 | Max Value: 1 196 | Median window: 5 197 | Min Value: 0 198 | Name: Image 199 | Normalize Range: true 200 | Queue Size: 2 201 | Transport Hint: compressed 202 | Unreliable: false 203 | Value: false 204 | - Alpha: 0.699999988079071 205 | Class: rviz/Map 206 | Color Scheme: map 207 | Draw Behind: false 208 | Enabled: true 209 | Name: Map 210 | Topic: /robot1/map 211 | Unreliable: false 212 | Use Timestamp: false 213 | Value: true 214 | - Class: rviz/Group 215 | Displays: 216 | - Alpha: 0.699999988079071 217 | Class: rviz/Map 218 | Color Scheme: costmap 219 | Draw Behind: false 220 | Enabled: true 221 | Name: GlobalMap_robot1 222 | Topic: /robot1/move_base/global_costmap/costmap 223 | Unreliable: false 224 | Use Timestamp: false 225 | Value: true 226 | - Alpha: 0.699999988079071 227 | Class: rviz/Map 228 | Color Scheme: map 229 | Draw Behind: true 230 | Enabled: true 231 | Name: Costmap_robot1 232 | Topic: /robot1/move_base/local_costmap/costmap 233 | Unreliable: false 234 | Use Timestamp: false 235 | Value: true 236 | - Alpha: 1 237 | Arrow Length: 0.10000000149011612 238 | Axes Length: 0.30000001192092896 239 | Axes Radius: 0.009999999776482582 240 | Class: rviz/PoseArray 241 | Color: 0; 192; 0 242 | Enabled: true 243 | Head Length: 0.07000000029802322 244 | Head Radius: 0.029999999329447746 245 | Name: PoseArray_robot1 246 | Queue Size: 10 247 | Shaft Length: 0.23000000417232513 248 | Shaft Radius: 0.009999999776482582 249 | Shape: Arrow (Flat) 250 | Topic: /robot1/particlecloud 251 | Unreliable: false 252 | Value: true 253 | - Alpha: 1 254 | Autocompute Intensity Bounds: true 255 | Autocompute Value Bounds: 256 | Max Value: 10 257 | Min Value: -10 258 | Value: true 259 | Axis: Z 260 | Channel Name: intensity 261 | Class: rviz/LaserScan 262 | Color: 0; 255; 0 263 | Color Transformer: FlatColor 264 | Decay Time: 0 265 | Enabled: true 266 | Invert Rainbow: false 267 | Max Color: 255; 255; 255 268 | Min Color: 0; 0; 0 269 | Name: LaserScan_robot1 270 | Position Transformer: XYZ 271 | Queue Size: 10 272 | Selectable: true 273 | Size (Pixels): 3 274 | Size (m): 0.05000000074505806 275 | Style: Flat Squares 276 | Topic: /robot1/scan 277 | Unreliable: false 278 | Use Fixed Frame: true 279 | Use rainbow: true 280 | Value: true 281 | - Alpha: 1 282 | Axes Length: 1 283 | Axes Radius: 0.10000000149011612 284 | Class: rviz/Pose 285 | Color: 255; 25; 0 286 | Enabled: true 287 | Head Length: 0.30000001192092896 288 | Head Radius: 0.10000000149011612 289 | Name: Goal_robot1 290 | Queue Size: 10 291 | Shaft Length: 1 292 | Shaft Radius: 0.05000000074505806 293 | Shape: Arrow 294 | Topic: /robot1/move_base/current_goal 295 | Unreliable: false 296 | Value: true 297 | - Alpha: 1 298 | Buffer Length: 1 299 | Class: rviz/Path 300 | Color: 25; 255; 0 301 | Enabled: true 302 | Head Diameter: 0.30000001192092896 303 | Head Length: 0.20000000298023224 304 | Length: 0.30000001192092896 305 | Line Style: Lines 306 | Line Width: 0.029999999329447746 307 | Name: Planner_robot1 308 | Offset: 309 | X: 0 310 | Y: 0 311 | Z: 0 312 | Pose Color: 255; 85; 255 313 | Pose Style: None 314 | Queue Size: 10 315 | Radius: 0.029999999329447746 316 | Shaft Diameter: 0.10000000149011612 317 | Shaft Length: 0.10000000149011612 318 | Topic: /robot1/move_base/DWAPlannerROS/global_plan 319 | Unreliable: false 320 | Value: true 321 | - Alpha: 1 322 | Buffer Length: 1 323 | Class: rviz/Path 324 | Color: 255; 0; 0 325 | Enabled: true 326 | Head Diameter: 0.30000001192092896 327 | Head Length: 0.20000000298023224 328 | Length: 0.30000001192092896 329 | Line Style: Lines 330 | Line Width: 0.029999999329447746 331 | Name: Path_robot1 332 | Offset: 333 | X: 0 334 | Y: 0 335 | Z: 0 336 | Pose Color: 255; 85; 255 337 | Pose Style: None 338 | Queue Size: 10 339 | Radius: 0.029999999329447746 340 | Shaft Diameter: 0.10000000149011612 341 | Shaft Length: 0.10000000149011612 342 | Topic: /robot1/move_base/GlobalPlanner/plan 343 | Unreliable: false 344 | Value: true 345 | - Alpha: 1 346 | Class: rviz/Polygon 347 | Color: 25; 255; 0 348 | Enabled: true 349 | Name: Polygon_robot1 350 | Queue Size: 10 351 | Topic: /robot1/move_base/local_costmap/footprint 352 | Unreliable: false 353 | Value: true 354 | Enabled: true 355 | Name: robot1 356 | - Class: rviz/Group 357 | Displays: 358 | - Alpha: 0.699999988079071 359 | Class: rviz/Map 360 | Color Scheme: costmap 361 | Draw Behind: false 362 | Enabled: true 363 | Name: GlobalMap_robot2 364 | Topic: /robot2/move_base/global_costmap/costmap 365 | Unreliable: false 366 | Use Timestamp: false 367 | Value: true 368 | - Alpha: 0.699999988079071 369 | Class: rviz/Map 370 | Color Scheme: map 371 | Draw Behind: false 372 | Enabled: true 373 | Name: Costmap_robot2 374 | Topic: /robot2/move_base/local_costmap/costmap 375 | Unreliable: false 376 | Use Timestamp: false 377 | Value: true 378 | - Alpha: 1 379 | Autocompute Intensity Bounds: true 380 | Autocompute Value Bounds: 381 | Max Value: 10 382 | Min Value: -10 383 | Value: true 384 | Axis: Z 385 | Channel Name: intensity 386 | Class: rviz/LaserScan 387 | Color: 255; 255; 255 388 | Color Transformer: Intensity 389 | Decay Time: 0 390 | Enabled: true 391 | Invert Rainbow: false 392 | Max Color: 255; 255; 255 393 | Min Color: 0; 0; 0 394 | Name: LaserScan_robot2 395 | Position Transformer: XYZ 396 | Queue Size: 10 397 | Selectable: true 398 | Size (Pixels): 3 399 | Size (m): 0.05000000074505806 400 | Style: Flat Squares 401 | Topic: /robot2/scan 402 | Unreliable: false 403 | Use Fixed Frame: true 404 | Use rainbow: true 405 | Value: true 406 | - Alpha: 1 407 | Arrow Length: 0.10000000149011612 408 | Axes Length: 0.30000001192092896 409 | Axes Radius: 0.009999999776482582 410 | Class: rviz/PoseArray 411 | Color: 255; 25; 0 412 | Enabled: true 413 | Head Length: 0.07000000029802322 414 | Head Radius: 0.029999999329447746 415 | Name: PoseArray_robot2 416 | Queue Size: 10 417 | Shaft Length: 0.23000000417232513 418 | Shaft Radius: 0.009999999776482582 419 | Shape: Arrow (Flat) 420 | Topic: /robot2/particlecloud 421 | Unreliable: false 422 | Value: true 423 | - Alpha: 1 424 | Axes Length: 1 425 | Axes Radius: 0.10000000149011612 426 | Class: rviz/Pose 427 | Color: 255; 25; 0 428 | Enabled: true 429 | Head Length: 0.30000001192092896 430 | Head Radius: 0.10000000149011612 431 | Name: Goal_robot2 432 | Queue Size: 10 433 | Shaft Length: 1 434 | Shaft Radius: 0.05000000074505806 435 | Shape: Arrow 436 | Topic: /robot2/move_base/current_goal 437 | Unreliable: false 438 | Value: true 439 | - Alpha: 1 440 | Buffer Length: 1 441 | Class: rviz/Path 442 | Color: 25; 255; 0 443 | Enabled: true 444 | Head Diameter: 0.30000001192092896 445 | Head Length: 0.20000000298023224 446 | Length: 0.30000001192092896 447 | Line Style: Lines 448 | Line Width: 0.029999999329447746 449 | Name: Path_robot2 450 | Offset: 451 | X: 0 452 | Y: 0 453 | Z: 0 454 | Pose Color: 255; 85; 255 455 | Pose Style: None 456 | Queue Size: 10 457 | Radius: 0.029999999329447746 458 | Shaft Diameter: 0.10000000149011612 459 | Shaft Length: 0.10000000149011612 460 | Topic: /robot2/move_base/GlobalPlanner/plan 461 | Unreliable: false 462 | Value: true 463 | - Alpha: 1 464 | Buffer Length: 1 465 | Class: rviz/Path 466 | Color: 255; 255; 0 467 | Enabled: true 468 | Head Diameter: 0.30000001192092896 469 | Head Length: 0.20000000298023224 470 | Length: 0.30000001192092896 471 | Line Style: Lines 472 | Line Width: 0.029999999329447746 473 | Name: Planner_robot2 474 | Offset: 475 | X: 0 476 | Y: 0 477 | Z: 0 478 | Pose Color: 255; 85; 255 479 | Pose Style: None 480 | Queue Size: 10 481 | Radius: 0.029999999329447746 482 | Shaft Diameter: 0.10000000149011612 483 | Shaft Length: 0.10000000149011612 484 | Topic: /robot2/move_base/DWAPlannerROS/local_plan 485 | Unreliable: false 486 | Value: true 487 | - Alpha: 1 488 | Class: rviz/Polygon 489 | Color: 25; 255; 0 490 | Enabled: true 491 | Name: Polygon_robot2 492 | Queue Size: 10 493 | Topic: /robot2/move_base/local_costmap/footprint 494 | Unreliable: false 495 | Value: true 496 | Enabled: true 497 | Name: robot2 498 | - Class: rviz/Group 499 | Displays: 500 | - Alpha: 0.699999988079071 501 | Class: rviz/Map 502 | Color Scheme: costmap 503 | Draw Behind: false 504 | Enabled: true 505 | Name: GlobalMap_robot3 506 | Topic: /robot3/move_base/global_costmap/costmap 507 | Unreliable: false 508 | Use Timestamp: false 509 | Value: true 510 | - Alpha: 0.699999988079071 511 | Class: rviz/Map 512 | Color Scheme: map 513 | Draw Behind: false 514 | Enabled: true 515 | Name: Costmap_robot3 516 | Topic: /robot3/move_base/local_costmap/costmap 517 | Unreliable: false 518 | Use Timestamp: false 519 | Value: true 520 | - Alpha: 1 521 | Autocompute Intensity Bounds: true 522 | Autocompute Value Bounds: 523 | Max Value: 0.30500009655952454 524 | Min Value: 0.3049999177455902 525 | Value: true 526 | Axis: Z 527 | Channel Name: intensity 528 | Class: rviz/LaserScan 529 | Color: 32; 74; 135 530 | Color Transformer: FlatColor 531 | Decay Time: 0 532 | Enabled: true 533 | Invert Rainbow: false 534 | Max Color: 255; 255; 255 535 | Min Color: 0; 0; 0 536 | Name: LaserScan_robot3 537 | Position Transformer: XYZ 538 | Queue Size: 10 539 | Selectable: true 540 | Size (Pixels): 3 541 | Size (m): 0.05000000074505806 542 | Style: Flat Squares 543 | Topic: /robot3/scan 544 | Unreliable: false 545 | Use Fixed Frame: true 546 | Use rainbow: true 547 | Value: true 548 | - Alpha: 1 549 | Arrow Length: 0.10000000149011612 550 | Axes Length: 0.30000001192092896 551 | Axes Radius: 0.009999999776482582 552 | Class: rviz/PoseArray 553 | Color: 32; 74; 135 554 | Enabled: true 555 | Head Length: 0.07000000029802322 556 | Head Radius: 0.029999999329447746 557 | Name: PoseArray_robot3 558 | Queue Size: 10 559 | Shaft Length: 0.23000000417232513 560 | Shaft Radius: 0.009999999776482582 561 | Shape: Arrow (Flat) 562 | Topic: /robot3/particlecloud 563 | Unreliable: false 564 | Value: true 565 | - Alpha: 1 566 | Axes Length: 1 567 | Axes Radius: 0.10000000149011612 568 | Class: rviz/Pose 569 | Color: 255; 25; 0 570 | Enabled: true 571 | Head Length: 0.30000001192092896 572 | Head Radius: 0.10000000149011612 573 | Name: Goal_robot3 574 | Queue Size: 10 575 | Shaft Length: 1 576 | Shaft Radius: 0.05000000074505806 577 | Shape: Arrow 578 | Topic: /robot3/move_base/current_goal 579 | Unreliable: false 580 | Value: true 581 | - Alpha: 1 582 | Buffer Length: 1 583 | Class: rviz/Path 584 | Color: 32; 74; 135 585 | Enabled: true 586 | Head Diameter: 0.30000001192092896 587 | Head Length: 0.20000000298023224 588 | Length: 0.30000001192092896 589 | Line Style: Lines 590 | Line Width: 0.029999999329447746 591 | Name: Path_robot3 592 | Offset: 593 | X: 0 594 | Y: 0 595 | Z: 0 596 | Pose Color: 255; 85; 255 597 | Pose Style: None 598 | Queue Size: 10 599 | Radius: 0.029999999329447746 600 | Shaft Diameter: 0.10000000149011612 601 | Shaft Length: 0.10000000149011612 602 | Topic: /robot3/move_base/GlobalPlanner/plan 603 | Unreliable: false 604 | Value: true 605 | - Alpha: 1 606 | Buffer Length: 1 607 | Class: rviz/Path 608 | Color: 255; 0; 0 609 | Enabled: true 610 | Head Diameter: 0.30000001192092896 611 | Head Length: 0.20000000298023224 612 | Length: 0.30000001192092896 613 | Line Style: Lines 614 | Line Width: 0.029999999329447746 615 | Name: Planner Plan 616 | Offset: 617 | X: 0 618 | Y: 0 619 | Z: 0 620 | Pose Color: 255; 85; 255 621 | Pose Style: None 622 | Queue Size: 10 623 | Radius: 0.029999999329447746 624 | Shaft Diameter: 0.10000000149011612 625 | Shaft Length: 0.10000000149011612 626 | Topic: /robot3/move_base/DWAPlannerROS/local_plan 627 | Unreliable: false 628 | Value: true 629 | - Alpha: 1 630 | Class: rviz/Polygon 631 | Color: 25; 255; 0 632 | Enabled: true 633 | Name: Polygon_robot3 634 | Queue Size: 10 635 | Topic: /robot3/move_base/local_costmap/footprint 636 | Unreliable: false 637 | Value: true 638 | Enabled: true 639 | Name: robot3 640 | Enabled: true 641 | Global Options: 642 | Background Color: 48; 48; 48 643 | Default Light: true 644 | Fixed Frame: map 645 | Frame Rate: 30 646 | Name: root 647 | Tools: 648 | - Class: rviz/MoveCamera 649 | - Class: rviz/Interact 650 | Hide Inactive Objects: true 651 | - Class: rviz/Select 652 | - Class: rviz/SetInitialPose 653 | Theta std deviation: 0.2617993950843811 654 | Topic: /robot1/initialpose 655 | X std deviation: 0.5 656 | Y std deviation: 0.5 657 | - Class: rviz/SetInitialPose 658 | Theta std deviation: 0.2617993950843811 659 | Topic: /robot2/initialpose 660 | X std deviation: 0.5 661 | Y std deviation: 0.5 662 | - Class: rviz/SetInitialPose 663 | Theta std deviation: 0.2617993950843811 664 | Topic: /robot3/initialpose 665 | X std deviation: 0.5 666 | Y std deviation: 0.5 667 | - Class: rviz/SetGoal 668 | Topic: /robot1/move_base_simple/goal 669 | - Class: rviz/SetGoal 670 | Topic: /robot2/move_base_simple/goal 671 | - Class: rviz/SetGoal 672 | Topic: /robot3/move_base_simple/goal 673 | - Class: rviz/Measure 674 | Value: true 675 | Views: 676 | Current: 677 | Angle: -6.315767765045166 678 | Class: rviz/TopDownOrtho 679 | Enable Stereo Rendering: 680 | Stereo Eye Separation: 0.05999999865889549 681 | Stereo Focal Distance: 1 682 | Swap Stereo Eyes: false 683 | Value: false 684 | Invert Z Axis: false 685 | Name: Current View 686 | Near Clip Distance: 0.009999999776482582 687 | Scale: -41.59272766113281 688 | Target Frame: 689 | X: 4.149350166320801 690 | Y: 1.840120792388916 691 | Saved: ~ 692 | Window Geometry: 693 | Displays: 694 | collapsed: true 695 | Height: 1016 696 | Hide Left Dock: true 697 | Hide Right Dock: true 698 | Image: 699 | collapsed: false 700 | QMainWindow State: 000000ff00000000fd0000000400000000000002330000039efc0200000006fb0000001200530065006c0065006300740069006f006e000000003d0000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000039e0000000000fffffffaffffffff0100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000ffffffff0000009d00fffffffb000000100044006900730070006c00610079007300000000000000016a0000015600fffffffb0000000a0049006d00610067006500000002cb000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000007380000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 701 | Selection: 702 | collapsed: false 703 | Time: 704 | collapsed: false 705 | Tool Properties: 706 | collapsed: false 707 | Views: 708 | collapsed: true 709 | Width: 1848 710 | X: 72 711 | Y: 27 712 | -------------------------------------------------------------------------------- /navigtion_pkg/script/goal_pase.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import rospy 4 | import actionlib 5 | from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal 6 | from geometry_msgs.msg import Pose, Point, Quaternion 7 | 8 | def move_robot(x, y, angle, robot_name): 9 | rospy.init_node(f'move_robot_node_{robot_name}', anonymous=True) 10 | client = actionlib.SimpleActionClient(f'{robot_name}/move_base', MoveBaseAction) 11 | client.wait_for_server() 12 | 13 | goal = MoveBaseGoal() 14 | goal.target_pose.header.frame_id = "map" 15 | goal.target_pose.header.stamp = rospy.Time.now() 16 | 17 | goal.target_pose.pose = Pose(Point(x, y, 0.0), Quaternion(0.0, 0.0, angle, 1.0)) 18 | 19 | client.send_goal(goal) 20 | client.wait_for_result() 21 | 22 | if __name__ == '__main__': 23 | try: 24 | # Move the first robot 25 | move_robot(-0.008315, -5.282071, 0.0, "robot1") 26 | 27 | rospy.sleep(3) 28 | 29 | # Move the second robot 30 | move_robot(2.248869, 6.635135, 1.962612, "robot2") 31 | 32 | # Wait for the first robot to finish 33 | rospy.sleep(2) 34 | 35 | # Move the first robot again 36 | move_robot(-4.572061, 3.908484, -3.128271, "robot1") 37 | rospy.sleep(2) 38 | 39 | # Move the second robot again 40 | move_robot(0.0, 0.0, -1.57, "robot3") 41 | rospy.sleep(5) 42 | 43 | except rospy.ROSInterruptException: 44 | pass 45 | 46 | --------------------------------------------------------------------------------