├── .gitignore ├── README.md ├── turtlebot_stage ├── maps │ ├── maze.png │ ├── robopark2.bmp │ ├── maze.yaml │ ├── robopark_plan.yaml │ └── stage │ │ ├── turtlebot.inc │ │ ├── maze.world │ │ └── robopark_plan.world ├── CMakeLists.txt ├── .project ├── package.xml ├── env-hooks │ └── 25.turtlebot-stage.sh.em ├── CHANGELOG.rst ├── .cproject ├── launch │ └── turtlebot_in_stage.launch └── rviz │ └── robot_navigation.rviz ├── turtlebot_stdr ├── maps │ ├── mines.png │ ├── robocup.png │ ├── frieburg.png │ ├── simple_rooms.png │ ├── hospital_section.png │ ├── sparse_obstacles.png │ ├── mines.yaml │ ├── frieburg.yaml │ ├── robocup.yaml │ ├── simple_rooms.yaml │ ├── hospital_section.yaml │ └── sparse_obstacles.yaml ├── documentation │ └── architecture_overview.png ├── .pydevproject ├── launch │ ├── includes │ │ └── relays.launch.xml │ └── turtlebot_in_stdr.launch ├── robot │ └── turtlebot.yaml ├── CMakeLists.txt ├── nodes │ └── tf_connector.py ├── env-hooks │ └── 25.turtlebot-stdr.sh.em ├── .project ├── package.xml ├── CHANGELOG.rst ├── .cproject └── rviz │ └── robot_navigation.rviz ├── turtlebot_gazebo ├── maps │ ├── playground.pgm │ └── playground.yaml ├── launch │ ├── gmapping_demo.launch │ ├── amcl_demo.launch │ ├── includes │ │ ├── kobuki.launch.xml │ │ ├── create.launch.xml │ │ └── roomba.launch.xml │ └── turtlebot_world.launch ├── CMakeLists.txt ├── worlds │ ├── empty.world │ ├── corridor.world │ └── playground.world ├── env-hooks │ └── 25.turtlebot-gazebo.sh.em ├── package.xml ├── CHANGELOG.rst ├── .project └── .cproject ├── turtlebot_simulator ├── CMakeLists.txt ├── CHANGELOG.rst ├── package.xml ├── .project └── .cproject └── turtlebot_simulator.rosinstall /.gitignore: -------------------------------------------------------------------------------- 1 | .settings 2 | bin 3 | build 4 | lib 5 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | turtlebot_simulator 2 | =================== 3 | 4 | Launchers for Gazebo simulation of the TurtleBot 5 | -------------------------------------------------------------------------------- /turtlebot_stage/maps/maze.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stage/maps/maze.png -------------------------------------------------------------------------------- /turtlebot_stdr/maps/mines.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/maps/mines.png -------------------------------------------------------------------------------- /turtlebot_stdr/maps/robocup.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/maps/robocup.png -------------------------------------------------------------------------------- /turtlebot_stage/maps/robopark2.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stage/maps/robopark2.bmp -------------------------------------------------------------------------------- /turtlebot_stdr/maps/frieburg.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/maps/frieburg.png -------------------------------------------------------------------------------- /turtlebot_gazebo/maps/playground.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_gazebo/maps/playground.pgm -------------------------------------------------------------------------------- /turtlebot_stdr/maps/simple_rooms.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/maps/simple_rooms.png -------------------------------------------------------------------------------- /turtlebot_stdr/maps/hospital_section.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/maps/hospital_section.png -------------------------------------------------------------------------------- /turtlebot_stdr/maps/sparse_obstacles.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/maps/sparse_obstacles.png -------------------------------------------------------------------------------- /turtlebot_stage/maps/maze.yaml: -------------------------------------------------------------------------------- 1 | image: maze.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | -------------------------------------------------------------------------------- /turtlebot_stdr/maps/mines.yaml: -------------------------------------------------------------------------------- 1 | image: mines.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_simulator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_simulator) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /turtlebot_stdr/maps/frieburg.yaml: -------------------------------------------------------------------------------- 1 | image: frieburg.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_stdr/maps/robocup.yaml: -------------------------------------------------------------------------------- 1 | image: robocup.png 2 | resolution: 0.03 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_stdr/documentation/architecture_overview.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/turtlebot/turtlebot_simulator/HEAD/turtlebot_stdr/documentation/architecture_overview.png -------------------------------------------------------------------------------- /turtlebot_stdr/maps/simple_rooms.yaml: -------------------------------------------------------------------------------- 1 | image: simple_rooms.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_stdr/maps/hospital_section.yaml: -------------------------------------------------------------------------------- 1 | image: hospital_section.png 2 | resolution: 0.05 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_stdr/maps/sparse_obstacles.yaml: -------------------------------------------------------------------------------- 1 | image: sparse_obstacles.png 2 | resolution: 0.02 3 | origin: [0.0, 0.0, 0.0] 4 | occupied_thresh: 0.6 5 | free_thresh: 0.3 6 | negate: 0 7 | -------------------------------------------------------------------------------- /turtlebot_gazebo/maps/playground.yaml: -------------------------------------------------------------------------------- 1 | free_thresh: 0.196 2 | image: playground.pgm 3 | negate: 0 4 | occupied_thresh: 0.65 5 | origin: [-6.8999999999999915, -5.8999999999999915, 0.0] 6 | resolution: 0.05 7 | -------------------------------------------------------------------------------- /turtlebot_stdr/.pydevproject: -------------------------------------------------------------------------------- 1 | 2 | 3 | Default 4 | python 2.7 5 | 6 | -------------------------------------------------------------------------------- /turtlebot_gazebo/launch/gmapping_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /turtlebot_stage/maps/robopark_plan.yaml: -------------------------------------------------------------------------------- 1 | image: robopark2.bmp 2 | resolution: 0.014 3 | origin: [-0.6, -2.24, 0.0] #The 2-D pose of the lower-left pixel in the map, as (x, y, yaw) 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | 9 | 10 | # 2150x700 pix 11 | 12 | # 491 pix -> 13.900 m 13 | 14 | # res = 0.0283 pix/m 15 | 16 | # 1012 >>> 28.6396 17 | # 340 >>> 9.622 18 | -------------------------------------------------------------------------------- /turtlebot_stdr/launch/includes/relays.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /turtlebot_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_gazebo) 3 | find_package(catkin REQUIRED) 4 | catkin_package() 5 | 6 | catkin_add_env_hooks(25.turtlebot-gazebo SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | 11 | install(DIRECTORY maps 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 13 | 14 | install(DIRECTORY worlds 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 16 | -------------------------------------------------------------------------------- /turtlebot_stage/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_stage) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | catkin_add_env_hooks(25.turtlebot-stage SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 9 | 10 | install(DIRECTORY launch 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) 13 | 14 | install(DIRECTORY maps 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | 18 | install(DIRECTORY rviz 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | ) 21 | -------------------------------------------------------------------------------- /turtlebot_stage/maps/stage/turtlebot.inc: -------------------------------------------------------------------------------- 1 | define kinect ranger 2 | ( 3 | sensor 4 | ( 5 | range_max 6.5 6 | fov 58.0 7 | samples 640 8 | ) 9 | # generic model properties 10 | color "black" 11 | size [ 0.06 0.15 0.03 ] 12 | ) 13 | 14 | define turtlebot position 15 | ( 16 | pose [ 0.0 0.0 0.0 0.0 ] 17 | 18 | odom_error [0.03 0.03 999999 999999 999999 0.02] 19 | 20 | size [ 0.2552 0.2552 0.40 ] 21 | origin [ 0.0 0.0 0.0 0.0 ] 22 | gui_nose 1 23 | drive "diff" 24 | color "gray" 25 | 26 | kinect(pose [ -0.1 0.0 -0.11 0.0 ]) 27 | ) 28 | -------------------------------------------------------------------------------- /turtlebot_gazebo/worlds/empty.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | model://sun 7 | 8 | 9 | 10 | model://ground_plane 11 | 12 | 13 | 14 | 0.01 15 | 1 16 | 100 17 | 0 0 -9.8 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /turtlebot_stdr/robot/turtlebot.yaml: -------------------------------------------------------------------------------- 1 | robot: 2 | robot_specifications: 3 | - footprint: 4 | footprint_specifications: 5 | radius: 0.2552 6 | points: 7 | [] 8 | - initial_pose: 9 | x: 2.0 10 | y: 2.0 11 | theta: 0.0 12 | - laser: 13 | laser_specifications: 14 | max_angle: 0.5 15 | min_angle: -0.5 16 | max_range: 5 17 | min_range: 0 18 | num_rays: 640 19 | frequency: 15 20 | frame_id: laser_0 21 | pose: 22 | x: -0.1 23 | y: 0 24 | theta: 0 25 | noise: 26 | noise_specifications: 27 | noise_mean: 0.001 28 | noise_std: 0.00001 29 | 30 | -------------------------------------------------------------------------------- /turtlebot_stdr/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_stdr) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | catkin_add_env_hooks(25.turtlebot-stdr SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) 9 | 10 | install(DIRECTORY launch 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) 13 | 14 | install(DIRECTORY maps 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | 18 | install(DIRECTORY rviz 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | ) 21 | 22 | install(DIRECTORY robot 23 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 24 | ) 25 | 26 | install( 27 | PROGRAMS 28 | nodes/tf_connector.py 29 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 30 | ) 31 | -------------------------------------------------------------------------------- /turtlebot_simulator/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot_simulator 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.3 (2017-09-18) 6 | ------------------ 7 | 8 | 2.2.2 (2015-09-16) 9 | ------------------ 10 | 11 | 2.2.1 (2015-08-07) 12 | ------------------ 13 | 14 | 2.2.0 (2014-12-30) 15 | ------------------ 16 | * add turtlebot_stdr in meta package fixes `#44 `_ 17 | * add turtlebot_stage 18 | * Contributors: Jihoon Lee 19 | 20 | 2.1.1 (2013-10-14) 21 | ------------------ 22 | 23 | 2.1.0 (2013-08-30) 24 | ------------------ 25 | * Add bugtracker and repo info URLs. 26 | 27 | 2.0.0 (2013-07-16) 28 | ------------------ 29 | 30 | * Migrated to use stand-alone Gazebo installation 31 | * All packages have been catkinized 32 | -------------------------------------------------------------------------------- /turtlebot_stage/maps/stage/maze.world: -------------------------------------------------------------------------------- 1 | include "turtlebot.inc" 2 | 3 | define floorplan model 4 | ( 5 | # sombre, sensible, artistic 6 | color "gray30" 7 | 8 | # most maps will need a bounding box 9 | boundary 1 10 | 11 | gui_nose 0 12 | gui_grid 0 13 | gui_outline 0 14 | gripper_return 0 15 | fiducial_return 0 16 | laser_return 1 17 | ) 18 | 19 | resolution 0.02 20 | interval_sim 100 # simulation timestep in milliseconds 21 | 22 | window 23 | ( 24 | size [ 600.0 700.0 ] 25 | center [ 0.0 0.0 ] 26 | rotate [ 0.0 0.0 ] 27 | scale 60 28 | ) 29 | 30 | floorplan 31 | ( 32 | name "maze" 33 | bitmap "../maze.png" 34 | size [ 10.0 10.0 2.0 ] 35 | pose [ 5.0 5.0 0.0 0.0 ] 36 | ) 37 | 38 | # throw in a robot 39 | turtlebot 40 | ( 41 | pose [ 2.0 2.0 0.0 0.0 ] 42 | name "turtlebot" 43 | color "black" 44 | ) 45 | -------------------------------------------------------------------------------- /turtlebot_simulator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | turtlebot_simulator 3 | 2.2.3 4 | Catkin metapackage for the turtlebot_simulator stack 5 | OSRF 6 | BSD 7 | http://ros.org/wiki/turtlebot_simulator 8 | https://github.com/turtlebot/turtlebot_simulator 9 | https://github.com/turtlebot/turtlebot_simulator/issues 10 | Willow 11 | 12 | catkin 13 | turtlebot_gazebo 14 | turtlebot_stage 15 | turtlebot_stdr 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /turtlebot_stdr/nodes/tf_connector.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | __author__ = 'mehdi tlili' 3 | import rospy 4 | from tf2_msgs.msg import TFMessage 5 | import tf 6 | 7 | class Remapper(object): 8 | 9 | def __init__(self): 10 | self.br = tf.TransformBroadcaster() 11 | rospy.Subscriber("/tf", TFMessage, self.tf_remapper) 12 | 13 | def tf_remapper(self, msg): 14 | 15 | if msg.transforms[0].header.frame_id == "/robot0": 16 | self.br.sendTransform((0, 0, 0), 17 | tf.transformations.quaternion_from_euler(0, 0, 0), 18 | rospy.Time.now(), 19 | "base_footprint", 20 | "robot0") 21 | 22 | 23 | if __name__ == '__main__': 24 | rospy.init_node('remapper_nav') 25 | remapper = Remapper() 26 | rospy.spin() 27 | -------------------------------------------------------------------------------- /turtlebot_stage/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_stage 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | 14 | 15 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 16 | full,incremental, 17 | 18 | 19 | 20 | 21 | 22 | org.eclipse.cdt.core.cnature 23 | org.eclipse.cdt.core.ccnature 24 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 25 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 26 | 27 | 28 | -------------------------------------------------------------------------------- /turtlebot_stdr/env-hooks/25.turtlebot-stdr.sh.em: -------------------------------------------------------------------------------- 1 | # Set some sane defaults for the turtlebot stdr launch environment 2 | ##Documentation: 3 | # The colon command simply has its arguments evaluated and then succeeds. 4 | # It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. 5 | # The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). 6 | # Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. 7 | # But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler 8 | : ${TURTLEBOT_STDR_MAP_FILE:=`rospack find turtlebot_stdr`/maps/sparse_obstacles.yaml} 9 | # Exports 10 | export TURTLEBOT_STDR_MAP_FILE 11 | 12 | -------------------------------------------------------------------------------- /turtlebot_stage/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_stage 4 | 2.2.3 5 | 6 | Stage version of turtlebot simulation. Convenient to test 2D-navigation related stuffs 7 | 8 | 9 | Jihoon Lee 10 | Jorge Santos 11 | BSD 12 | 13 | http://wiki.ros.org/turtlebot_stage 14 | https://github.com/turtlebot/turtlebot_simulator 15 | https://github.com/turtlebot/turtlebot_simulator/issues 16 | 17 | catkin 18 | stage_ros 19 | navigation 20 | turtlebot_bringup 21 | turtlebot_navigation 22 | yocs_virtual_sensor 23 | yocs_velocity_smoother 24 | 25 | -------------------------------------------------------------------------------- /turtlebot_simulator.rosinstall: -------------------------------------------------------------------------------- 1 | - git: {local-name: kobuki, uri: 'https://github.com/yujinrobot/kobuki.git', version: indigo} 2 | - git: {local-name: kobuki_desktop, uri: 'https://github.com/yujinrobot/kobuki_desktop.git', version: indigo} 3 | - git: {local-name: stdr_simulator, uri: 'https://github.com/stdr-simulator-ros-pkg/stdr_simulator', version: hydro-devel} 4 | - git: {local-name: turtlebot, uri: 'https://github.com/turtlebot/turtlebot.git', version: indigo} 5 | - git: {local-name: turtlebot_create, uri: 'http://github.com/turtlebot/turtlebot_create.git', version: indigo} 6 | - git: {local-name: turtlebot_apps, uri: 'http://github.com/turtlebot/turtlebot_apps.git', version: indigo} 7 | - git: {local-name: turtlebot_msgs, uri: 'http://github.com/turtlebot/turtlebot_msgs.git', version: indigo} 8 | - git: {local-name: turtlebot_simulator, uri: 'http://github.com/turtlebot/turtlebot_simulator.git', version: indigo} 9 | - git: {local-name: turtlebot_create_desktop, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git', version: indigo} 10 | -------------------------------------------------------------------------------- /turtlebot_stage/env-hooks/25.turtlebot-stage.sh.em: -------------------------------------------------------------------------------- 1 | # Set some sane defaults for the turtlebot stage launch environment 2 | ##Documentation: 3 | # The colon command simply has its arguments evaluated and then succeeds. 4 | # It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. 5 | # The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). 6 | # Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. 7 | # But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler 8 | : ${TURTLEBOT_STAGE_MAP_FILE:=`rospack find turtlebot_stage`/maps/maze.yaml} 9 | : ${TURTLEBOT_STAGE_WORLD_FILE:=`rospack find turtlebot_stage`/maps/stage/maze.world} 10 | # Exports 11 | export TURTLEBOT_STAGE_MAP_FILE 12 | export TURTLEBOT_STAGE_WORLD_FILE 13 | 14 | -------------------------------------------------------------------------------- /turtlebot_gazebo/launch/amcl_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em: -------------------------------------------------------------------------------- 1 | # Set some sane defaults for the turtlebot stage launch environment 2 | ##Documentation: 3 | # The colon command simply has its arguments evaluated and then succeeds. 4 | # It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. 5 | # The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). 6 | # Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. 7 | # But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler 8 | : ${TURTLEBOT_GAZEBO_MAP_FILE:=`rospack find turtlebot_gazebo`/maps/playground.yaml} 9 | : ${TURTLEBOT_GAZEBO_WORLD_FILE:=`rospack find turtlebot_gazebo`/worlds/playground.world} 10 | 11 | # Exports 12 | export TURTLEBOT_GAZEBO_MAP_FILE 13 | export TURTLEBOT_GAZEBO_WORLD_FILE 14 | -------------------------------------------------------------------------------- /turtlebot_stdr/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_stdr 4 | 5 | 6 | 7 | 8 | 9 | org.python.pydev.PyDevBuilder 10 | 11 | 12 | 13 | 14 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 15 | clean,full,incremental, 16 | 17 | 18 | 19 | 20 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 21 | full,incremental, 22 | 23 | 24 | 25 | 26 | 27 | org.eclipse.cdt.core.cnature 28 | org.eclipse.cdt.core.ccnature 29 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 30 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 31 | org.python.pydev.pythonNature 32 | 33 | 34 | -------------------------------------------------------------------------------- /turtlebot_stdr/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_stdr 4 | 2.2.3 5 | 6 | Stdr version of turtlebot simulation. Convenient to test 2D-navigation related stuffs 7 | 8 | 9 | Mehdi Tlili 10 | Mehdi Tlili 11 | BSD 12 | 13 | http://wiki.ros.org/turtlebot_stdr 14 | https://github.com/turtlebot/turtlebot_simulator 15 | https://github.com/turtlebot/turtlebot_simulator/issues 16 | 17 | catkin 18 | stdr_gui 19 | stdr_robot 20 | stdr_server 21 | stdr_resources 22 | navigation 23 | turtlebot_bringup 24 | turtlebot_navigation 25 | yocs_virtual_sensor 26 | yocs_velocity_smoother 27 | 28 | -------------------------------------------------------------------------------- /turtlebot_gazebo/launch/includes/kobuki.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /turtlebot_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | turtlebot_gazebo 3 | 2.2.3 4 | Gazebo launchers and worlds for TurtleBot simulation 5 | Marcus Liebhardt 6 | BSD 7 | http://ros.org/wiki/turtlebot_gazebo 8 | https://github.com/turtlebot/turtlebot_simulator 9 | https://github.com/turtlebot/turtlebot_simulator/issues 10 | Willow Garage 11 | 12 | catkin 13 | 14 | yocs_cmd_vel_mux 15 | 16 | diagnostic_aggregator 17 | depthimage_to_laserscan 18 | gazebo_ros 19 | kobuki_gazebo_plugins 20 | robot_pose_ekf 21 | robot_state_publisher 22 | turtlebot_bringup 23 | turtlebot_description 24 | turtlebot_navigation 25 | xacro 26 | 27 | -------------------------------------------------------------------------------- /turtlebot_stage/maps/stage/robopark_plan.world: -------------------------------------------------------------------------------- 1 | include "turtlebot.inc" 2 | 3 | # Definition for an obstacle placed on the map. 4 | define block model 5 | ( 6 | size [0.500 0.500 1.500] 7 | gui_nose 0 8 | ) 9 | 10 | 11 | # throw in a robot 12 | turtlebot 13 | ( 14 | pose [ 2.000 2.000 0.000 0.000 ] 15 | name "turtlebot1" 16 | color "gray" 17 | gui_nose 1 18 | ) 19 | 20 | # throw in an obstacle 21 | block( pose [ 4.000 4.000 0.000 0.000 ] color "red") 22 | 23 | 24 | define floorplan model 25 | ( 26 | # sombre, sensible, artistic 27 | color "gray30" 28 | 29 | # most maps will need a bounding box 30 | boundary 1 31 | 32 | gui_nose 0 33 | gui_grid 0 34 | 35 | gui_outline 0 36 | gripper_return 0 37 | fiducial_return 0 38 | laser_return 1 39 | ) 40 | 41 | # set the resolution of the underlying raytrace model in meters 42 | resolution 0.01 43 | 44 | interval_sim 100 # simulation timestep in milliseconds 45 | 46 | window 47 | ( 48 | size [ 600 424 ] 49 | rotate [ 0.000 0.000 ] 50 | ) 51 | 52 | # load an environment bitmap 53 | floorplan 54 | ( 55 | name "Robo Park floor" 56 | bitmap "../robopark2.bmp" 57 | size [16.800 11.870 1.000] 58 | 59 | pose [ 0.000 0.000 0.000 0.000 ] 60 | #for test 61 | origin [ 7.800 3.700 0.000 0.000] # specify the position of the object's center, relative to its pose 62 | ) 63 | -------------------------------------------------------------------------------- /turtlebot_gazebo/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot_simulator 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.3 (2017-09-18) 6 | ------------------ 7 | * Fix changing amcl.launch.xml and gmapping.launch.xml locations under turtlebot_navigation 8 | * Contributors: Mohamed Al Zaiady, Mohamed Elzaiady, Tully Foote, mzaiady 9 | 10 | 2.2.2 (2015-09-16) 11 | ------------------ 12 | 13 | 2.2.1 (2015-08-07) 14 | ------------------ 15 | * Enable to run Gazebo w/o GUI. 16 | * Contributors: Isaac IY Saito 17 | 18 | 2.2.0 (2014-12-30) 19 | ------------------ 20 | * use env hook to configure gazebo world and map fixes `#40 `_ 21 | * now it uses args to load world. and corridor world is added. `#39 `_ 22 | * disable create gazebo plugin 23 | * Add turtlebot_navigation to turtlebot_gazebo depends 24 | gmapping_demo.launch depends on it. 25 | * Contributors: Jihoon Lee, Jochen Sprickerhof 26 | 27 | 2.1.1 (2013-10-14) 28 | ------------------ 29 | * Rename cmd_vel_mux as yocs_cmd_vel_mux. 30 | 31 | 2.1.0 (2013-08-30) 32 | ------------------ 33 | * Add navigation demos on Gazebo on a playground world. 34 | * Add bugtracker and repo info URLs. 35 | * Add cmd_vel_mux for create and roomba. 36 | * Do not use robot_pose_ekf for kobuki base. 37 | 38 | 2.0.0 (2013-07-16) 39 | ------------------ 40 | 41 | * Migrated to use stand-alone Gazebo installation 42 | * All packages have been catkinized 43 | -------------------------------------------------------------------------------- /turtlebot_gazebo/launch/includes/create.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /turtlebot_gazebo/launch/includes/roomba.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /turtlebot_gazebo/launch/turtlebot_world.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 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /turtlebot_gazebo/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_gazebo 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | ?name? 14 | 15 | 16 | 17 | org.eclipse.cdt.make.core.append_environment 18 | true 19 | 20 | 21 | org.eclipse.cdt.make.core.autoBuildTarget 22 | all 23 | 24 | 25 | org.eclipse.cdt.make.core.buildArguments 26 | 27 | 28 | 29 | org.eclipse.cdt.make.core.buildCommand 30 | make 31 | 32 | 33 | org.eclipse.cdt.make.core.cleanBuildTarget 34 | clean 35 | 36 | 37 | org.eclipse.cdt.make.core.contents 38 | org.eclipse.cdt.make.core.activeConfigSettings 39 | 40 | 41 | org.eclipse.cdt.make.core.enableAutoBuild 42 | false 43 | 44 | 45 | org.eclipse.cdt.make.core.enableCleanBuild 46 | true 47 | 48 | 49 | org.eclipse.cdt.make.core.enableFullBuild 50 | true 51 | 52 | 53 | org.eclipse.cdt.make.core.fullBuildTarget 54 | all 55 | 56 | 57 | org.eclipse.cdt.make.core.stopOnError 58 | true 59 | 60 | 61 | org.eclipse.cdt.make.core.useDefaultBuildCmd 62 | true 63 | 64 | 65 | 66 | 67 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 68 | full,incremental, 69 | 70 | 71 | 72 | 73 | 74 | org.eclipse.cdt.core.cnature 75 | org.eclipse.cdt.core.ccnature 76 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 77 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 78 | 79 | 80 | -------------------------------------------------------------------------------- /turtlebot_simulator/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_simulator 4 | 5 | 6 | 7 | 8 | 9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder 10 | clean,full,incremental, 11 | 12 | 13 | ?name? 14 | 15 | 16 | 17 | org.eclipse.cdt.make.core.append_environment 18 | true 19 | 20 | 21 | org.eclipse.cdt.make.core.autoBuildTarget 22 | all 23 | 24 | 25 | org.eclipse.cdt.make.core.buildArguments 26 | 27 | 28 | 29 | org.eclipse.cdt.make.core.buildCommand 30 | make 31 | 32 | 33 | org.eclipse.cdt.make.core.cleanBuildTarget 34 | clean 35 | 36 | 37 | org.eclipse.cdt.make.core.contents 38 | org.eclipse.cdt.make.core.activeConfigSettings 39 | 40 | 41 | org.eclipse.cdt.make.core.enableAutoBuild 42 | false 43 | 44 | 45 | org.eclipse.cdt.make.core.enableCleanBuild 46 | true 47 | 48 | 49 | org.eclipse.cdt.make.core.enableFullBuild 50 | true 51 | 52 | 53 | org.eclipse.cdt.make.core.fullBuildTarget 54 | all 55 | 56 | 57 | org.eclipse.cdt.make.core.stopOnError 58 | true 59 | 60 | 61 | org.eclipse.cdt.make.core.useDefaultBuildCmd 62 | true 63 | 64 | 65 | 66 | 67 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder 68 | full,incremental, 69 | 70 | 71 | 72 | 73 | 74 | org.eclipse.cdt.core.cnature 75 | org.eclipse.cdt.core.ccnature 76 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 77 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 78 | 79 | 80 | -------------------------------------------------------------------------------- /turtlebot_stdr/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot_stdr 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.3 (2017-09-18) 6 | ------------------ 7 | * add turtlebot_navigation as dependency and fix amcl.launch.xml include path in turtlebot_stdr 8 | * Contributors: Gérald Lelong 9 | 10 | 2.2.2 (2015-09-16) 11 | ------------------ 12 | 13 | 2.2.1 (2015-08-07) 14 | ------------------ 15 | 16 | 2.2.0 (2014-12-30) 17 | ------------------ 18 | * add installrule for tf_connector and robot directory 19 | * Use default map topic name map after changing stdr's internal map server's topic 20 | * Use only one map topic and remove unused sensors from rviz 21 | * add stdr_resources as run_depend closes `#38 `_ 22 | * correct run_depend for stdr fixes `#37 `_ 23 | * renamed new_map to rviz_map, a map with the right global frame id 24 | * Update turtlebot.yaml 25 | * Update tf_connector.py 26 | * fixed map and costmap misalignement due to wrong frame_id 27 | * fix laser scan min max height for simulation 28 | * added architecture image 29 | * deleted cache file 30 | * added env-hooks folder 31 | * add env-hooks and changed the fixed frame in rviz from map to world 32 | * Cleaned up CMakeLists.txt 33 | * removed param and amcl/movebase modified launch files 34 | * turtlebot_stdr v0.1 35 | * Contributors: Jihoon Lee, Mehdi Tlili 36 | 37 | * add installrule for tf_connector and robot directory 38 | * Use default map topic name map after changing stdr's internal map server's topic 39 | * Use only one map topic and remove unused sensors from rviz 40 | * add stdr_resources as run_depend closes `#38 `_ 41 | * correct run_depend for stdr fixes `#37 `_ 42 | * renamed new_map to rviz_map, a map with the right global frame id 43 | * Update turtlebot.yaml 44 | * Update tf_connector.py 45 | * fixed map and costmap misalignement due to wrong frame_id 46 | * fix laser scan min max height for simulation 47 | * added architecture image 48 | * deleted cache file 49 | * added env-hooks folder 50 | * add env-hooks and changed the fixed frame in rviz from map to world 51 | * Cleaned up CMakeLists.txt 52 | * removed param and amcl/movebase modified launch files 53 | * turtlebot_stdr v0.1 54 | * Contributors: Jihoon Lee, Mehdi Tlili 55 | 56 | 2.1.1 (2013-10-14) 57 | ------------------ 58 | 59 | 2.1.0 (2013-09-02) 60 | ------------------ 61 | 62 | 2.0.0 (2013-08-12) 63 | ------------------ 64 | 65 | 1.9.1 (2013-01-02) 66 | ------------------ 67 | 68 | 1.9.0 (2012-12-22) 69 | ------------------ 70 | -------------------------------------------------------------------------------- /turtlebot_stage/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot_stage 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.2.3 (2017-09-18) 6 | ------------------ 7 | Fixed include path for turtlebot_navigation/launch/includes/amcl/amcl.launch.xml. https://github.com/turtlebot/turtlebot_apps/commit/cc2671666e8529677e6757fe78de4ff625f946e5 8 | * Contributors: Clyde McQueen 9 | 10 | 2.2.2 (2015-09-16) 11 | ------------------ 12 | * view frame is now base_link closes `#51 `_ 13 | * Contributors: Jihoon Lee 14 | 15 | 2.2.1 (2015-08-07) 16 | ------------------ 17 | * turtlebot_stage: add turtlebot_navigation dependency 18 | * Contributors: Gaël Ecorchard 19 | 20 | 2.2.0 (2014-12-30) 21 | ------------------ 22 | * Adds border extension to map to fix map scaling / position in stage 23 | * Added changes in the stage launch file undone before because of the merge 24 | * Merged 25 | * Moved env fold inside stage 26 | * Revert "Stage launch use env variables" 27 | * Small fix for wrong file name of env script 28 | * Added support for map and world file through env variables 29 | * remove annotation and param install rule 30 | * updated rviz configuration for dwa. 31 | * add the trajectory cloud to stage's rviz view. 32 | * stage only permits 'square' robots, so make sure our square fits within 33 | the turtlebot defined circle otherwise it collides when it normally 34 | wouldn't. 35 | * redirect all params and launchers at the real turtlebot configuration files and cleanup, `#21 `_. 36 | * remove unused plugins and add the cost cloud. 37 | * add turtlebot_stage 38 | * Contributors: Alexander Reimann, Daniel Stonier, Jihoon Lee 39 | 40 | * Adds border extension to map to fix map scaling / position in stage 41 | * Added changes in the stage launch file undone before because of the merge 42 | * Merged 43 | * Moved env fold inside stage 44 | * Revert "Stage launch use env variables" 45 | * Small fix for wrong file name of env script 46 | * Added support for map and world file through env variables 47 | * remove annotation and param install rule 48 | * updated rviz configuration for dwa. 49 | * add the trajectory cloud to stage's rviz view. 50 | * stage only permits 'square' robots, so make sure our square fits within 51 | the turtlebot defined circle otherwise it collides when it normally 52 | wouldn't. 53 | * redirect all params and launchers at the real turtlebot configuration files and cleanup, `#21 `_. 54 | * remove unused plugins and add the cost cloud. 55 | * add turtlebot_stage 56 | * Contributors: Alexander Reimann, Daniel Stonier, Jihoon Lee 57 | 58 | 2.1.1 (2013-10-14) 59 | ------------------ 60 | 61 | 2.1.0 (2013-09-02) 62 | ------------------ 63 | 64 | 2.0.0 (2013-08-12) 65 | ------------------ 66 | 67 | 1.9.1 (2013-01-02) 68 | ------------------ 69 | 70 | 1.9.0 (2012-12-22) 71 | ------------------ 72 | -------------------------------------------------------------------------------- /turtlebot_simulator/.cproject: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /turtlebot_stdr/.cproject: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /turtlebot_stage/.cproject: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /turtlebot_stage/launch/turtlebot_in_stage.launch: -------------------------------------------------------------------------------- 1 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 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 | -------------------------------------------------------------------------------- /turtlebot_gazebo/.cproject: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /turtlebot_stdr/launch/turtlebot_in_stdr.launch: -------------------------------------------------------------------------------- 1 | 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 | -------------------------------------------------------------------------------- /turtlebot_stdr/rviz/robot_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 | - /Local Planning1 10 | - /Global Planning1 11 | - /Global Planning1/Planner1 12 | Splitter Ratio: 0.5 13 | Tree Height: 810 14 | - Class: rviz/Selection 15 | Name: Selection 16 | - Class: rviz/Tool Properties 17 | Expanded: 18 | - /2D Pose Estimate1 19 | - /2D Nav Goal1 20 | Name: Tool Properties 21 | Splitter Ratio: 0.588679 22 | - Class: rviz/Views 23 | Expanded: 24 | - /Current View1 25 | Name: Views 26 | Splitter Ratio: 0.5 27 | - Class: rviz/Time 28 | Experimental: false 29 | Name: Time 30 | SyncMode: 0 31 | SyncSource: LaserScan (kinect) 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 160; 160; 164 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.03 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 10 51 | Reference Frame: 52 | Value: true 53 | - Alpha: 1 54 | Class: rviz/RobotModel 55 | Collision Enabled: false 56 | Enabled: true 57 | Links: 58 | All Links Enabled: true 59 | Expand Joint Details: false 60 | Expand Link Details: false 61 | Expand Tree: false 62 | Link Tree Style: Links in Alphabetic Order 63 | base_footprint: 64 | Alpha: 1 65 | Show Axes: false 66 | Show Trail: false 67 | base_link: 68 | Alpha: 1 69 | Show Axes: false 70 | Show Trail: false 71 | Value: true 72 | camera_depth_frame: 73 | Alpha: 1 74 | Show Axes: false 75 | Show Trail: false 76 | camera_depth_optical_frame: 77 | Alpha: 1 78 | Show Axes: false 79 | Show Trail: false 80 | camera_link: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | Value: true 85 | camera_rgb_frame: 86 | Alpha: 1 87 | Show Axes: false 88 | Show Trail: false 89 | camera_rgb_optical_frame: 90 | Alpha: 1 91 | Show Axes: false 92 | Show Trail: false 93 | caster_back_link: 94 | Alpha: 1 95 | Show Axes: false 96 | Show Trail: false 97 | Value: true 98 | caster_front_link: 99 | Alpha: 1 100 | Show Axes: false 101 | Show Trail: false 102 | Value: true 103 | cliff_sensor_front_link: 104 | Alpha: 1 105 | Show Axes: false 106 | Show Trail: false 107 | cliff_sensor_left_link: 108 | Alpha: 1 109 | Show Axes: false 110 | Show Trail: false 111 | cliff_sensor_right_link: 112 | Alpha: 1 113 | Show Axes: false 114 | Show Trail: false 115 | gyro_link: 116 | Alpha: 1 117 | Show Axes: false 118 | Show Trail: false 119 | plate_bottom_link: 120 | Alpha: 1 121 | Show Axes: false 122 | Show Trail: false 123 | Value: true 124 | plate_middle_link: 125 | Alpha: 1 126 | Show Axes: false 127 | Show Trail: false 128 | Value: true 129 | plate_top_link: 130 | Alpha: 1 131 | Show Axes: false 132 | Show Trail: false 133 | Value: true 134 | pole_bottom_0_link: 135 | Alpha: 1 136 | Show Axes: false 137 | Show Trail: false 138 | Value: true 139 | pole_bottom_1_link: 140 | Alpha: 1 141 | Show Axes: false 142 | Show Trail: false 143 | Value: true 144 | pole_bottom_2_link: 145 | Alpha: 1 146 | Show Axes: false 147 | Show Trail: false 148 | Value: true 149 | pole_bottom_3_link: 150 | Alpha: 1 151 | Show Axes: false 152 | Show Trail: false 153 | Value: true 154 | pole_bottom_4_link: 155 | Alpha: 1 156 | Show Axes: false 157 | Show Trail: false 158 | Value: true 159 | pole_bottom_5_link: 160 | Alpha: 1 161 | Show Axes: false 162 | Show Trail: false 163 | Value: true 164 | pole_kinect_0_link: 165 | Alpha: 1 166 | Show Axes: false 167 | Show Trail: false 168 | Value: true 169 | pole_kinect_1_link: 170 | Alpha: 1 171 | Show Axes: false 172 | Show Trail: false 173 | Value: true 174 | pole_middle_0_link: 175 | Alpha: 1 176 | Show Axes: false 177 | Show Trail: false 178 | Value: true 179 | pole_middle_1_link: 180 | Alpha: 1 181 | Show Axes: false 182 | Show Trail: false 183 | Value: true 184 | pole_middle_2_link: 185 | Alpha: 1 186 | Show Axes: false 187 | Show Trail: false 188 | Value: true 189 | pole_middle_3_link: 190 | Alpha: 1 191 | Show Axes: false 192 | Show Trail: false 193 | Value: true 194 | pole_top_0_link: 195 | Alpha: 1 196 | Show Axes: false 197 | Show Trail: false 198 | Value: true 199 | pole_top_1_link: 200 | Alpha: 1 201 | Show Axes: false 202 | Show Trail: false 203 | Value: true 204 | pole_top_2_link: 205 | Alpha: 1 206 | Show Axes: false 207 | Show Trail: false 208 | Value: true 209 | pole_top_3_link: 210 | Alpha: 1 211 | Show Axes: false 212 | Show Trail: false 213 | Value: true 214 | wheel_left_link: 215 | Alpha: 1 216 | Show Axes: false 217 | Show Trail: false 218 | Value: true 219 | wheel_right_link: 220 | Alpha: 1 221 | Show Axes: false 222 | Show Trail: false 223 | Value: true 224 | Name: RobotModel 225 | Robot Description: robot_description 226 | TF Prefix: "" 227 | Update Interval: 0 228 | Value: true 229 | Visual Enabled: true 230 | - Class: rviz/TF 231 | Enabled: false 232 | Frame Timeout: 15 233 | Frames: 234 | All Enabled: false 235 | Marker Scale: 1 236 | Name: TF 237 | Show Arrows: true 238 | Show Axes: true 239 | Show Names: false 240 | Tree: 241 | {} 242 | Update Interval: 0 243 | Value: false 244 | - Alpha: 1 245 | Autocompute Intensity Bounds: true 246 | Autocompute Value Bounds: 247 | Max Value: 10 248 | Min Value: -10 249 | Value: true 250 | Axis: Z 251 | Channel Name: intensity 252 | Class: rviz/LaserScan 253 | Color: 255; 255; 255 254 | Color Transformer: Intensity 255 | Decay Time: 0 256 | Enabled: true 257 | Invert Rainbow: false 258 | Max Color: 255; 255; 255 259 | Max Intensity: 1 260 | Min Color: 0; 0; 0 261 | Min Intensity: 1 262 | Name: LaserScan (kinect) 263 | Position Transformer: XYZ 264 | Queue Size: 10 265 | Selectable: true 266 | Size (Pixels): 3 267 | Size (m): 0.01 268 | Style: Squares 269 | Topic: /robot0/laser_0 270 | Use Fixed Frame: true 271 | Use rainbow: true 272 | Value: true 273 | - Alpha: 1 274 | Autocompute Intensity Bounds: true 275 | Autocompute Value Bounds: 276 | Max Value: 10 277 | Min Value: -10 278 | Value: true 279 | Axis: Z 280 | Channel Name: intensity 281 | Class: rviz/LaserScan 282 | Color: 255; 255; 255 283 | Color Transformer: Intensity 284 | Decay Time: 0 285 | Enabled: true 286 | Invert Rainbow: false 287 | Max Color: 255; 255; 255 288 | Max Intensity: 285 289 | Min Color: 0; 0; 0 290 | Min Intensity: 2 291 | 292 | Name: PointCloud (bumpers) 293 | Position Transformer: XYZ 294 | Queue Size: 10 295 | Selectable: true 296 | Size (Pixels): 3 297 | Size (m): 0.04 298 | Style: Flat Squares 299 | Topic: /mobile_base/sensors/bumper_pointcloud 300 | Use Fixed Frame: true 301 | Use rainbow: true 302 | Value: true 303 | - Alpha: 0.7 304 | Class: rviz/Map 305 | Color Scheme: map 306 | Draw Behind: false 307 | Enabled: true 308 | Name: Map 309 | Topic: /map 310 | Value: true 311 | - Class: rviz/Group 312 | Displays: 313 | - Alpha: 0.7 314 | Class: rviz/Map 315 | Color Scheme: costmap 316 | Draw Behind: false 317 | Enabled: false 318 | Name: Costmap 319 | Topic: /move_base/local_costmap/costmap 320 | Value: false 321 | - Alpha: 1 322 | Buffer Length: 1 323 | Class: rviz/Path 324 | Color: 0; 12; 255 325 | Enabled: true 326 | Name: Planner 327 | Topic: /move_base/DWAPlannerROS/local_plan 328 | Value: true 329 | - Alpha: 0.5 330 | Autocompute Intensity Bounds: true 331 | Autocompute Value Bounds: 332 | Max Value: 10 333 | Min Value: -10 334 | Value: true 335 | Axis: Z 336 | Channel Name: total_cost 337 | Class: rviz/PointCloud2 338 | Color: 255; 255; 255 339 | Color Transformer: Intensity 340 | Decay Time: 0 341 | Enabled: true 342 | Invert Rainbow: false 343 | Max Color: 255; 255; 255 344 | Max Intensity: 726.3 345 | Min Color: 0; 0; 0 346 | Min Intensity: 0 347 | Name: Cost Cloud 348 | Position Transformer: XYZ 349 | Queue Size: 10 350 | Selectable: true 351 | Size (Pixels): 3 352 | Size (m): 0.04 353 | Style: Flat Squares 354 | Topic: /move_base/DWAPlannerROS/cost_cloud 355 | Use Fixed Frame: true 356 | Use rainbow: true 357 | Value: true 358 | - Alpha: 1 359 | Autocompute Intensity Bounds: true 360 | Autocompute Value Bounds: 361 | Max Value: 10 362 | Min Value: -10 363 | Value: true 364 | Axis: Z 365 | Channel Name: total_cost 366 | Class: rviz/PointCloud2 367 | Color: 255; 255; 255 368 | Color Transformer: Intensity 369 | Decay Time: 0 370 | Enabled: false 371 | Invert Rainbow: false 372 | Max Color: 255; 255; 255 373 | Max Intensity: 128.275 374 | Min Color: 0; 0; 0 375 | Min Intensity: 43.2 376 | Name: Trajectory Cloud 377 | Position Transformer: XYZ 378 | Queue Size: 10 379 | Selectable: true 380 | Size (Pixels): 3 381 | Size (m): 0.04 382 | Style: Flat Squares 383 | Topic: /move_base/DWAPlannerROS/trajectory_cloud 384 | Use Fixed Frame: true 385 | Use rainbow: false 386 | Value: false 387 | Enabled: true 388 | Name: Local Planning 389 | - Class: rviz/Group 390 | Displays: 391 | - Alpha: 0.4 392 | Class: rviz/Map 393 | Color Scheme: costmap 394 | Draw Behind: true 395 | Enabled: true 396 | Name: Costmap 397 | Topic: /move_base/global_costmap/costmap 398 | Value: true 399 | - Alpha: 1 400 | Buffer Length: 1 401 | Class: rviz/Path 402 | Color: 255; 0; 0 403 | Enabled: true 404 | Name: Planner 405 | Topic: /move_base/DWAPlannerROS/global_plan 406 | Value: true 407 | Enabled: true 408 | Name: Global Planning 409 | - Alpha: 1 410 | Axes Length: 1 411 | Axes Radius: 0.1 412 | Class: rviz/Pose 413 | Color: 255; 25; 0 414 | Enabled: true 415 | Head Length: 0.2 416 | Head Radius: 0.1 417 | Name: Pose (move_base) 418 | Shaft Length: 1 419 | Shaft Radius: 0.05 420 | Shape: Arrow 421 | Topic: /move_base/current_goal 422 | Value: true 423 | - Arrow Length: 0.2 424 | Class: rviz/PoseArray 425 | Color: 0; 192; 0 426 | Enabled: true 427 | Name: ParticleCloud 428 | Topic: /particlecloud 429 | Value: true 430 | - Alpha: 1 431 | Buffer Length: 1 432 | Class: rviz/Path 433 | Color: 25; 255; 0 434 | Enabled: true 435 | Name: Path (global) 436 | Topic: /move_base/NavfnROS/plan 437 | Value: true 438 | - Angle Tolerance: 0.1 439 | Class: rviz/Odometry 440 | Color: 48; 48; 48 441 | Enabled: false 442 | Keep: 10 443 | Length: 0.4 444 | Name: Odometry 445 | Position Tolerance: 0.1 446 | Topic: /odom 447 | Value: false 448 | - Class: rviz/MarkerArray 449 | Enabled: false 450 | Marker Topic: /move_base/EBandPlannerROS/eband_visualization_array 451 | Name: EBand boubles 452 | Namespaces: 453 | {} 454 | Queue Size: 100 455 | Value: false 456 | Enabled: true 457 | Global Options: 458 | Background Color: 48; 48; 48 459 | Fixed Frame: world 460 | Frame Rate: 30 461 | Name: root 462 | Tools: 463 | - Class: rviz/MoveCamera 464 | - Class: rviz/Interact 465 | Hide Inactive Objects: true 466 | - Class: rviz/Select 467 | - Class: rviz/SetInitialPose 468 | Topic: /initialpose 469 | - Class: rviz/SetGoal 470 | Topic: /move_base_simple/goal 471 | - Class: rviz/Measure 472 | Value: true 473 | Views: 474 | Current: 475 | Class: rviz/Orbit 476 | Distance: 6.89259 477 | Enable Stereo Rendering: 478 | Stereo Eye Separation: 0.06 479 | Stereo Focal Distance: 1 480 | Swap Stereo Eyes: false 481 | Value: false 482 | Focal Point: 483 | X: 5.01262 484 | Y: 4.28547 485 | Z: -0.424504 486 | Name: Current View 487 | Near Clip Distance: 0.01 488 | Pitch: 1.5298 489 | Target Frame: 490 | Value: Orbit (rviz) 491 | Yaw: 6.14821 492 | Saved: ~ 493 | Window Geometry: 494 | Displays: 495 | collapsed: false 496 | Height: 1029 497 | Hide Left Dock: false 498 | Hide Right Dock: false 499 | QMainWindow State: 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500 | Selection: 501 | collapsed: false 502 | Time: 503 | collapsed: false 504 | Tool Properties: 505 | collapsed: false 506 | Views: 507 | collapsed: false 508 | Width: 1920 509 | X: -1 510 | Y: -10 511 | -------------------------------------------------------------------------------- /turtlebot_gazebo/worlds/corridor.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1 5 | 0 0 10 0 -0 0 6 | 0.8 0.8 0.8 1 7 | 0.2 0.2 0.2 1 8 | 9 | 1000 10 | 0.9 11 | 0.01 12 | 0.001 13 | 14 | -0.5 0.1 -0.9 15 | 16 | 17 | 1 18 | 19 | 20 | 21 | 22 | 0 0 1 23 | 100 100 24 | 25 | 26 | 27 | 28 | 29 | 100 30 | 50 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 10 39 | 40 | 41 | 0 42 | 43 | 44 | 0 0 1 45 | 100 100 46 | 47 | 48 | 49 | 53 | 54 | 55 | 56 | 0 57 | 0 58 | 59 | 0 60 | 0 61 | 1 62 | 63 | 64 | 65 | 0.001 66 | 1 67 | 1000 68 | 0 0 -9.8 69 | 70 | 71 | 0.4 0.4 0.4 1 72 | 0.7 0.7 0.7 1 73 | 1 74 | 75 | 76 | EARTH_WGS84 77 | 0 78 | 0 79 | 0 80 | 0 81 | 82 | 83 | 1 84 | 85 | 0 0 1.4 0 -0 0 86 | 87 | 88 | 89 | 7.5 0.2 2.8 90 | 91 | 92 | 10 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 0 105 | 106 | 107 | 7.5 0.2 2.8 108 | 109 | 110 | 111 | 116 | 117 | 118 | 119 | 0 120 | 0 121 | 122 | 0 123 | 0 124 | 1 125 | 126 | -2.53262 -5 0 0 -0 0 127 | 128 | 129 | 1 130 | 131 | 0 0 1.4 0 -0 0 132 | 133 | 134 | 135 | 7.5 0.2 2.8 136 | 137 | 138 | 10 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 0 151 | 152 | 153 | 7.5 0.2 2.8 154 | 155 | 156 | 157 | 162 | 163 | 164 | 165 | 0 166 | 0 167 | 168 | 0 169 | 0 170 | 1 171 | 172 | -2.49784 -3 0 0 -0 0 173 | 174 | 175 | 1 176 | 177 | 0 0 1.4 0 -0 0 178 | 179 | 180 | 181 | 7.5 0.2 2.8 182 | 183 | 184 | 10 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 0 197 | 198 | 199 | 7.5 0.2 2.8 200 | 201 | 202 | 203 | 208 | 209 | 210 | 211 | 0 212 | 0 213 | 214 | 0 215 | 0 216 | 1 217 | 218 | -2.53835 -1 0 0 -0 0 219 | 220 | 221 | 1 222 | 223 | 0 0 1.4 0 -0 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| 7.5 0.2 2.8 366 | 367 | 368 | 10 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 0 381 | 382 | 383 | 7.5 0.2 2.8 384 | 385 | 386 | 387 | 392 | 393 | 394 | 395 | 0 396 | 0 397 | 398 | 0 399 | 0 400 | 1 401 | 402 | -2 2 0 0 -0 0 403 | 404 | 405 | 1 406 | 407 | 0 0 1.4 0 -0 0 408 | 409 | 410 | 411 | 7.5 0.2 2.8 412 | 413 | 414 | 10 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 0 427 | 428 | 429 | 7.5 0.2 2.8 430 | 431 | 432 | 433 | 438 | 439 | 440 | 441 | 0 442 | 0 443 | 444 | 0 445 | 0 446 | 1 447 | 448 | 3 4.52028 0 0 -0 0 449 | 450 | 451 | 221 632000000 452 | 221 996865284 453 | 1414562832 935789187 454 | 455 | -4.45669 4.51369 0 0 -0 0 456 | 457 | -4.45669 4.51369 1.4 0 -0 0 458 | 0 0 0 0 -0 0 459 | 0 0 0 0 -0 0 460 | 0 0 0 0 -0 0 461 | 462 | 463 | 464 | -4.17438 -2.94975 0 0 -0 0 465 | 466 | -4.17438 -2.94975 1.4 0 -0 0 467 | 0 0 0 0 -0 0 468 | 0 0 0 0 -0 0 469 | 0 0 0 0 -0 0 470 | 471 | 472 | 473 | -8.24091 0.730795 0 0 0 -1.53854 474 | 475 | -8.24091 0.730795 1.4 0 0 -1.53854 476 | 0 0 0 0 -0 0 477 | 0 0 0 0 -0 0 478 | 0 0 0 0 -0 0 479 | 480 | 481 | 482 | -4.55904 0 0 0 -0 0 483 | 484 | -4.55904 0 1.4 0 -0 0 485 | 0 0 0 0 -0 0 486 | 0 0 0 0 -0 0 487 | 0 0 0 0 -0 0 488 | 489 | 490 | 491 | 1.76758 0.74778 0.002123 0 0 -1.57102 492 | 493 | 1.76758 0.74778 1.40212 0 0 -1.57102 494 | 0 0 0 0 -0 0 495 | 0 0 0 0 -0 0 496 | 0 0 0 0 -0 0 497 | 498 | 499 | 500 | 0.431481 -2.92293 0 0 -0 0 501 | 502 | 0.431481 -2.92293 1.4 0 -0 0 503 | 0 0 0 0 -0 0 504 | 0 0 0 0 -0 0 505 | 0 0 0 0 -0 0 506 | 507 | 508 | 509 | -2 2 0 0 -0 0 510 | 511 | -2 2 1.4 0 -0 0 512 | 0 0 0 0 -0 0 513 | 0 0 0 0 -0 0 514 | 0 0 0 0 -0 0 515 | 516 | 517 | 518 | 3 4.52028 0 0 -0 0 519 | 520 | 3 4.52028 1.4 0 -0 0 521 | 0 0 0 0 -0 0 522 | 0 0 0 0 -0 0 523 | 0 0 0 0 -0 0 524 | 525 | 526 | 527 | 0 0 0 0 -0 0 528 | 529 | 0 0 0 0 -0 0 530 | 0 0 0 0 -0 0 531 | 0 0 0 0 -0 0 532 | 0 0 0 0 -0 0 533 | 534 | 535 | 536 | 537 | 538 | 0.59881 -4.06701 27.182 -2.2526e-16 1.3218 2.2322 539 | orbit 540 | 541 | 542 | 543 | 544 | -------------------------------------------------------------------------------- /turtlebot_stage/rviz/robot_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 | - /Local Planning1 10 | - /Global Planning1 11 | - /Global Planning1/Planner1 12 | Splitter Ratio: 0.5 13 | Tree Height: 815 14 | - Class: rviz/Selection 15 | Name: Selection 16 | - Class: rviz/Tool Properties 17 | Expanded: 18 | - /2D Pose Estimate1 19 | - /2D Nav Goal1 20 | Name: Tool Properties 21 | Splitter Ratio: 0.588679 22 | - Class: rviz/Views 23 | Expanded: 24 | - /Current View1 25 | Name: Views 26 | Splitter Ratio: 0.5 27 | - Class: rviz/Time 28 | Experimental: false 29 | Name: Time 30 | SyncMode: 0 31 | SyncSource: LaserScan (kinect) 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 160; 160; 164 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.03 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 10 51 | Reference Frame: 52 | Value: true 53 | - Alpha: 1 54 | Class: rviz/RobotModel 55 | Collision Enabled: false 56 | Enabled: true 57 | Links: 58 | All Links Enabled: true 59 | Expand Joint Details: false 60 | Expand Link Details: false 61 | Expand Tree: false 62 | Link Tree Style: Links in Alphabetic Order 63 | base_footprint: 64 | Alpha: 1 65 | Show Axes: false 66 | Show Trail: false 67 | base_link: 68 | Alpha: 1 69 | Show Axes: false 70 | Show Trail: false 71 | Value: true 72 | camera_depth_frame: 73 | Alpha: 1 74 | Show Axes: false 75 | Show Trail: false 76 | camera_depth_optical_frame: 77 | Alpha: 1 78 | Show Axes: false 79 | Show Trail: false 80 | camera_link: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | Value: true 85 | camera_rgb_frame: 86 | Alpha: 1 87 | Show Axes: false 88 | Show Trail: false 89 | camera_rgb_optical_frame: 90 | Alpha: 1 91 | Show Axes: false 92 | Show Trail: false 93 | caster_back_link: 94 | Alpha: 1 95 | Show Axes: false 96 | Show Trail: false 97 | Value: true 98 | caster_front_link: 99 | Alpha: 1 100 | Show Axes: false 101 | Show Trail: false 102 | Value: true 103 | cliff_sensor_front_link: 104 | Alpha: 1 105 | Show Axes: false 106 | Show Trail: false 107 | cliff_sensor_left_link: 108 | Alpha: 1 109 | Show Axes: false 110 | Show Trail: false 111 | cliff_sensor_right_link: 112 | Alpha: 1 113 | Show Axes: false 114 | Show Trail: false 115 | gyro_link: 116 | Alpha: 1 117 | Show Axes: false 118 | Show Trail: false 119 | mount_asus_xtion_pro_link: 120 | Alpha: 1 121 | Show Axes: false 122 | Show Trail: false 123 | Value: true 124 | plate_bottom_link: 125 | Alpha: 1 126 | Show Axes: false 127 | Show Trail: false 128 | Value: true 129 | plate_middle_link: 130 | Alpha: 1 131 | Show Axes: false 132 | Show Trail: false 133 | Value: true 134 | plate_top_link: 135 | Alpha: 1 136 | Show Axes: false 137 | Show Trail: false 138 | Value: true 139 | pole_bottom_0_link: 140 | Alpha: 1 141 | Show Axes: false 142 | Show Trail: false 143 | Value: true 144 | pole_bottom_1_link: 145 | Alpha: 1 146 | Show Axes: false 147 | Show Trail: false 148 | Value: true 149 | pole_bottom_2_link: 150 | Alpha: 1 151 | Show Axes: false 152 | Show Trail: false 153 | Value: true 154 | pole_bottom_3_link: 155 | Alpha: 1 156 | Show Axes: false 157 | Show Trail: false 158 | Value: true 159 | pole_bottom_4_link: 160 | Alpha: 1 161 | Show Axes: false 162 | Show Trail: false 163 | Value: true 164 | pole_bottom_5_link: 165 | Alpha: 1 166 | Show Axes: false 167 | Show Trail: false 168 | Value: true 169 | pole_kinect_0_link: 170 | Alpha: 1 171 | Show Axes: false 172 | Show Trail: false 173 | Value: true 174 | pole_kinect_1_link: 175 | Alpha: 1 176 | Show Axes: false 177 | Show Trail: false 178 | Value: true 179 | pole_middle_0_link: 180 | Alpha: 1 181 | Show Axes: false 182 | Show Trail: false 183 | Value: true 184 | pole_middle_1_link: 185 | Alpha: 1 186 | Show Axes: false 187 | Show Trail: false 188 | Value: true 189 | pole_middle_2_link: 190 | Alpha: 1 191 | Show Axes: false 192 | Show Trail: false 193 | Value: true 194 | pole_middle_3_link: 195 | Alpha: 1 196 | Show Axes: false 197 | Show Trail: false 198 | Value: true 199 | pole_top_0_link: 200 | Alpha: 1 201 | Show Axes: false 202 | Show Trail: false 203 | Value: true 204 | pole_top_1_link: 205 | Alpha: 1 206 | Show Axes: false 207 | Show Trail: false 208 | Value: true 209 | pole_top_2_link: 210 | Alpha: 1 211 | Show Axes: false 212 | Show Trail: false 213 | Value: true 214 | pole_top_3_link: 215 | Alpha: 1 216 | Show Axes: false 217 | Show Trail: false 218 | Value: true 219 | wheel_left_link: 220 | Alpha: 1 221 | Show Axes: false 222 | Show Trail: false 223 | Value: true 224 | wheel_right_link: 225 | Alpha: 1 226 | Show Axes: false 227 | Show Trail: false 228 | Value: true 229 | Name: RobotModel 230 | Robot Description: robot_description 231 | TF Prefix: "" 232 | Update Interval: 0 233 | Value: true 234 | Visual Enabled: true 235 | - Class: rviz/TF 236 | Enabled: false 237 | Frame Timeout: 15 238 | Frames: 239 | All Enabled: false 240 | Marker Scale: 1 241 | Name: TF 242 | Show Arrows: true 243 | Show Axes: true 244 | Show Names: false 245 | Tree: 246 | {} 247 | Update Interval: 0 248 | Value: false 249 | - Alpha: 1 250 | Autocompute Intensity Bounds: true 251 | Autocompute Value Bounds: 252 | Max Value: 10 253 | Min Value: -10 254 | Value: true 255 | Axis: Z 256 | Channel Name: intensity 257 | Class: rviz/LaserScan 258 | Color: 255; 255; 255 259 | Color Transformer: Intensity 260 | Decay Time: 0 261 | Enabled: true 262 | Invert Rainbow: false 263 | Max Color: 255; 255; 255 264 | Max Intensity: 1 265 | Min Color: 0; 0; 0 266 | Min Intensity: 1 267 | Name: LaserScan (kinect) 268 | Position Transformer: XYZ 269 | Queue Size: 10 270 | Selectable: true 271 | Size (Pixels): 3 272 | Size (m): 0.01 273 | Style: Squares 274 | Topic: /scan 275 | Use Fixed Frame: true 276 | Use rainbow: true 277 | Value: true 278 | - Alpha: 1 279 | Autocompute Intensity Bounds: true 280 | Autocompute Value Bounds: 281 | Max Value: 10 282 | Min Value: -10 283 | Value: true 284 | Axis: Z 285 | Channel Name: intensity 286 | Class: rviz/LaserScan 287 | Color: 255; 255; 255 288 | Color Transformer: Intensity 289 | Decay Time: 0 290 | Enabled: true 291 | Invert Rainbow: false 292 | Max Color: 255; 255; 255 293 | Max Intensity: 285 294 | Min Color: 0; 0; 0 295 | Min Intensity: 2 296 | Name: LaserScan (ir sensors) 297 | Position Transformer: XYZ 298 | Queue Size: 10 299 | Selectable: true 300 | Size (Pixels): 3 301 | Size (m): 0.05 302 | Style: Flat Squares 303 | Topic: /ir_scan 304 | Use Fixed Frame: true 305 | Use rainbow: true 306 | Value: true 307 | - Alpha: 1 308 | Autocompute Intensity Bounds: true 309 | Autocompute Value Bounds: 310 | Max Value: 10 311 | Min Value: -10 312 | Value: true 313 | Axis: Z 314 | Channel Name: intensity 315 | Class: rviz/LaserScan 316 | Color: 255; 255; 255 317 | Color Transformer: Intensity 318 | Decay Time: 0 319 | Enabled: true 320 | Invert Rainbow: false 321 | Max Color: 255; 255; 255 322 | Max Intensity: 4096 323 | Min Color: 0; 0; 0 324 | Min Intensity: 0 325 | Name: LaserScan (virtual sensor) 326 | Position Transformer: XYZ 327 | Queue Size: 10 328 | Selectable: true 329 | Size (Pixels): 3 330 | Size (m): 0.02 331 | Style: Flat Squares 332 | Topic: /virtual_sensor_scan 333 | Use Fixed Frame: true 334 | Use rainbow: true 335 | Value: true 336 | - Alpha: 1 337 | Autocompute Intensity Bounds: true 338 | Autocompute Value Bounds: 339 | Max Value: 10 340 | Min Value: -10 341 | Value: true 342 | Axis: Z 343 | Channel Name: intensity 344 | Class: rviz/PointCloud2 345 | Color: 255; 255; 255 346 | Color Transformer: Intensity 347 | Decay Time: 0 348 | Enabled: true 349 | Invert Rainbow: false 350 | Max Color: 255; 255; 255 351 | Max Intensity: 4096 352 | Min Color: 0; 0; 0 353 | Min Intensity: 0 354 | Name: PointCloud (bumpers) 355 | Position Transformer: XYZ 356 | Queue Size: 10 357 | Selectable: true 358 | Size (Pixels): 3 359 | Size (m): 0.04 360 | Style: Flat Squares 361 | Topic: /mobile_base/sensors/bumper_pointcloud 362 | Use Fixed Frame: true 363 | Use rainbow: true 364 | Value: true 365 | - Alpha: 0.7 366 | Class: rviz/Map 367 | Color Scheme: map 368 | Draw Behind: false 369 | Enabled: true 370 | Name: Map 371 | Topic: /map 372 | Value: true 373 | - Class: rviz/Group 374 | Displays: 375 | - Alpha: 0.7 376 | Class: rviz/Map 377 | Color Scheme: costmap 378 | Draw Behind: false 379 | Enabled: false 380 | Name: Costmap 381 | Topic: /move_base/local_costmap/costmap 382 | Value: false 383 | - Alpha: 1 384 | Buffer Length: 1 385 | Class: rviz/Path 386 | Color: 0; 12; 255 387 | Enabled: true 388 | Line Style: Lines 389 | Line Width: 0.03 390 | Name: Planner 391 | Offset: 392 | X: 0 393 | Y: 0 394 | Z: 0 395 | Topic: /move_base/DWAPlannerROS/local_plan 396 | Value: true 397 | - Alpha: 0.5 398 | Autocompute Intensity Bounds: true 399 | Autocompute Value Bounds: 400 | Max Value: 10 401 | Min Value: -10 402 | Value: true 403 | Axis: Z 404 | Channel Name: total_cost 405 | Class: rviz/PointCloud2 406 | Color: 255; 255; 255 407 | Color Transformer: Intensity 408 | Decay Time: 0 409 | Enabled: true 410 | Invert Rainbow: false 411 | Max Color: 255; 255; 255 412 | Max Intensity: 726.3 413 | Min Color: 0; 0; 0 414 | Min Intensity: 0 415 | Name: Cost Cloud 416 | Position Transformer: XYZ 417 | Queue Size: 10 418 | Selectable: true 419 | Size (Pixels): 3 420 | Size (m): 0.04 421 | Style: Flat Squares 422 | Topic: /move_base/DWAPlannerROS/cost_cloud 423 | Use Fixed Frame: true 424 | Use rainbow: true 425 | Value: true 426 | - Alpha: 1 427 | Autocompute Intensity Bounds: true 428 | Autocompute Value Bounds: 429 | Max Value: 10 430 | Min Value: -10 431 | Value: true 432 | Axis: Z 433 | Channel Name: total_cost 434 | Class: rviz/PointCloud2 435 | Color: 255; 255; 255 436 | Color Transformer: Intensity 437 | Decay Time: 0 438 | Enabled: false 439 | Invert Rainbow: false 440 | Max Color: 255; 255; 255 441 | Max Intensity: 128.275 442 | Min Color: 0; 0; 0 443 | Min Intensity: 43.2 444 | Name: Trajectory Cloud 445 | Position Transformer: XYZ 446 | Queue Size: 10 447 | Selectable: true 448 | Size (Pixels): 3 449 | Size (m): 0.04 450 | Style: Flat Squares 451 | Topic: /move_base/DWAPlannerROS/trajectory_cloud 452 | Use Fixed Frame: true 453 | Use rainbow: false 454 | Value: false 455 | Enabled: true 456 | Name: Local Planning 457 | - Class: rviz/Group 458 | Displays: 459 | - Alpha: 0.4 460 | Class: rviz/Map 461 | Color Scheme: costmap 462 | Draw Behind: true 463 | Enabled: true 464 | Name: Costmap 465 | Topic: /move_base/global_costmap/costmap 466 | Value: true 467 | - Alpha: 1 468 | Buffer Length: 1 469 | Class: rviz/Path 470 | Color: 255; 0; 0 471 | Enabled: true 472 | Line Style: Lines 473 | Line Width: 0.03 474 | Name: Planner 475 | Offset: 476 | X: 0 477 | Y: 0 478 | Z: 0 479 | Topic: /move_base/DWAPlannerROS/global_plan 480 | Value: true 481 | Enabled: true 482 | Name: Global Planning 483 | - Alpha: 1 484 | Axes Length: 1 485 | Axes Radius: 0.1 486 | Class: rviz/Pose 487 | Color: 255; 25; 0 488 | Enabled: true 489 | Head Length: 0.2 490 | Head Radius: 0.1 491 | Name: Pose (move_base) 492 | Shaft Length: 1 493 | Shaft Radius: 0.05 494 | Shape: Arrow 495 | Topic: /move_base/current_goal 496 | Value: true 497 | - Arrow Length: 0.2 498 | Class: rviz/PoseArray 499 | Color: 0; 192; 0 500 | Enabled: true 501 | Name: ParticleCloud 502 | Topic: /particlecloud 503 | Value: true 504 | - Alpha: 1 505 | Buffer Length: 1 506 | Class: rviz/Path 507 | Color: 25; 255; 0 508 | Enabled: true 509 | Line Style: Lines 510 | Line Width: 0.03 511 | Name: Path (global) 512 | Offset: 513 | X: 0 514 | Y: 0 515 | Z: 0 516 | Topic: /move_base/NavfnROS/plan 517 | Value: true 518 | - Angle Tolerance: 0.1 519 | Class: rviz/Odometry 520 | Color: 48; 48; 48 521 | Enabled: false 522 | Keep: 10 523 | Length: 0.4 524 | Name: Odometry 525 | Position Tolerance: 0.1 526 | Topic: /odom 527 | Value: false 528 | - Class: rviz/MarkerArray 529 | Enabled: false 530 | Marker Topic: /move_base/EBandPlannerROS/eband_visualization_array 531 | Name: EBand boubles 532 | Namespaces: 533 | {} 534 | Queue Size: 100 535 | Value: false 536 | Enabled: true 537 | Global Options: 538 | Background Color: 48; 48; 48 539 | Fixed Frame: map 540 | Frame Rate: 30 541 | Name: root 542 | Tools: 543 | - Class: rviz/MoveCamera 544 | - Class: rviz/Interact 545 | Hide Inactive Objects: true 546 | - Class: rviz/Select 547 | - Class: rviz/SetInitialPose 548 | Topic: /initialpose 549 | - Class: rviz/SetGoal 550 | Topic: /move_base_simple/goal 551 | - Class: rviz/Measure 552 | Value: true 553 | Views: 554 | Current: 555 | Class: rviz/Orbit 556 | Distance: 19.1137 557 | Enable Stereo Rendering: 558 | Stereo Eye Separation: 0.06 559 | Stereo Focal Distance: 1 560 | Swap Stereo Eyes: false 561 | Value: false 562 | Focal Point: 563 | X: 5.01262 564 | Y: 4.28547 565 | Z: -0.424504 566 | Name: Current View 567 | Near Clip Distance: 0.01 568 | Pitch: 1.5298 569 | Target Frame: base_link 570 | Value: Orbit (rviz) 571 | Yaw: 6.14821 572 | Saved: ~ 573 | Window Geometry: 574 | Displays: 575 | collapsed: false 576 | Height: 1028 577 | Hide Left Dock: false 578 | Hide Right Dock: false 579 | QMainWindow State: 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580 | Selection: 581 | collapsed: false 582 | Time: 583 | collapsed: false 584 | Tool Properties: 585 | collapsed: false 586 | Views: 587 | collapsed: false 588 | Width: 1869 589 | X: 41 590 | Y: 14 591 | -------------------------------------------------------------------------------- /turtlebot_gazebo/worlds/playground.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1 5 | 0 0 10 0 -0 0 6 | 0.8 0.8 0.8 1 7 | 0.2 0.2 0.2 1 8 | 9 | 1000 10 | 0.9 11 | 0.01 12 | 0.001 13 | 14 | 0.5 0.1 -0.9 15 | 16 | 17 | 0.4 0.4 0.4 1 18 | 0.7 0.7 0.7 1 19 | 1 20 | 21 | 22 | 0.01 23 | 1 24 | 100 25 | 0 0 -9.8 26 | 27 | 28 | 1 29 | 30 | 31 | 1 32 | 33 | 34 | 0 0.005 0.6 0 -0 0 35 | 36 | 37 | 0.9 0.01 1.2 38 | 39 | 40 | 10 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 0 0.005 0.6 0 -0 0 53 | 54 | 55 | 0.9 0.01 1.2 56 | 57 | 58 | 59 | 63 | 64 | 65 | 66 | 0.45 -0.195 0.6 0 -0 0 67 | 68 | 69 | 0.02 0.4 1.2 70 | 71 | 72 | 10 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 0.45 -0.195 0.6 0 -0 0 85 | 86 | 87 | 0.02 0.4 1.2 88 | 89 | 90 | 91 | 95 | 96 | 97 | 98 | -0.45 -0.195 0.6 0 -0 0 99 | 100 | 101 | 0.02 0.4 1.2 102 | 103 | 104 | 10 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | -0.45 -0.195 0.6 0 -0 0 117 | 118 | 119 | 0.02 0.4 1.2 120 | 121 | 122 | 123 | 127 | 128 | 129 | 130 | 0 -0.195 0.03 0 -0 0 131 | 132 | 133 | 0.88 0.4 0.06 134 | 135 | 136 | 10 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 0 -0.195 0.03 0 -0 0 149 | 150 | 151 | 0.88 0.4 0.06 152 | 153 | 154 | 155 | 159 | 160 | 161 | 162 | 0 -0.195 1.19 0 -0 0 163 | 164 | 165 | 0.88 0.4 0.02 166 | 167 | 168 | 10 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 0 -0.195 1.19 0 -0 0 181 | 182 | 183 | 0.88 0.4 0.02 184 | 185 | 186 | 187 | 191 | 192 | 193 | 194 | 0 -0.195 0.43 0 -0 0 195 | 196 | 197 | 0.88 0.4 0.02 198 | 199 | 200 | 10 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 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