├── resource
    └── vacuumcleaner
├── vacuumcleaner
    ├── __init__.py
    └── spawn_entity.py
├── setup.cfg
├── package.xml
├── README.md
├── launch
    ├── launch_slam.py
    ├── launch_main.py
    └── launch_nav2.py
├── setup.py
├── config
    ├── slam.yaml
    ├── nav2.yaml
    └── rviz.rviz
└── models
    ├── robot.xacro
    └── worlds
        ├── square_2m
        └── square


/resource/vacuumcleaner:
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1 | 


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/vacuumcleaner/__init__.py:
--------------------------------------------------------------------------------
1 | 


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/setup.cfg:
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1 | [develop]
2 | script-dir=$base/lib/vacuumcleaner
3 | [install]
4 | install-scripts=$base/lib/vacuumcleaner
5 | 


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/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>vacuumcleaner</name>
 5 |   <version>0.0.0</version>
 6 |   <description>TODO: Package description</description>
 7 |   <maintainer email="william@todo.todo">william</maintainer>
 8 |   <license>TODO: License declaration</license>
 9 | 
10 |   <test_depend>ament_copyright</test_depend>
11 |   <test_depend>ament_flake8</test_depend>
12 |   <test_depend>ament_pep257</test_depend>
13 |   <test_depend>python3-pytest</test_depend>
14 | 
15 |   <export>
16 |     <build_type>ament_python</build_type>
17 |   </export>
18 |   <exec_depend>joint_state_publisher</exec_depend>
19 | </package>
20 | 


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/README.md:
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 1 | # Vacuum cleaner robot
 2 | 
 3 |   
 4 | 
 5 | ## Brief
 6 | 
 7 | Scan data of a LIDAR is combined with odometry provided by the differential drive to implement a SLAM capable platform.
 8 | 
 9 | The resulting map is used by an online coverage algorithm to plan a route.
10 | 
11 |   
12 | 
13 | ## How to build
14 | 
15 | ## How to run
16 | 
17 | * Start default planning algorithm in default room: roslaunch vacuumcleaner simulation.launch robot_radius:=X spiral_delta_denominator:=Y
18 | 
19 |   
20 | 
21 | ### launch file parameters
22 | 
23 | robot_radius: mandatory -> radius of body disk and unit is meters
24 | 
25 | spiral_delta_denominator: mandatory -> cfr planning algorithm. Subsequent goal points for stage 1 spiral planning lay 
26 | <img src="https://render.githubusercontent.com/render/math?math=\dfrac{\pi}{\text{spiral_delta_denominator}}" /> radians apart.


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/launch/launch_slam.py:
--------------------------------------------------------------------------------
 1 | from launch import LaunchDescription
 2 | from launch.actions import DeclareLaunchArgument
 3 | from launch.substitutions import LaunchConfiguration
 4 | from launch_ros.actions import Node
 5 | from ament_index_python.packages import get_package_share_directory
 6 | 
 7 | 
 8 | def generate_launch_description():
 9 |     use_sim_time = LaunchConfiguration('use_sim_time')
10 | 
11 |     declare_use_sim_time_argument = DeclareLaunchArgument(
12 |         'use_sim_time',
13 |         default_value='true',
14 |         description='Use simulation/Gazebo clock')
15 | 
16 |     start_async_slam_toolbox_node = Node(
17 |         parameters=[
18 |           get_package_share_directory("vacuumcleaner") + '/slam.yaml',
19 |           {'use_sim_time': use_sim_time}
20 |         ],
21 |         package='slam_toolbox',
22 |         node_executable='async_slam_toolbox_node',
23 |         name='slam_toolbox',
24 |         output='screen')
25 | 
26 |     ld = LaunchDescription()
27 | 
28 |     ld.add_action(declare_use_sim_time_argument)
29 |     ld.add_action(start_async_slam_toolbox_node)
30 | 
31 |     return ld
32 | 


--------------------------------------------------------------------------------
/setup.py:
--------------------------------------------------------------------------------
 1 | from setuptools import setup
 2 | from glob import glob
 3 | package_name = 'vacuumcleaner'
 4 | 
 5 | setup(
 6 |     name=package_name,
 7 |     version='0.0.0',
 8 |     packages=[package_name],
 9 |     data_files=[
10 |         ('share/ament_index/resource_index/packages',
11 |             ['resource/' + package_name]),
12 |         ('share/' + package_name, ['package.xml']),
13 |         ('share/' + package_name, glob('launch/launch_main.py')),
14 |         ('share/' + package_name, glob('launch/launch_slam.py')),
15 |         ('share/' + package_name, glob('launch/launch_nav2.py')),
16 |         ('share/' + package_name, glob('config/slam.yaml')),
17 |         ('share/' + package_name, glob('config/nav2.yaml')),
18 |         ('share/' + package_name, glob('config/rviz.rviz')),
19 |         ('share/' + package_name, glob('models/robot.xacro')),
20 |         ('share/' + package_name, glob('models/worlds/square_2m'))
21 |     ],
22 |     install_requires=['setuptools'],
23 |     zip_safe=True,
24 |     maintainer='william',
25 |     maintainer_email='william@todo.todo',
26 |     description='TODO: Package description',
27 |     license='TODO: License declaration',
28 |     tests_require=['pytest'],
29 |     entry_points={
30 |         'console_scripts': [
31 |             'spawn_entity = vacuumcleaner.spawn_entity:main'
32 |         ],
33 |     },
34 | )
35 | 


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/vacuumcleaner/spawn_entity.py:
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 1 | # https://answers.ros.org/question/314607/spawn-model-with-ros2-gazebo/
 2 | import os
 3 | import sys
 4 | import rclpy
 5 | from ament_index_python.packages import get_package_share_directory
 6 | from gazebo_msgs.srv import SpawnEntity
 7 | 
 8 | # arg O = x
 9 | # arg 1 = y
10 | # arg 2 = z
11 | def main():
12 | 
13 |     argv = sys.argv[1:]
14 | 
15 |     # Start node
16 |     rclpy.init()
17 |     node = rclpy.create_node("entity_spawner")
18 |     node.get_logger().info('Creating Service client to connect to `/spawn_entity`')
19 | 
20 |     client = node.create_client(SpawnEntity, "/spawn_entity")
21 |     node.get_logger().info("Connecting to `/spawn_entity` service...")
22 | 
23 |     if not client.service_is_ready():
24 |         client.wait_for_service()
25 |         node.get_logger().info("...connected!")
26 | 
27 |     sdf_file_path = os.path.join(get_package_share_directory("vacuumcleaner"), "robot.urdf")
28 | 
29 |     # Set data for request
30 |     request = SpawnEntity.Request()
31 |     request.name = "spawn entity"
32 |     request.xml = open(sdf_file_path, 'r').read()
33 |     request.initial_pose.position.x = float(argv[0])
34 |     request.initial_pose.position.y = float(argv[1])
35 |     request.initial_pose.position.z = float(argv[2])
36 | 
37 |     node.get_logger().info("Sending service request to `/spawn_entity`")
38 |     future = client.call_async(request)
39 |     rclpy.spin_until_future_complete(node, future)
40 |     if future.result() is not None:
41 |         print('response: %r' % future.result())
42 |     else:
43 |         raise RuntimeError('exception while calling service: %r' % future.exception())
44 | 
45 |     node.get_logger().info("Done! Shutting down node.")
46 |     node.destroy_node()
47 |     rclpy.shutdown()
48 | 
49 | 
50 | if __name__ == "__main__":
51 |     main()


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/config/slam.yaml:
--------------------------------------------------------------------------------
 1 | slam_toolbox:
 2 |   ros__parameters:
 3 | 
 4 |     # Plugin params
 5 |     solver_plugin: solver_plugins::CeresSolver
 6 |     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
 7 |     ceres_preconditioner: SCHUR_JACOBI
 8 |     ceres_trust_strategy: LEVENBERG_MARQUARDT
 9 |     ceres_dogleg_type: TRADITIONAL_DOGLEG
10 |     ceres_loss_function: None
11 | 
12 |     # ROS Parameters
13 |     odom_frame: odom
14 |     map_frame: map
15 |     base_frame: scan_link
16 |     scan_topic: /scan
17 |     mode: mapping #localization
18 | 
19 |     # if you'd like to immediately start continuing a map at a given pose
20 |     # or at the dock, but they are mutually exclusive, if pose is given
21 |     # will use pose
22 |     #map_file_name: test_steve
23 |     # map_start_pose: [0.0, 0.0, 0.0]
24 |     #map_start_at_dock: true
25 | 
26 |     debug_logging: false
27 |     throttle_scans: 1
28 |     transform_publish_period: 0.02 #if 0 never publishes odometry
29 |     map_update_interval: 5.0
30 |     resolution: 0.05
31 |     max_laser_range: 4.0 #for rastering images
32 |     minimum_time_interval: 0.5
33 |     transform_timeout: 0.2
34 |     tf_buffer_duration: 30.
35 |     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
36 |     enable_interactive_mode: false
37 | 
38 |     # General Parameters
39 |     use_scan_matching: true
40 |     use_scan_barycenter: true
41 |     minimum_travel_distance: 0.5
42 |     minimum_travel_heading: 0.5
43 |     scan_buffer_size: 10
44 |     scan_buffer_maximum_scan_distance: 10.0
45 |     link_match_minimum_response_fine: 0.1
46 |     link_scan_maximum_distance: 1.5
47 |     loop_search_maximum_distance: 3.0
48 |     do_loop_closing: true
49 |     loop_match_minimum_chain_size: 10
50 |     loop_match_maximum_variance_coarse: 3.0
51 |     loop_match_minimum_response_coarse: 0.35
52 |     loop_match_minimum_response_fine: 0.45
53 | 
54 |     # Correlation Parameters - Correlation Parameters
55 |     correlation_search_space_dimension: 0.5
56 |     correlation_search_space_resolution: 0.01
57 |     correlation_search_space_smear_deviation: 0.1
58 | 
59 |     # Correlation Parameters - Loop Closure Parameters
60 |     loop_search_space_dimension: 8.0
61 |     loop_search_space_resolution: 0.05
62 |     loop_search_space_smear_deviation: 0.03
63 | 
64 |     # Scan Matcher Parameters
65 |     distance_variance_penalty: 0.5
66 |     angle_variance_penalty: 1.0
67 | 
68 |     fine_search_angle_offset: 0.00349
69 |     coarse_search_angle_offset: 0.349
70 |     coarse_angle_resolution: 0.0349
71 |     minimum_angle_penalty: 0.9
72 |     minimum_distance_penalty: 0.5
73 |     use_response_expansion: true
74 | 


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/launch/launch_main.py:
--------------------------------------------------------------------------------
 1 | from launch import LaunchDescription
 2 | from launch.actions import DeclareLaunchArgument
 3 | from launch.actions import IncludeLaunchDescription
 4 | from launch.conditions import IfCondition
 5 | from launch.launch_description_sources import PythonLaunchDescriptionSource
 6 | from launch.substitutions import LaunchConfiguration
 7 | from ament_index_python.packages import get_package_share_directory
 8 | from launch_ros.actions import Node
 9 | 
10 | 
11 | # https://github.com/bponsler/xacro
12 | def xacro_to_urdf(xacro_name, urdf_name):
13 |     from xacro import process_file, open_output
14 |     doc = process_file(get_package_share_directory("vacuumcleaner")+'/'+xacro_name)
15 |     out = open_output(get_package_share_directory("vacuumcleaner")+'/'+urdf_name)
16 |     out.write(doc.toprettyxml(indent='  '))
17 | 
18 | 
19 | def file_get_contents(filename):
20 |     with open(filename) as f:
21 |         return f.read()
22 | 
23 | 
24 | def generate_launch_description():
25 |     xacro_to_urdf("robot.xacro", "robot.urdf")
26 |     nav2_launchfile = IncludeLaunchDescription(
27 |         PythonLaunchDescriptionSource([get_package_share_directory("vacuumcleaner"), '/launch_nav2.py']),
28 |         launch_arguments={'use_sim_time': 'True'}.items()
29 |     )
30 |     slam_launchfile = IncludeLaunchDescription(
31 |         PythonLaunchDescriptionSource([get_package_share_directory("vacuumcleaner"), '/launch_slam.py']),
32 |     )
33 |     model_path = file_get_contents(get_package_share_directory("vacuumcleaner")+"/robot.urdf")
34 |     rviz_path = get_package_share_directory("vacuumcleaner") + "/rviz.rviz"
35 |     print("using rviz file: "+ rviz_path)
36 |     state_publisher_node = Node(
37 |         package='robot_state_publisher',
38 |         executable='robot_state_publisher',
39 |         name='robot_state_publisher',
40 |         output='screen',
41 |         parameters=[{'use_tf_static': False,
42 |                      'use_sim_time': True,
43 |                      'robot_description': model_path}],
44 |         remappings=[('/joint_states', '/vacuumcleaner/joint_states')])
45 | 
46 |     return LaunchDescription([
47 |         DeclareLaunchArgument('simulation',
48 |                               default_value="false",
49 |                               description='Use gazebo to simulate robot i.s.o. physical robot. Requires "gazebo_ros" '
50 |                                           'ros package to be installed. Supply world file using "world:=<file>"'),
51 |         nav2_launchfile,
52 |         state_publisher_node,
53 |         IncludeLaunchDescription(
54 |             PythonLaunchDescriptionSource([get_package_share_directory("gazebo_ros"), '/launch/gazebo.launch.py']),
55 |             condition=IfCondition(LaunchConfiguration('simulation')),
56 |             launch_arguments=[("world",[get_package_share_directory("vacuumcleaner"), '/', LaunchConfiguration('world')])] #"/home/william/ros_ws/src/vacuumcleaner/models/worlds/square_2m"
57 |         ),
58 |         Node(executable='rviz2', package='rviz2', arguments=['-d'+rviz_path]),
59 |         Node(package="vacuumcleaner", executable="spawn_entity", arguments=["0.0", "0.0", "0.0"]),
60 |         slam_launchfile,
61 |     ])


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/launch/launch_nav2.py:
--------------------------------------------------------------------------------
  1 | # Copyright (c) 2018 Intel Corporation
  2 | #
  3 | # Licensed under the Apache License, Version 2.0 (the "License");
  4 | # you may not use this file except in compliance with the License.
  5 | # You may obtain a copy of the License at
  6 | #
  7 | #     http://www.apache.org/licenses/LICENSE-2.0
  8 | #
  9 | # Unless required by applicable law or agreed to in writing, software
 10 | # distributed under the License is distributed on an "AS IS" BASIS,
 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 12 | # See the License for the specific language governing permissions and
 13 | # limitations under the License.
 14 | 
 15 | import os
 16 | 
 17 | from ament_index_python.packages import get_package_share_directory
 18 | 
 19 | from launch import LaunchDescription
 20 | from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
 21 | from launch.substitutions import LaunchConfiguration
 22 | from launch_ros.actions import Node
 23 | from nav2_common.launch import RewrittenYaml
 24 | 
 25 | 
 26 | def generate_launch_description():
 27 |     # Get the launch directory
 28 |     bringup_dir = get_package_share_directory('vacuumcleaner')
 29 | 
 30 |     namespace = LaunchConfiguration('namespace')
 31 |     use_sim_time = LaunchConfiguration('use_sim_time')
 32 |     autostart = LaunchConfiguration('autostart')
 33 |     params_file = LaunchConfiguration('params_file')
 34 |     default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
 35 |     map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
 36 | 
 37 |     lifecycle_nodes = ['controller_server',
 38 |                        'planner_server',
 39 |                        'recoveries_server',
 40 |                        'bt_navigator',
 41 |                        'waypoint_follower']
 42 | 
 43 |     # Map fully qualified names to relative ones so the node's namespace can be prepended.
 44 |     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
 45 |     # https://github.com/ros/geometry2/issues/32
 46 |     # https://github.com/ros/robot_state_publisher/pull/30
 47 |     # TODO(orduno) Substitute with `PushNodeRemapping`
 48 |     #              https://github.com/ros2/launch_ros/issues/56
 49 |     remappings = [('/tf', 'tf'),
 50 |                   ('/tf_static', 'tf_static')]
 51 | 
 52 |     # Create our own temporary YAML files that include substitutions
 53 |     param_substitutions = {
 54 |         'use_sim_time': use_sim_time,
 55 |         'default_bt_xml_filename': default_bt_xml_filename,
 56 |         'autostart': autostart,
 57 |         'map_subscribe_transient_local': map_subscribe_transient_local}
 58 | 
 59 |     configured_params = RewrittenYaml(
 60 |             source_file=params_file,
 61 |             root_key=namespace,
 62 |             param_rewrites=param_substitutions,
 63 |             convert_types=True)
 64 | 
 65 |     return LaunchDescription([
 66 |         # Set env var to print messages to stdout immediately
 67 |         SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
 68 | 
 69 |         DeclareLaunchArgument(
 70 |             'namespace', default_value='',
 71 |             description='Top-level namespace'),
 72 | 
 73 |         DeclareLaunchArgument(
 74 |             'use_sim_time', default_value='false',
 75 |             description='Use simulation (Gazebo) clock if true'),
 76 | 
 77 |         DeclareLaunchArgument(
 78 |             'autostart', default_value='true',
 79 |             description='Automatically startup the nav2 stack'),
 80 | 
 81 |         DeclareLaunchArgument(
 82 |             'params_file',
 83 |             default_value=os.path.join(bringup_dir, 'nav2.yaml'),
 84 |             description='Full path to the ROS2 parameters file to use'),
 85 | 
 86 |         DeclareLaunchArgument(
 87 |             'default_bt_xml_filename',
 88 |             default_value=os.path.join(
 89 |                 get_package_share_directory('nav2_bt_navigator'),
 90 |                 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
 91 |             description='Full path to the behavior tree xml file to use'),
 92 | 
 93 |         DeclareLaunchArgument(
 94 |             'map_subscribe_transient_local', default_value='false',
 95 |             description='Whether to set the map subscriber QoS to transient local'),
 96 | 
 97 |         Node(
 98 |             package='nav2_controller',
 99 |             executable='controller_server',
100 |             output='screen',
101 |             parameters=[configured_params],
102 |             remappings=remappings),
103 | 
104 |         Node(
105 |             package='nav2_planner',
106 |             executable='planner_server',
107 |             name='planner_server',
108 |             output='screen',
109 |             parameters=[configured_params],
110 |             remappings=remappings),
111 | 
112 |         Node(
113 |             package='nav2_recoveries',
114 |             executable='recoveries_server',
115 |             name='recoveries_server',
116 |             output='screen',
117 |             parameters=[configured_params],
118 |             remappings=remappings),
119 | 
120 |         Node(
121 |             package='nav2_bt_navigator',
122 |             executable='bt_navigator',
123 |             name='bt_navigator',
124 |             output='screen',
125 |             parameters=[configured_params],
126 |             remappings=remappings),
127 | 
128 |         Node(
129 |             package='nav2_waypoint_follower',
130 |             executable='waypoint_follower',
131 |             name='waypoint_follower',
132 |             output='screen',
133 |             parameters=[configured_params],
134 |             remappings=remappings),
135 | 
136 |         Node(
137 |             package='nav2_lifecycle_manager',
138 |             executable='lifecycle_manager',
139 |             name='lifecycle_manager_navigation',
140 |             output='screen',
141 |             parameters=[{'use_sim_time': use_sim_time},
142 |                         {'autostart': autostart},
143 |                         {'node_names': lifecycle_nodes}]),
144 | 
145 |     ])
146 | 


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/models/robot.xacro:
--------------------------------------------------------------------------------
  1 | <robot name="vacuumcleaner" xmlns:xacro="http://wiki.ros.org/xacro">
  2 |   <!-- Radius of center disk (meters) -->
  3 |   <xacro:arg name="body_radius" default="0.1"/>
  4 | 
  5 |   <!-- Height of center disk (meters)-->
  6 |   <xacro:property name="body_height" value="0.04"/>
  7 |   <xacro:property name="wheel_height" value="0.018" />
  8 |   <xacro:macro name="sphere_inertia" params="m r">
  9 |     <inertial>
 10 |       <mass value="${m}"/>
 11 |       <inertia ixx="${2.0*m*(r*r)/5.0}" ixy="0.0" ixz="0.0" iyy="${2.0*m*(r*r)/5.0}" iyz="0.0" izz="${2.0*m*(r*r)/5.0}"/>
 12 |     </inertial>
 13 |   </xacro:macro>
 14 |   <xacro:macro name="disk_inertia" params="mass radius height orientation">
 15 |     <inertial>
 16 |       <debug mass="${mass}" radius="${radius}" height="${height}" />
 17 |       <origin rpy="${orientation}" xyz="0 0 0" />
 18 |       <mass value="${mass}" />
 19 |       <inertia
 20 |         ixx="${1/12 * mass * (3* radius * radius + height * height)}"
 21 |         ixy="0"
 22 |         ixz="0"
 23 |         iyy="${1/12 * mass * (3* radius * radius + height * height)}"
 24 |         iyz="0"
 25 |         izz="${1/2 * mass * radius * radius}" />
 26 |     </inertial>
 27 |   </xacro:macro>
 28 | 
 29 |   <xacro:macro name="wheel" params="suffix radius length xoffset yoffset zoffset">
 30 |      <link name="link_${suffix}_wheel">
 31 |      <xacro:disk_inertia mass="0.250" radius="${radius}" height="${length}" orientation="0 1.5757 1.5757"/>
 32 |      <collision name="link_${suffix}_wheel_collision">
 33 |         <origin rpy="0 1.5757 1.5757" xyz="0 0 0" />
 34 |         <geometry>
 35 |           <cylinder length="${length}" radius="${radius}" />
 36 |         </geometry>
 37 |      </collision>
 38 |       <visual name="link_${suffix}_wheel_visual">
 39 |         <origin rpy="0 1.5757 1.5757" xyz="0 0 0" />
 40 |         <geometry>
 41 |           <cylinder length="${length}" radius="${radius}" />
 42 |         </geometry>
 43 |       </visual>
 44 |     </link>
 45 |      <gazebo reference="link_${suffix}_wheel">
 46 |        <kp>1000000.0</kp>
 47 |        <kd>100.0</kd>
 48 |        <mu1>1.0</mu1>
 49 |        <mu2>1.0</mu2>
 50 |        <fdir1>1 0 0</fdir1>
 51 |        <maxVel>1.0</maxVel>
 52 |        <minDepth>0.00</minDepth>
 53 |     </gazebo>
 54 |    <joint name="joint_${suffix}_wheel" type="continuous">
 55 |        <origin rpy="0 0 0" xyz="${xoffset} ${yoffset} ${zoffset}" />
 56 |        <child link="link_${suffix}_wheel" />
 57 |        <parent link="base_link" />
 58 |        <axis rpy="0 0 0" xyz="0 1 0" />
 59 |        <!--<limit effort="10000" velocity="1000" />-->
 60 |     </joint>
 61 |   </xacro:macro>
 62 | 
 63 |   <xacro:wheel suffix="left" radius="0.030" length="${wheel_height}" xoffset="0" yoffset="${$(arg body_radius)-wheel_height/2}" zoffset="-0.055"/>
 64 |   <xacro:wheel suffix="right" radius="0.030" length="${wheel_height}" xoffset="0" yoffset="${-$(arg body_radius)+wheel_height/2}" zoffset="-0.055"/>
 65 | 
 66 |   <link name="virtual_base_link" />
 67 |   <joint name="virtual_base_link_joint" type="fixed">
 68 |      <parent link="virtual_base_link"/>
 69 |      <child link="base_link"/>
 70 |   </joint>
 71 | 
 72 |   <link name="base_link">
 73 |     <xacro:disk_inertia mass="0.850" radius="$(arg body_radius)" height="${body_height}" orientation="0 0 0" />
 74 |     <visual>
 75 |       <geometry>
 76 | 	      <cylinder length="${body_height}" radius="$(arg body_radius)" />
 77 |       </geometry>
 78 |     </visual>
 79 |     <collision name="base_link_collision">
 80 |       <geometry>
 81 | 	      <cylinder length="${body_height}" radius="$(arg body_radius)" />
 82 |       </geometry>
 83 |     </collision>
 84 |   </link>
 85 |   <!--
 86 |   <gazebo reference="base_link">
 87 |     <sensor name='bumper_contact' type='contact'>
 88 |       <plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
 89 |         <bumperTopicName>bumper_vals</bumperTopicName>
 90 |         <frameName>map</frameName>
 91 |         <alwaysOn>true</alwaysOn>
 92 |         <updateRate>4.0</updateRate>
 93 |       </plugin>
 94 |       <always_on>true</always_on>
 95 |       <update_rate>4.0</update_rate>
 96 |       <contact>
 97 |         <collision>base_link_collision_collision</collision>
 98 |       </contact>
 99 |     </sensor>
100 |   </gazebo>
101 |   -->
102 | 
103 |    <link name="caster_wheel">
104 |     <visual>
105 |       <origin xyz="0 0 0" rpy="0 0 0"/>
106 |       <geometry>
107 |         <sphere radius="0.030"/>
108 |       </geometry>
109 |     </visual>
110 |     <collision>
111 |       <origin xyz="0 0 0" rpy="0 0 0"/>
112 |       <geometry>
113 |         <sphere radius="0.030"/>
114 |       </geometry>
115 |     </collision>
116 |     <xacro:sphere_inertia m="1" r="0.033"/>
117 |   </link>
118 |   <gazebo reference="caster_wheel">
119 |        <kp>1000000.0</kp>
120 |        <kd>100.0</kd>
121 |        <mu1>0</mu1>
122 |        <mu2>0</mu2>
123 |        <fdir1>1 0 0</fdir1>
124 |        <maxVel>1.0</maxVel>
125 |        <minDepth>0.00</minDepth>
126 |        <material>Gazebo/ZincYellow</material>
127 |     </gazebo>
128 | 
129 |   <joint name="caster_wheel_joint" type="fixed">
130 |     <axis xyz="0 1 0" rpy="0 0 0" />
131 |     <parent link="base_link"/>
132 |     <child link="caster_wheel"/>
133 |     <origin rpy="0 0 0" xyz="${$(arg body_radius)-0.03} 0 -0.055" />
134 |   </joint>
135 |   <gazebo>
136 |    <plugin name="gazebo_ros_diff_drive" filename="libgazebo_ros_diff_drive.so">
137 |       <ros_debug_level>na</ros_debug_level>
138 |       <update_rate>30</update_rate>
139 |       <left_joint>joint_left_wheel</left_joint>
140 |       <right_joint>joint_right_wheel</right_joint>
141 |       <wheel_separation>${2*$(arg body_radius)}</wheel_separation>
142 |       <wheel_diameter>0.066</wheel_diameter>
143 |       <wheel_torque>5</wheel_torque>
144 |       <command_topic>/cmd_vel</command_topic>
145 |       <publish_odom>true</publish_odom>
146 |       <publish_odom_tf>true</publish_odom_tf>
147 |       <publish_wheel_tf>false</publish_wheel_tf>
148 |       <odometry_topic>odom</odometry_topic>
149 |       <wheel_acceleration>1.0</wheel_acceleration>
150 |       <odometry_frame>odom</odometry_frame>
151 |       <robot_base_frame>virtual_base_link</robot_base_frame>
152 |     </plugin>
153 |   </gazebo>
154 |   <gazebo>
155 |     <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
156 |       <ros>
157 |         <argument>--remap ~/out:=joint_states</argument>
158 |       </ros>
159 |       <update_rate>30</update_rate>
160 |       <joint_name>joint_left_wheel</joint_name>
161 |       <joint_name>joint_right_wheel</joint_name>
162 |     </plugin>
163 |   </gazebo>
164 |   <link name="scan_link">
165 |     <visual>
166 |       <geometry>
167 |         <sphere radius="0.05" />
168 |       </geometry>
169 |       <material name="white" />
170 |     </visual>
171 |     <collision>
172 |       <geometry>
173 |         <sphere radius="0.05" />
174 |       </geometry>
175 |     </collision>
176 | 
177 |     <inertial>
178 |       <mass value="0.01" />
179 |       <inertia  ixx="0.001" ixy="0.0"  ixz="0.0"
180 |               iyy="0.001"  iyz="0.0"
181 |               izz="0.001" />
182 |     </inertial>
183 | 
184 |   </link>
185 |   <joint name="scan_link_joint" type="fixed">
186 |     <child link="scan_link" />
187 |     <parent link="base_link" />
188 |     <origin xyz="0 0 0.051" />
189 |   </joint>
190 |   <gazebo reference="scan_link">
191 |     <sensor name="raycaster" type="ray">
192 |       <always_on>true</always_on>
193 |       <visualize>true</visualize>
194 |       <update_rate>5</update_rate>
195 |       <ray>
196 |         <scan>
197 |           <horizontal>
198 |             <samples>180</samples>
199 |             <min_angle>0.000000</min_angle>
200 |             <max_angle>6.28318530718</max_angle> <!--6.2831.. /181 = 0.0349; cross check with number slam.yaml-->
201 |           </horizontal>
202 |         </scan>
203 |         <range>
204 |           <min>0.120000</min>
205 |           <max>4</max>
206 |         </range>
207 |         <noise>
208 |           <type>gaussian</type>
209 |           <mean>0.0</mean>
210 |           <stddev>0.0</stddev>
211 |         </noise>
212 |       </ray>
213 |       <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
214 |         <ros>
215 |             <argument>~/out:=/scan</argument>
216 |         </ros>
217 |         <output_type>sensor_msgs/LaserScan</output_type>
218 |         <frame_name>scan_link</frame_name>
219 |       </plugin>
220 |    </sensor>
221 |   </gazebo>
222 | </robot>


--------------------------------------------------------------------------------
/config/nav2.yaml:
--------------------------------------------------------------------------------
  1 | amcl:
  2 |   ros__parameters:
  3 |     use_sim_time: True
  4 |     alpha1: 0.2
  5 |     alpha2: 0.2
  6 |     alpha3: 0.2
  7 |     alpha4: 0.2
  8 |     alpha5: 0.2
  9 |     base_frame_id: "base_link"
 10 |     beam_skip_distance: 0.5
 11 |     beam_skip_error_threshold: 0.9
 12 |     beam_skip_threshold: 0.3
 13 |     do_beamskip: false
 14 |     global_frame_id: "map"
 15 |     lambda_short: 0.1
 16 |     laser_likelihood_max_dist: 2.0
 17 |     laser_max_range: 100.0
 18 |     laser_min_range: -1.0
 19 |     laser_model_type: "likelihood_field"
 20 |     max_beams: 60
 21 |     max_particles: 2000
 22 |     min_particles: 500
 23 |     odom_frame_id: "odom"
 24 |     pf_err: 0.05
 25 |     pf_z: 0.99
 26 |     recovery_alpha_fast: 0.0
 27 |     recovery_alpha_slow: 0.0
 28 |     resample_interval: 1
 29 |     robot_model_type: "differential"
 30 |     save_pose_rate: 0.5
 31 |     sigma_hit: 0.2
 32 |     tf_broadcast: true
 33 |     transform_tolerance: 1.0
 34 |     update_min_a: 0.2
 35 |     update_min_d: 0.25
 36 |     z_hit: 0.5
 37 |     z_max: 0.05
 38 |     z_rand: 0.5
 39 |     z_short: 0.05
 40 |     scan_topic: scan
 41 | 
 42 | amcl_map_client:
 43 |   ros__parameters:
 44 |     use_sim_time: True
 45 | 
 46 | amcl_rclcpp_node:
 47 |   ros__parameters:
 48 |     use_sim_time: True
 49 | 
 50 | bt_navigator:
 51 |   ros__parameters:
 52 |     use_sim_time: True
 53 |     global_frame: map
 54 |     robot_base_frame: base_link
 55 |     odom_topic: /odom
 56 |     enable_groot_monitoring: True
 57 |     groot_zmq_publisher_port: 1666
 58 |     groot_zmq_server_port: 1667
 59 |     default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
 60 |     plugin_lib_names:
 61 |     - nav2_compute_path_to_pose_action_bt_node
 62 |     - nav2_follow_path_action_bt_node
 63 |     - nav2_back_up_action_bt_node
 64 |     - nav2_spin_action_bt_node
 65 |     - nav2_wait_action_bt_node
 66 |     - nav2_clear_costmap_service_bt_node
 67 |     - nav2_is_stuck_condition_bt_node
 68 |     - nav2_goal_reached_condition_bt_node
 69 |     - nav2_goal_updated_condition_bt_node
 70 |     - nav2_initial_pose_received_condition_bt_node
 71 |     - nav2_reinitialize_global_localization_service_bt_node
 72 |     - nav2_rate_controller_bt_node
 73 |     - nav2_distance_controller_bt_node
 74 |     - nav2_speed_controller_bt_node
 75 |     - nav2_truncate_path_action_bt_node
 76 |     - nav2_goal_updater_node_bt_node
 77 |     - nav2_recovery_node_bt_node
 78 |     - nav2_pipeline_sequence_bt_node
 79 |     - nav2_round_robin_node_bt_node
 80 |     - nav2_transform_available_condition_bt_node
 81 |     - nav2_time_expired_condition_bt_node
 82 |     - nav2_distance_traveled_condition_bt_node
 83 | 
 84 | bt_navigator_rclcpp_node:
 85 |   ros__parameters:
 86 |     use_sim_time: True
 87 | 
 88 | controller_server:
 89 |   ros__parameters:
 90 |     use_sim_time: True
 91 |     controller_frequency: 20.0
 92 |     min_x_velocity_threshold: 0.001
 93 |     min_y_velocity_threshold: 0.5
 94 |     min_theta_velocity_threshold: 0.001
 95 |     progress_checker_plugin: "progress_checker"
 96 |     goal_checker_plugin: "goal_checker"
 97 |     controller_plugins: ["FollowPath"]
 98 | 
 99 |     # Progress checker parameters
100 |     progress_checker:
101 |       plugin: "nav2_controller::SimpleProgressChecker"
102 |       required_movement_radius: 0.5
103 |       movement_time_allowance: 10.0
104 |     # Goal checker parameters
105 |     goal_checker:
106 |       plugin: "nav2_controller::SimpleGoalChecker"
107 |       xy_goal_tolerance: 0.05
108 |       yaw_goal_tolerance: 6.28
109 |       stateful: True
110 |     # DWB parameters
111 |     FollowPath:
112 |       plugin: "dwb_core::DWBLocalPlanner"
113 |       debug_trajectory_details: True
114 |       min_vel_x: -0.26
115 |       min_vel_y: 0.0
116 |       max_vel_x: 0.26
117 |       max_vel_y: 0.0
118 |       max_vel_theta: 1.0
119 |       min_speed_xy: -0.26
120 |       max_speed_xy: 0.26
121 |       min_speed_theta: 0.0
122 |       # Add high threshold velocity for turtlebot 3 issue.
123 |       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
124 |       acc_lim_x: 1.0
125 |       acc_lim_y: 0.0
126 |       acc_lim_theta: 1.0
127 |       decel_lim_x: -1.0
128 |       decel_lim_y: 0.0
129 |       decel_lim_theta: -1.0
130 |       vx_samples: 20
131 |       vy_samples: 5
132 |       vtheta_samples: 20
133 |       sim_time: 1.7
134 |       linear_granularity: 0.05
135 |       angular_granularity: 0.025
136 |       transform_tolerance: 0.2
137 |       xy_goal_tolerance: 0.05
138 |       yaw_goal_tolerance: 6.28
139 |       trans_stopped_velocity: 0.25
140 |       short_circuit_trajectory_evaluation: True
141 |       stateful: True
142 |       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
143 |       BaseObstacle.scale: 0.02
144 |       PathAlign.scale: 32.0
145 |       PathAlign.forward_point_distance: 0.1
146 |       GoalAlign.scale: 24.0
147 |       GoalAlign.forward_point_distance: 0.1
148 |       PathDist.scale: 32.0
149 |       GoalDist.scale: 24.0
150 |       RotateToGoal.scale: 32.0
151 |       RotateToGoal.slowing_factor: 5.0
152 |       RotateToGoal.lookahead_time: -1.0
153 | 
154 | controller_server_rclcpp_node:
155 |   ros__parameters:
156 |     use_sim_time: True
157 | 
158 | local_costmap:
159 |   local_costmap:
160 |     ros__parameters:
161 |       update_frequency: 5.0
162 |       publish_frequency: 2.0
163 |       global_frame: map
164 |       robot_base_frame: base_link
165 |       use_sim_time: True
166 |       rolling_window: true
167 |       width: 3
168 |       height: 3
169 |       resolution: 0.05
170 |       robot_radius: 0.1
171 |       plugins: ["voxel_layer", "inflation_layer"]
172 |       inflation_layer:
173 |         plugin: "nav2_costmap_2d::InflationLayer"
174 |         cost_scaling_factor: 3.0
175 |         inflation_radius: 0.0
176 |       voxel_layer:
177 |         plugin: "nav2_costmap_2d::VoxelLayer"
178 |         enabled: True
179 |         publish_voxel_map: True
180 |         origin_z: 0.0
181 |         z_resolution: 0.05
182 |         z_voxels: 16
183 |         max_obstacle_height: 2.0
184 |         mark_threshold: 0
185 |         observation_sources: scan
186 |         scan:
187 |           topic: /scan
188 |           max_obstacle_height: 2.0
189 |           clearing: True
190 |           marking: True
191 |           data_type: "LaserScan"
192 |       static_layer:
193 |         map_subscribe_transient_local: True
194 |       always_send_full_costmap: True
195 |   local_costmap_client:
196 |     ros__parameters:
197 |       use_sim_time: True
198 |   local_costmap_rclcpp_node:
199 |     ros__parameters:
200 |       use_sim_time: True
201 | 
202 | global_costmap:
203 |   global_costmap:
204 |     ros__parameters:
205 |       update_frequency: 1.0
206 |       publish_frequency: 1.0
207 |       global_frame: map
208 |       robot_base_frame: base_link
209 |       use_sim_time: True
210 |       robot_radius: 0.1
211 |       resolution: 0.05
212 |       track_unknown_space: true
213 |       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
214 |       obstacle_layer:
215 |         plugin: "nav2_costmap_2d::ObstacleLayer"
216 |         enabled: True
217 |         observation_sources: scan
218 |         scan:
219 |           topic: /scan
220 |           max_obstacle_height: 2.0
221 |           clearing: True
222 |           marking: True
223 |           data_type: "LaserScan"
224 |       static_layer:
225 |         plugin: "nav2_costmap_2d::StaticLayer"
226 |         map_subscribe_transient_local: True
227 |       inflation_layer:
228 |         plugin: "nav2_costmap_2d::InflationLayer"
229 |         cost_scaling_factor: 3.0
230 |         inflation_radius: 0.0
231 |       always_send_full_costmap: True
232 |   global_costmap_client:
233 |     ros__parameters:
234 |       use_sim_time: True
235 |   global_costmap_rclcpp_node:
236 |     ros__parameters:
237 |       use_sim_time: True
238 | 
239 | map_server:
240 |   ros__parameters:
241 |     use_sim_time: True
242 |     yaml_filename: "turtlebot3_world.yaml"
243 | 
244 | map_saver:
245 |   ros__parameters:
246 |     use_sim_time: True
247 |     save_map_timeout: 5000
248 |     free_thresh_default: 0.25
249 |     occupied_thresh_default: 0.65
250 |     map_subscribe_transient_local: False
251 | 
252 | planner_server:
253 |   ros__parameters:
254 |     expected_planner_frequency: 20.0
255 |     use_sim_time: True
256 |     planner_plugins: ["GridBased"]
257 |     GridBased:
258 |       plugin: "nav2_navfn_planner/NavfnPlanner"
259 |       tolerance: 0.5
260 |       use_astar: false
261 |       allow_unknown: true
262 | 
263 | planner_server_rclcpp_node:
264 |   ros__parameters:
265 |     use_sim_time: True
266 | 
267 | recoveries_server:
268 |   ros__parameters:
269 |     costmap_topic: local_costmap/costmap_raw
270 |     footprint_topic: local_costmap/published_footprint
271 |     cycle_frequency: 10.0
272 |     recovery_plugins: ["spin", "back_up", "wait"]
273 |     spin:
274 |       plugin: "nav2_recoveries/Spin"
275 |     back_up:
276 |       plugin: "nav2_recoveries/BackUp"
277 |     wait:
278 |       plugin: "nav2_recoveries/Wait"
279 |     global_frame: odom
280 |     robot_base_frame: base_link
281 |     transform_timeout: 0.1
282 |     use_sim_time: true
283 |     simulate_ahead_time: 2.0
284 |     max_rotational_vel: 1.0
285 |     min_rotational_vel: 0.4
286 |     rotational_acc_lim: 3.2
287 | 
288 | robot_state_publisher:
289 |   ros__parameters:
290 |     use_sim_time: True


--------------------------------------------------------------------------------
/config/rviz.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |         - /TF1/Frames1
 10 |         - /TF1/Tree1
 11 |         - /LaserScan1
 12 |         - /LaserScan1/Topic1
 13 |         - /Costmaps1
 14 |         - /Costmaps1/local1
 15 |       Splitter Ratio: 0.5264706015586853
 16 |     Tree Height: 784
 17 |   - Class: rviz_common/Selection
 18 |     Name: Selection
 19 |   - Class: rviz_common/Tool Properties
 20 |     Expanded:
 21 |       - /2D Goal Pose1
 22 |       - /Publish Point1
 23 |     Name: Tool Properties
 24 |     Splitter Ratio: 0.5886790156364441
 25 |   - Class: rviz_common/Views
 26 |     Expanded:
 27 |       - /Current View1
 28 |     Name: Views
 29 |     Splitter Ratio: 0.5
 30 | Visualization Manager:
 31 |   Class: ""
 32 |   Displays:
 33 |     - Alpha: 0.5
 34 |       Cell Size: 1
 35 |       Class: rviz_default_plugins/Grid
 36 |       Color: 160; 160; 164
 37 |       Enabled: true
 38 |       Line Style:
 39 |         Line Width: 0.029999999329447746
 40 |         Value: Lines
 41 |       Name: Grid
 42 |       Normal Cell Count: 0
 43 |       Offset:
 44 |         X: 0
 45 |         Y: 0
 46 |         Z: 0
 47 |       Plane: XY
 48 |       Plane Cell Count: 10
 49 |       Reference Frame: <Fixed Frame>
 50 |       Value: true
 51 |     - Class: rviz_default_plugins/TF
 52 |       Enabled: true
 53 |       Frame Timeout: 15
 54 |       Frames:
 55 |         All Enabled: false
 56 |         base_link:
 57 |           Value: true
 58 |         caster_wheel:
 59 |           Value: false
 60 |         map:
 61 |           Value: true
 62 |         odom:
 63 |           Value: true
 64 |         scan_link:
 65 |           Value: true
 66 |         virtual_base_link:
 67 |           Value: true
 68 |       Marker Scale: 1
 69 |       Name: TF
 70 |       Show Arrows: true
 71 |       Show Axes: true
 72 |       Show Names: false
 73 |       Tree:
 74 |         map:
 75 |           odom:
 76 |             virtual_base_link:
 77 |               base_link:
 78 |                 caster_wheel:
 79 |                   {}
 80 |                 scan_link:
 81 |                   {}
 82 |       Update Interval: 0
 83 |       Value: true
 84 |     - Alpha: 0.699999988079071
 85 |       Class: rviz_default_plugins/Map
 86 |       Color Scheme: map
 87 |       Draw Behind: false
 88 |       Enabled: false
 89 |       Name: Map
 90 |       Topic:
 91 |         Depth: 5
 92 |         Durability Policy: Volatile
 93 |         History Policy: Keep Last
 94 |         Reliability Policy: Reliable
 95 |         Value: /map
 96 |       Update Topic:
 97 |         Depth: 5
 98 |         Durability Policy: Volatile
 99 |         History Policy: Keep Last
100 |         Reliability Policy: Reliable
101 |         Value: /map_updates
102 |       Use Timestamp: false
103 |       Value: false
104 |     - Alpha: 0.5
105 |       Autocompute Intensity Bounds: true
106 |       Autocompute Value Bounds:
107 |         Max Value: -0.050999999046325684
108 |         Min Value: -0.050999999046325684
109 |         Value: true
110 |       Axis: Z
111 |       Channel Name: intensity
112 |       Class: rviz_default_plugins/LaserScan
113 |       Color: 255; 255; 255
114 |       Color Transformer: Intensity
115 |       Decay Time: 0
116 |       Enabled: true
117 |       Invert Rainbow: false
118 |       Max Color: 255; 255; 255
119 |       Max Intensity: 0
120 |       Min Color: 0; 0; 0
121 |       Min Intensity: 0
122 |       Name: LaserScan
123 |       Position Transformer: XYZ
124 |       Selectable: true
125 |       Size (Pixels): 3
126 |       Size (m): 0.009999999776482582
127 |       Style: Flat Squares
128 |       Topic:
129 |         Depth: 5
130 |         Durability Policy: Volatile
131 |         History Policy: Keep Last
132 |         Reliability Policy: Best Effort
133 |         Value: /scan
134 |       Use Fixed Frame: true
135 |       Use rainbow: true
136 |       Value: true
137 |     - Alpha: 1
138 |       Class: rviz_default_plugins/Polygon
139 |       Color: 25; 255; 0
140 |       Enabled: true
141 |       Name: Polygon
142 |       Topic:
143 |         Depth: 5
144 |         Durability Policy: Volatile
145 |         History Policy: Keep Last
146 |         Reliability Policy: Reliable
147 |         Value: /global_costmap/published_footprint
148 |       Value: true
149 |     - Alpha: 1
150 |       Axes Length: 1
151 |       Axes Radius: 0.10000000149011612
152 |       Class: rviz_default_plugins/Pose
153 |       Color: 255; 25; 0
154 |       Enabled: true
155 |       Head Length: 0.30000001192092896
156 |       Head Radius: 0.10000000149011612
157 |       Name: Pose
158 |       Shaft Length: 1
159 |       Shaft Radius: 0.05000000074505806
160 |       Shape: Arrow
161 |       Topic:
162 |         Depth: 5
163 |         Durability Policy: Volatile
164 |         History Policy: Keep Last
165 |         Reliability Policy: Reliable
166 |         Value: /goal_pose
167 |       Value: true
168 |     - Class: rviz_common/Group
169 |       Displays:
170 |         - Alpha: 0.699999988079071
171 |           Class: rviz_default_plugins/Map
172 |           Color Scheme: costmap
173 |           Draw Behind: false
174 |           Enabled: true
175 |           Name: local
176 |           Topic:
177 |             Depth: 5
178 |             Durability Policy: Volatile
179 |             History Policy: Keep Last
180 |             Reliability Policy: Reliable
181 |             Value: /local_costmap/costmap
182 |           Update Topic:
183 |             Depth: 5
184 |             Durability Policy: Volatile
185 |             History Policy: Keep Last
186 |             Reliability Policy: Reliable
187 |             Value: /local_costmap/costmap_updates
188 |           Use Timestamp: false
189 |           Value: true
190 |         - Alpha: 0.699999988079071
191 |           Class: rviz_default_plugins/Map
192 |           Color Scheme: costmap
193 |           Draw Behind: false
194 |           Enabled: false
195 |           Name: global
196 |           Topic:
197 |             Depth: 5
198 |             Durability Policy: Volatile
199 |             History Policy: Keep Last
200 |             Reliability Policy: Reliable
201 |             Value: /global_costmap/costmap
202 |           Update Topic:
203 |             Depth: 5
204 |             Durability Policy: Volatile
205 |             History Policy: Keep Last
206 |             Reliability Policy: Reliable
207 |             Value: /global_costmap/costmap_updates
208 |           Use Timestamp: false
209 |           Value: false
210 |       Enabled: true
211 |       Name: Costmaps
212 |     - Alpha: 1
213 |       Buffer Length: 1
214 |       Class: rviz_default_plugins/Path
215 |       Color: 25; 255; 0
216 |       Enabled: true
217 |       Head Diameter: 0.30000001192092896
218 |       Head Length: 0.20000000298023224
219 |       Length: 0.30000001192092896
220 |       Line Style: Lines
221 |       Line Width: 0.029999999329447746
222 |       Name: local_plan
223 |       Offset:
224 |         X: 0
225 |         Y: 0
226 |         Z: 0
227 |       Pose Color: 255; 85; 255
228 |       Pose Style: None
229 |       Radius: 0.029999999329447746
230 |       Shaft Diameter: 0.10000000149011612
231 |       Shaft Length: 0.10000000149011612
232 |       Topic:
233 |         Depth: 5
234 |         Durability Policy: Volatile
235 |         History Policy: Keep Last
236 |         Reliability Policy: Reliable
237 |         Value: /local_plan
238 |       Value: true
239 |     - Alpha: 1
240 |       Buffer Length: 1
241 |       Class: rviz_default_plugins/Path
242 |       Color: 25; 255; 0
243 |       Enabled: true
244 |       Head Diameter: 0.30000001192092896
245 |       Head Length: 0.20000000298023224
246 |       Length: 0.30000001192092896
247 |       Line Style: Lines
248 |       Line Width: 0.029999999329447746
249 |       Name: Global Plan
250 |       Offset:
251 |         X: 0
252 |         Y: 0
253 |         Z: 0
254 |       Pose Color: 255; 85; 255
255 |       Pose Style: None
256 |       Radius: 0.029999999329447746
257 |       Shaft Diameter: 0.10000000149011612
258 |       Shaft Length: 0.10000000149011612
259 |       Topic:
260 |         Depth: 5
261 |         Durability Policy: Volatile
262 |         History Policy: Keep Last
263 |         Reliability Policy: Reliable
264 |         Value: /received_global_plan
265 |       Value: true
266 |   Enabled: true
267 |   Global Options:
268 |     Background Color: 48; 48; 48
269 |     Fixed Frame: map
270 |     Frame Rate: 30
271 |   Name: root
272 |   Tools:
273 |     - Class: rviz_default_plugins/Interact
274 |       Hide Inactive Objects: true
275 |     - Class: rviz_default_plugins/MoveCamera
276 |     - Class: rviz_default_plugins/Select
277 |     - Class: rviz_default_plugins/FocusCamera
278 |     - Class: rviz_default_plugins/Measure
279 |       Line color: 128; 128; 0
280 |     - Class: rviz_default_plugins/SetInitialPose
281 |       Topic:
282 |         Depth: 5
283 |         Durability Policy: Volatile
284 |         History Policy: Keep Last
285 |         Reliability Policy: Reliable
286 |         Value: /initialpose
287 |     - Class: rviz_default_plugins/SetGoal
288 |       Topic:
289 |         Depth: 5
290 |         Durability Policy: Volatile
291 |         History Policy: Keep Last
292 |         Reliability Policy: Reliable
293 |         Value: /goal_pose
294 |     - Class: rviz_default_plugins/PublishPoint
295 |       Single click: true
296 |       Topic:
297 |         Depth: 5
298 |         Durability Policy: Volatile
299 |         History Policy: Keep Last
300 |         Reliability Policy: Reliable
301 |         Value: /clicked_point
302 |   Transformation:
303 |     Current:
304 |       Class: rviz_default_plugins/TF
305 |   Value: true
306 |   Views:
307 |     Current:
308 |       Class: rviz_default_plugins/Orbit
309 |       Distance: 6.522454261779785
310 |       Enable Stereo Rendering:
311 |         Stereo Eye Separation: 0.05999999865889549
312 |         Stereo Focal Distance: 1
313 |         Swap Stereo Eyes: false
314 |         Value: false
315 |       Focal Point:
316 |         X: -0.03556397557258606
317 |         Y: 0.5177552103996277
318 |         Z: -0.08830908685922623
319 |       Focal Shape Fixed Size: true
320 |       Focal Shape Size: 0.05000000074505806
321 |       Invert Z Axis: false
322 |       Name: Current View
323 |       Near Clip Distance: 0.009999999776482582
324 |       Pitch: 1.2247960567474365
325 |       Target Frame: <Fixed Frame>
326 |       Value: Orbit (rviz)
327 |       Yaw: 5.045467376708984
328 |     Saved: ~
329 | Window Geometry:
330 |   Displays:
331 |     collapsed: true
332 |   Height: 1016
333 |   Hide Left Dock: true
334 |   Hide Right Dock: false
335 |   QMainWindow State: 000000ff00000000fd0000000400000000000001fe0000039cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003e0000039c000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e0000039c000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002ab0000039c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
336 |   Selection:
337 |     collapsed: false
338 |   Tool Properties:
339 |     collapsed: false
340 |   Views:
341 |     collapsed: false
342 |   Width: 960
343 |   X: 960
344 |   Y: 27
345 | 


--------------------------------------------------------------------------------
/models/worlds/square_2m:
--------------------------------------------------------------------------------
  1 | <sdf version='1.6'>
  2 |   <world name='default'>
  3 |     <light name='sun' type='directional'>
  4 |       <cast_shadows>1</cast_shadows>
  5 |       <pose frame=''>0 0 10 0 -0 0</pose>
  6 |       <diffuse>0.8 0.8 0.8 1</diffuse>
  7 |       <specular>0.2 0.2 0.2 1</specular>
  8 |       <attenuation>
  9 |         <range>1000</range>
 10 |         <constant>0.9</constant>
 11 |         <linear>0.01</linear>
 12 |         <quadratic>0.001</quadratic>
 13 |       </attenuation>
 14 |       <direction>-0.5 0.1 -0.9</direction>
 15 |     </light>
 16 |     <model name='ground_plane'>
 17 |       <static>1</static>
 18 |       <link name='link'>
 19 |         <collision name='collision'>
 20 |           <geometry>
 21 |             <plane>
 22 |               <normal>0 0 1</normal>
 23 |               <size>100 100</size>
 24 |             </plane>
 25 |           </geometry>
 26 |           <surface>
 27 |             <friction>
 28 |               <ode>
 29 |                 <mu>100</mu>
 30 |                 <mu2>50</mu2>
 31 |               </ode>
 32 |               <torsional>
 33 |                 <ode/>
 34 |               </torsional>
 35 |             </friction>
 36 |             <contact>
 37 |               <ode/>
 38 |             </contact>
 39 |             <bounce/>
 40 |           </surface>
 41 |           <max_contacts>10</max_contacts>
 42 |         </collision>
 43 |         <visual name='visual'>
 44 |           <cast_shadows>0</cast_shadows>
 45 |           <geometry>
 46 |             <plane>
 47 |               <normal>0 0 1</normal>
 48 |               <size>100 100</size>
 49 |             </plane>
 50 |           </geometry>
 51 |           <material>
 52 |             <script>
 53 |               <uri>file://media/materials/scripts/gazebo.material</uri>
 54 |               <name>Gazebo/Grey</name>
 55 |             </script>
 56 |           </material>
 57 |         </visual>
 58 |         <self_collide>0</self_collide>
 59 |         <enable_wind>0</enable_wind>
 60 |         <kinematic>0</kinematic>
 61 |       </link>
 62 |     </model>
 63 |     <gravity>0 0 -9.8</gravity>
 64 |     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
 65 |     <atmosphere type='adiabatic'/>
 66 |     <physics name='default_physics' default='0' type='ode'>
 67 |       <max_step_size>0.001</max_step_size>
 68 |       <real_time_factor>1</real_time_factor>
 69 |       <real_time_update_rate>1000</real_time_update_rate>
 70 |     </physics>
 71 |     <scene>
 72 |       <ambient>0.4 0.4 0.4 1</ambient>
 73 |       <background>0.7 0.7 0.7 1</background>
 74 |       <shadows>1</shadows>
 75 |     </scene>
 76 |     <audio>
 77 |       <device>default</device>
 78 |     </audio>
 79 |     <wind/>
 80 |     <spherical_coordinates>
 81 |       <surface_model>EARTH_WGS84</surface_model>
 82 |       <latitude_deg>0</latitude_deg>
 83 |       <longitude_deg>0</longitude_deg>
 84 |       <elevation>0</elevation>
 85 |       <heading_deg>0</heading_deg>
 86 |     </spherical_coordinates>
 87 |     <state world_name='default'>
 88 |       <sim_time>391 649000000</sim_time>
 89 |       <real_time>277 111704651</real_time>
 90 |       <wall_time>1593217321 104096233</wall_time>
 91 |       <iterations>274377</iterations>
 92 |       <model name='8m_simple_wall'>
 93 |         <pose frame=''>1.43108 0 0.477249 -0.004218 7e-06 0.001724</pose>
 94 |         <scale>1 0.402019 1</scale>
 95 |         <link name='link'>
 96 |           <pose frame=''>1.43108 0 0.477249 -0.004218 7e-06 0.001724</pose>
 97 |           <velocity>0 0 0 0 -0 0</velocity>
 98 |           <acceleration>0 0 0 0 -0 0</acceleration>
 99 |           <wrench>0 0 0 0 -0 0</wrench>
100 |         </link>
101 |       </model>
102 |       <model name='8m_simple_wall_clone'>
103 |         <pose frame=''>0.003557 1.49246 0.469184 -7e-06 -0.004218 -1.56907</pose>
104 |         <scale>1 0.48103 1</scale>
105 |         <link name='link'>
106 |           <pose frame=''>0.003557 1.49246 0.469184 -7e-06 -0.004218 -1.56907</pose>
107 |           <velocity>0 0 0 0 -0 0</velocity>
108 |           <acceleration>0 0 0 0 -0 0</acceleration>
109 |           <wrench>0 0 0 0 -0 0</wrench>
110 |         </link>
111 |       </model>
112 |       <model name='8m_simple_wall_clone_0'>
113 |         <pose frame=''>-1.486 -0.014482 0.47792 -0.004218 7e-06 0.001724</pose>
114 |         <scale>1 0.494549 1</scale>
115 |         <link name='link'>
116 |           <pose frame=''>-1.486 -0.014482 0.47792 -0.004218 7e-06 0.001724</pose>
117 |           <velocity>0 0 0 0 -0 0</velocity>
118 |           <acceleration>0 0 0 0 -0 0</acceleration>
119 |           <wrench>0 0 0 0 -0 0</wrench>
120 |         </link>
121 |       </model>
122 |       <model name='8m_simple_wall_clone_clone'>
123 |         <pose frame=''>0.081658 -1.49076 0.482964 -7e-06 -0.004218 -1.56907</pose>
124 |         <scale>1 0.463801 1</scale>
125 |         <link name='link'>
126 |           <pose frame=''>0.081658 -1.49076 0.482964 -7e-06 -0.004218 -1.56907</pose>
127 |           <velocity>0 0 0 0 -0 0</velocity>
128 |           <acceleration>0 0 0 0 -0 0</acceleration>
129 |           <wrench>0 0 0 0 -0 0</wrench>
130 |         </link>
131 |       </model>
132 |       <model name='ground_plane'>
133 |         <pose frame=''>0 0 0 0 -0 0</pose>
134 |         <scale>1 1 1</scale>
135 |         <link name='link'>
136 |           <pose frame=''>0 0 0 0 -0 0</pose>
137 |           <velocity>0 0 0 0 -0 0</velocity>
138 |           <acceleration>0 0 0 0 -0 0</acceleration>
139 |           <wrench>0 0 0 0 -0 0</wrench>
140 |         </link>
141 |       </model>
142 |       <light name='sun'>
143 |         <pose frame=''>0 0 10 0 -0 0</pose>
144 |       </light>
145 |     </state>
146 |     <model name='8m_simple_wall'>
147 |       <link name='link'>
148 |         <inertial>
149 |           <mass>1</mass>
150 |           <inertia>
151 |             <ixx>0.166667</ixx>
152 |             <ixy>0</ixy>
153 |             <ixz>0</ixz>
154 |             <iyy>0.166667</iyy>
155 |             <iyz>0</iyz>
156 |             <izz>0.166667</izz>
157 |           </inertia>
158 |         </inertial>
159 |         <self_collide>0</self_collide>
160 |         <enable_wind>0</enable_wind>
161 |         <kinematic>0</kinematic>
162 |         <pose frame=''>0 0 0 0 -0 0</pose>
163 |         <visual name='visual'>
164 |           <geometry>
165 |             <box>
166 |               <size>1 8 1</size>
167 |             </box>
168 |           </geometry>
169 |           <material>
170 |             <script>
171 |               <name>Gazebo/Grey</name>
172 |               <uri>file://media/materials/scripts/gazebo.material</uri>
173 |             </script>
174 |           </material>
175 |           <pose frame=''>0 0 0 0 -0 0</pose>
176 |           <transparency>0</transparency>
177 |           <cast_shadows>1</cast_shadows>
178 |         </visual>
179 |         <collision name='collision'>
180 |           <laser_retro>0</laser_retro>
181 |           <max_contacts>10</max_contacts>
182 |           <pose frame=''>0 0 0 0 -0 0</pose>
183 |           <geometry>
184 |             <box>
185 |               <size>1 8 1</size>
186 |             </box>
187 |           </geometry>
188 |           <surface>
189 |             <friction>
190 |               <ode>
191 |                 <mu>1</mu>
192 |                 <mu2>1</mu2>
193 |                 <fdir1>0 0 0</fdir1>
194 |                 <slip1>0</slip1>
195 |                 <slip2>0</slip2>
196 |               </ode>
197 |               <torsional>
198 |                 <coefficient>1</coefficient>
199 |                 <patch_radius>0</patch_radius>
200 |                 <surface_radius>0</surface_radius>
201 |                 <use_patch_radius>1</use_patch_radius>
202 |                 <ode>
203 |                   <slip>0</slip>
204 |                 </ode>
205 |               </torsional>
206 |             </friction>
207 |             <bounce>
208 |               <restitution_coefficient>0</restitution_coefficient>
209 |               <threshold>1e+06</threshold>
210 |             </bounce>
211 |             <contact>
212 |               <collide_without_contact>0</collide_without_contact>
213 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
214 |               <collide_bitmask>1</collide_bitmask>
215 |               <ode>
216 |                 <soft_cfm>0</soft_cfm>
217 |                 <soft_erp>0.2</soft_erp>
218 |                 <kp>1e+13</kp>
219 |                 <kd>1</kd>
220 |                 <max_vel>0.01</max_vel>
221 |                 <min_depth>0</min_depth>
222 |               </ode>
223 |               <bullet>
224 |                 <split_impulse>1</split_impulse>
225 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
226 |                 <soft_cfm>0</soft_cfm>
227 |                 <soft_erp>0.2</soft_erp>
228 |                 <kp>1e+13</kp>
229 |                 <kd>1</kd>
230 |               </bullet>
231 |             </contact>
232 |           </surface>
233 |         </collision>
234 |       </link>
235 |       <static>1</static>
236 |       <allow_auto_disable>1</allow_auto_disable>
237 |       <pose frame=''>3 -1.95836 0.48315 -0.004218 7e-06 0.001724</pose>
238 |     </model>
239 |     <model name='8m_simple_wall_clone_0'>
240 |       <link name='link'>
241 |         <inertial>
242 |           <mass>1</mass>
243 |           <inertia>
244 |             <ixx>0.166667</ixx>
245 |             <ixy>0</ixy>
246 |             <ixz>0</ixz>
247 |             <iyy>0.166667</iyy>
248 |             <iyz>0</iyz>
249 |             <izz>0.166667</izz>
250 |           </inertia>
251 |         </inertial>
252 |         <self_collide>0</self_collide>
253 |         <enable_wind>0</enable_wind>
254 |         <kinematic>0</kinematic>
255 |         <pose frame=''>0 0 0 0 -0 0</pose>
256 |         <visual name='visual'>
257 |           <geometry>
258 |             <box>
259 |               <size>1 8.00002 1</size>
260 |             </box>
261 |           </geometry>
262 |           <material>
263 |             <script>
264 |               <name>Gazebo/Grey</name>
265 |               <uri>file://media/materials/scripts/gazebo.material</uri>
266 |             </script>
267 |           </material>
268 |           <pose frame=''>0 0 0 0 -0 0</pose>
269 |           <transparency>0</transparency>
270 |           <cast_shadows>1</cast_shadows>
271 |         </visual>
272 |         <collision name='collision'>
273 |           <laser_retro>0</laser_retro>
274 |           <max_contacts>10</max_contacts>
275 |           <pose frame=''>0 0 0 0 -0 0</pose>
276 |           <geometry>
277 |             <box>
278 |               <size>1 8.00002 1</size>
279 |             </box>
280 |           </geometry>
281 |           <surface>
282 |             <friction>
283 |               <ode>
284 |                 <mu>1</mu>
285 |                 <mu2>1</mu2>
286 |                 <fdir1>0 0 0</fdir1>
287 |                 <slip1>0</slip1>
288 |                 <slip2>0</slip2>
289 |               </ode>
290 |               <torsional>
291 |                 <coefficient>1</coefficient>
292 |                 <patch_radius>0</patch_radius>
293 |                 <surface_radius>0</surface_radius>
294 |                 <use_patch_radius>1</use_patch_radius>
295 |                 <ode>
296 |                   <slip>0</slip>
297 |                 </ode>
298 |               </torsional>
299 |             </friction>
300 |             <bounce>
301 |               <restitution_coefficient>0</restitution_coefficient>
302 |               <threshold>1e+06</threshold>
303 |             </bounce>
304 |             <contact>
305 |               <collide_without_contact>0</collide_without_contact>
306 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
307 |               <collide_bitmask>1</collide_bitmask>
308 |               <ode>
309 |                 <soft_cfm>0</soft_cfm>
310 |                 <soft_erp>0.2</soft_erp>
311 |                 <kp>1e+13</kp>
312 |                 <kd>1</kd>
313 |                 <max_vel>0.01</max_vel>
314 |                 <min_depth>0</min_depth>
315 |               </ode>
316 |               <bullet>
317 |                 <split_impulse>1</split_impulse>
318 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
319 |                 <soft_cfm>0</soft_cfm>
320 |                 <soft_erp>0.2</soft_erp>
321 |                 <kp>1e+13</kp>
322 |                 <kd>1</kd>
323 |               </bullet>
324 |             </contact>
325 |           </surface>
326 |         </collision>
327 |       </link>
328 |       <static>1</static>
329 |       <allow_auto_disable>1</allow_auto_disable>
330 |       <pose frame=''>-6.43616 0.426991 0.477245 -0.004218 7e-06 0.001724</pose>
331 |     </model>
332 |     <model name='8m_simple_wall_clone_clone'>
333 |       <link name='link'>
334 |         <inertial>
335 |           <mass>1</mass>
336 |           <inertia>
337 |             <ixx>0.166667</ixx>
338 |             <ixy>0</ixy>
339 |             <ixz>0</ixz>
340 |             <iyy>0.166667</iyy>
341 |             <iyz>0</iyz>
342 |             <izz>0.166667</izz>
343 |           </inertia>
344 |         </inertial>
345 |         <self_collide>0</self_collide>
346 |         <enable_wind>0</enable_wind>
347 |         <kinematic>0</kinematic>
348 |         <pose frame=''>0 0 0 0 -0 0</pose>
349 |         <visual name='visual'>
350 |           <geometry>
351 |             <box>
352 |               <size>1 8 1</size>
353 |             </box>
354 |           </geometry>
355 |           <material>
356 |             <script>
357 |               <name>Gazebo/Grey</name>
358 |               <uri>file://media/materials/scripts/gazebo.material</uri>
359 |             </script>
360 |           </material>
361 |           <pose frame=''>0 0 0 0 -0 0</pose>
362 |           <transparency>0</transparency>
363 |           <cast_shadows>1</cast_shadows>
364 |         </visual>
365 |         <collision name='collision'>
366 |           <laser_retro>0</laser_retro>
367 |           <max_contacts>10</max_contacts>
368 |           <pose frame=''>0 0 0 0 -0 0</pose>
369 |           <geometry>
370 |             <box>
371 |               <size>1 8 1</size>
372 |             </box>
373 |           </geometry>
374 |           <surface>
375 |             <friction>
376 |               <ode>
377 |                 <mu>1</mu>
378 |                 <mu2>1</mu2>
379 |                 <fdir1>0 0 0</fdir1>
380 |                 <slip1>0</slip1>
381 |                 <slip2>0</slip2>
382 |               </ode>
383 |               <torsional>
384 |                 <coefficient>1</coefficient>
385 |                 <patch_radius>0</patch_radius>
386 |                 <surface_radius>0</surface_radius>
387 |                 <use_patch_radius>1</use_patch_radius>
388 |                 <ode>
389 |                   <slip>0</slip>
390 |                 </ode>
391 |               </torsional>
392 |             </friction>
393 |             <bounce>
394 |               <restitution_coefficient>0</restitution_coefficient>
395 |               <threshold>1e+06</threshold>
396 |             </bounce>
397 |             <contact>
398 |               <collide_without_contact>0</collide_without_contact>
399 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
400 |               <collide_bitmask>1</collide_bitmask>
401 |               <ode>
402 |                 <soft_cfm>0</soft_cfm>
403 |                 <soft_erp>0.2</soft_erp>
404 |                 <kp>1e+13</kp>
405 |                 <kd>1</kd>
406 |                 <max_vel>0.01</max_vel>
407 |                 <min_depth>0</min_depth>
408 |               </ode>
409 |               <bullet>
410 |                 <split_impulse>1</split_impulse>
411 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
412 |                 <soft_cfm>0</soft_cfm>
413 |                 <soft_erp>0.2</soft_erp>
414 |                 <kp>1e+13</kp>
415 |                 <kd>1</kd>
416 |               </bullet>
417 |             </contact>
418 |           </surface>
419 |         </collision>
420 |       </link>
421 |       <static>1</static>
422 |       <allow_auto_disable>1</allow_auto_disable>
423 |       <pose frame=''>-2.55182 -4.68915 0.48315 -7e-06 -0.004218 -1.56907</pose>
424 |     </model>
425 |     <model name='8m_simple_wall_clone'>
426 |       <link name='link'>
427 |         <inertial>
428 |           <mass>1</mass>
429 |           <inertia>
430 |             <ixx>0.166667</ixx>
431 |             <ixy>0</ixy>
432 |             <ixz>0</ixz>
433 |             <iyy>0.166667</iyy>
434 |             <iyz>0</iyz>
435 |             <izz>0.166667</izz>
436 |           </inertia>
437 |         </inertial>
438 |         <self_collide>0</self_collide>
439 |         <enable_wind>0</enable_wind>
440 |         <kinematic>0</kinematic>
441 |         <pose frame=''>0 0 0 0 -0 0</pose>
442 |         <visual name='visual'>
443 |           <geometry>
444 |             <box>
445 |               <size>1 8.00001 1</size>
446 |             </box>
447 |           </geometry>
448 |           <material>
449 |             <script>
450 |               <name>Gazebo/Grey</name>
451 |               <uri>file://media/materials/scripts/gazebo.material</uri>
452 |             </script>
453 |           </material>
454 |           <pose frame=''>0 0 0 0 -0 0</pose>
455 |           <transparency>0</transparency>
456 |           <cast_shadows>1</cast_shadows>
457 |         </visual>
458 |         <collision name='collision'>
459 |           <laser_retro>0</laser_retro>
460 |           <max_contacts>10</max_contacts>
461 |           <pose frame=''>0 0 0 0 -0 0</pose>
462 |           <geometry>
463 |             <box>
464 |               <size>1 8.00001 1</size>
465 |             </box>
466 |           </geometry>
467 |           <surface>
468 |             <friction>
469 |               <ode>
470 |                 <mu>1</mu>
471 |                 <mu2>1</mu2>
472 |                 <fdir1>0 0 0</fdir1>
473 |                 <slip1>0</slip1>
474 |                 <slip2>0</slip2>
475 |               </ode>
476 |               <torsional>
477 |                 <coefficient>1</coefficient>
478 |                 <patch_radius>0</patch_radius>
479 |                 <surface_radius>0</surface_radius>
480 |                 <use_patch_radius>1</use_patch_radius>
481 |                 <ode>
482 |                   <slip>0</slip>
483 |                 </ode>
484 |               </torsional>
485 |             </friction>
486 |             <bounce>
487 |               <restitution_coefficient>0</restitution_coefficient>
488 |               <threshold>1e+06</threshold>
489 |             </bounce>
490 |             <contact>
491 |               <collide_without_contact>0</collide_without_contact>
492 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
493 |               <collide_bitmask>1</collide_bitmask>
494 |               <ode>
495 |                 <soft_cfm>0</soft_cfm>
496 |                 <soft_erp>0.2</soft_erp>
497 |                 <kp>1e+13</kp>
498 |                 <kd>1</kd>
499 |                 <max_vel>0.01</max_vel>
500 |                 <min_depth>0</min_depth>
501 |               </ode>
502 |               <bullet>
503 |                 <split_impulse>1</split_impulse>
504 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
505 |                 <soft_cfm>0</soft_cfm>
506 |                 <soft_erp>0.2</soft_erp>
507 |                 <kp>1e+13</kp>
508 |                 <kd>1</kd>
509 |               </bullet>
510 |             </contact>
511 |           </surface>
512 |         </collision>
513 |       </link>
514 |       <static>1</static>
515 |       <allow_auto_disable>1</allow_auto_disable>
516 |       <pose frame=''>2.65497 2.91478 0.477245 -0.004218 7e-06 0.001724</pose>
517 |     </model>
518 |     <gui fullscreen='0'>
519 |       <camera name='user_camera'>
520 |         <pose frame=''>11.0307 -2.08848 20.6368 0 1.05449 2.77623</pose>
521 |         <view_controller>orbit</view_controller>
522 |         <projection_type>perspective</projection_type>
523 |       </camera>
524 |     </gui>
525 |   </world>
526 | </sdf>
527 | 


--------------------------------------------------------------------------------
/models/worlds/square:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | <sdf version='1.6'>
  3 |     <gui fullscreen='0'>
  4 |       <camera name='user_camera'>
  5 |         <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
  6 |         <view_controller>orbit</view_controller>
  7 |         <projection_type>perspective</projection_type>
  8 |       </camera>
  9 |     </gui>
 10 | 
 11 |     <physics type="ode">
 12 |       <real_time_update_rate>1000.0</real_time_update_rate>
 13 |       <max_step_size>0.001</max_step_size>
 14 |       <real_time_factor>1</real_time_factor>
 15 |       <ode>
 16 |         <solver>
 17 |           <type>quick</type>
 18 |           <iters>500</iters>
 19 |           <precon_iters>0</precon_iters>
 20 |           <sor>1.400000</sor>
 21 |           <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
 22 |         </solver>
 23 |         <constraints>
 24 |           <cfm>0.00001</cfm>
 25 |           <erp>0.2</erp>
 26 |           <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
 27 |           <contact_surface_layer>0.01000</contact_surface_layer>
 28 |         </constraints>
 29 |       </ode>
 30 |     </physics>
 31 | 
 32 |   <world name='default'>
 33 |     <light name='sun' type='directional'>
 34 |       <cast_shadows>1</cast_shadows>
 35 |       <pose frame=''>0 0 10 0 -0 0</pose>
 36 |       <diffuse>0.8 0.8 0.8 1</diffuse>
 37 |       <specular>0.2 0.2 0.2 1</specular>
 38 |       <attenuation>
 39 |         <range>1000</range>
 40 |         <constant>0.9</constant>
 41 |         <linear>0.01</linear>
 42 |         <quadratic>0.001</quadratic>
 43 |       </attenuation>
 44 |       <direction>-0.5 0.1 -0.9</direction>
 45 |     </light>
 46 |     <model name='ground_plane'>
 47 |       <static>1</static>
 48 |       <link name='link'>
 49 |         <collision name='collision'>
 50 |           <geometry>
 51 |             <plane>
 52 |               <normal>0 0 1</normal>
 53 |               <size>100 100</size>
 54 |             </plane>
 55 |           </geometry>
 56 |           <surface>
 57 |             <friction>
 58 |               <ode>
 59 |                 <mu>100</mu>
 60 |                 <mu2>50</mu2>
 61 |               </ode>
 62 |               <torsional>
 63 |                 <ode/>
 64 |               </torsional>
 65 |             </friction>
 66 |             <contact>
 67 |               <ode/>
 68 |             </contact>
 69 |             <bounce/>
 70 |           </surface>
 71 |           <max_contacts>10</max_contacts>
 72 |         </collision>
 73 |         <visual name='visual'>
 74 |           <cast_shadows>0</cast_shadows>
 75 |           <geometry>
 76 |             <plane>
 77 |               <normal>0 0 1</normal>
 78 |               <size>100 100</size>
 79 |             </plane>
 80 |           </geometry>
 81 |           <material>
 82 |             <script>
 83 |               <uri>file://media/materials/scripts/gazebo.material</uri>
 84 |               <name>Gazebo/Grey</name>
 85 |             </script>
 86 |           </material>
 87 |         </visual>
 88 |         <self_collide>0</self_collide>
 89 |         <enable_wind>0</enable_wind>
 90 |         <kinematic>0</kinematic>
 91 |       </link>
 92 |     </model>
 93 |     <gravity>0 0 -9.8</gravity>
 94 |     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
 95 |     <atmosphere type='adiabatic'/>
 96 |     <physics name='default_physics' default='0' type='ode'>
 97 |       <max_step_size>0.001</max_step_size>
 98 |       <real_time_factor>1</real_time_factor>
 99 |       <real_time_update_rate>1000</real_time_update_rate>
100 |     </physics>
101 |     <scene>
102 |       <ambient>0.4 0.4 0.4 1</ambient>
103 |       <background>0.7 0.7 0.7 1</background>
104 |       <shadows>1</shadows>
105 |     </scene>
106 |     <audio>
107 |       <device>default</device>
108 |     </audio>
109 |     <wind/>
110 |     <spherical_coordinates>
111 |       <surface_model>EARTH_WGS84</surface_model>
112 |       <latitude_deg>0</latitude_deg>
113 |       <longitude_deg>0</longitude_deg>
114 |       <elevation>0</elevation>
115 |       <heading_deg>0</heading_deg>
116 |     </spherical_coordinates>
117 |     <state world_name='default'>
118 |       <sim_time>117 272000000</sim_time>
119 |       <real_time>118 427623581</real_time>
120 |       <wall_time>1585253546 474757598</wall_time>
121 |       <iterations>117272</iterations>
122 |       <model name='8m_simple_wall'>
123 |         <pose frame=''>4 0 0.477245 -0.004218 7e-06 0.001724</pose>
124 |         <scale>1 1 1</scale>
125 |         <link name='link'>
126 |           <pose frame=''>4 0 0.477245 -0.004218 7e-06 0.001724</pose>
127 |           <velocity>0 0 0 0 -0 0</velocity>
128 |           <acceleration>0 0 0 0 -0 0</acceleration>
129 |           <wrench>0 0 0 0 -0 0</wrench>
130 |         </link>
131 |       </model>
132 |       <model name='8m_simple_wall_clone'>
133 |         <pose frame=''>0.000108 3.49068 0.460755 -7e-06 -0.004218 -1.56907</pose>
134 |         <scale>1 1 1</scale>
135 |         <link name='link'>
136 |           <pose frame=''>0.000108 3.49068 0.460755 -7e-06 -0.004218 -1.56907</pose>
137 |           <velocity>0 0 0 0 -0 0</velocity>
138 |           <acceleration>0 0 0 0 -0 0</acceleration>
139 |           <wrench>0 0 0 0 -0 0</wrench>
140 |         </link>
141 |       </model>
142 |       <model name='8m_simple_wall_clone_0'>
143 |         <pose frame=''>-3.99956 -0.014482 0.47792 -0.004218 7e-06 0.001724</pose>
144 |         <scale>1 1 1</scale>
145 |         <link name='link'>
146 |           <pose frame=''>-3.99956 -0.014482 0.47792 -0.004218 7e-06 0.001724</pose>
147 |           <velocity>0 0 0 0 -0 0</velocity>
148 |           <acceleration>0 0 0 0 -0 0</acceleration>
149 |           <wrench>0 0 0 0 -0 0</wrench>
150 |         </link>
151 |       </model>
152 |       <model name='8m_simple_wall_clone_clone'>
153 |         <pose frame=''>0.085136 -3.50562 0.491463 -7e-06 -0.004218 -1.56907</pose>
154 |         <scale>1 1 1</scale>
155 |         <link name='link'>
156 |           <pose frame=''>0.085136 -3.50562 0.491463 -7e-06 -0.004218 -1.56907</pose>
157 |           <velocity>0 0 0 0 -0 0</velocity>
158 |           <acceleration>0 0 0 0 -0 0</acceleration>
159 |           <wrench>0 0 0 0 -0 0</wrench>
160 |         </link>
161 |       </model>
162 |       <model name='ground_plane'>
163 |         <pose frame=''>0 0 0 0 -0 0</pose>
164 |         <scale>1 1 1</scale>
165 |         <link name='link'>
166 |           <pose frame=''>0 0 0 0 -0 0</pose>
167 |           <velocity>0 0 0 0 -0 0</velocity>
168 |           <acceleration>0 0 0 0 -0 0</acceleration>
169 |           <wrench>0 0 0 0 -0 0</wrench>
170 |         </link>
171 |       </model>
172 |       <light name='sun'>
173 |         <pose frame=''>0 0 10 0 -0 0</pose>
174 |       </light>
175 |     </state>
176 |     <model name='8m_simple_wall'>
177 |       <link name='link'>
178 |         <inertial>
179 |           <mass>1</mass>
180 |           <inertia>
181 |             <ixx>0.166667</ixx>
182 |             <ixy>0</ixy>
183 |             <ixz>0</ixz>
184 |             <iyy>0.166667</iyy>
185 |             <iyz>0</iyz>
186 |             <izz>0.166667</izz>
187 |           </inertia>
188 |         </inertial>
189 |         <self_collide>0</self_collide>
190 |         <enable_wind>0</enable_wind>
191 |         <kinematic>0</kinematic>
192 |         <pose frame=''>0 0 0 0 -0 0</pose>
193 |         <visual name='visual'>
194 |           <geometry>
195 |             <box>
196 |               <size>1 8 1</size>
197 |             </box>
198 |           </geometry>
199 |           <material>
200 |             <script>
201 |               <name>Gazebo/Grey</name>
202 |               <uri>file://media/materials/scripts/gazebo.material</uri>
203 |             </script>
204 |           </material>
205 |           <pose frame=''>0 0 0 0 -0 0</pose>
206 |           <transparency>0</transparency>
207 |           <cast_shadows>1</cast_shadows>
208 |         </visual>
209 |         <collision name='collision'>
210 |           <laser_retro>0</laser_retro>
211 |           <max_contacts>10</max_contacts>
212 |           <pose frame=''>0 0 0 0 -0 0</pose>
213 |           <geometry>
214 |             <box>
215 |               <size>1 8 1</size>
216 |             </box>
217 |           </geometry>
218 |           <surface>
219 |             <friction>
220 |               <ode>
221 |                 <mu>1</mu>
222 |                 <mu2>1</mu2>
223 |                 <fdir1>0 0 0</fdir1>
224 |                 <slip1>0</slip1>
225 |                 <slip2>0</slip2>
226 |               </ode>
227 |               <torsional>
228 |                 <coefficient>1</coefficient>
229 |                 <patch_radius>0</patch_radius>
230 |                 <surface_radius>0</surface_radius>
231 |                 <use_patch_radius>1</use_patch_radius>
232 |                 <ode>
233 |                   <slip>0</slip>
234 |                 </ode>
235 |               </torsional>
236 |             </friction>
237 |             <bounce>
238 |               <restitution_coefficient>0</restitution_coefficient>
239 |               <threshold>1e+06</threshold>
240 |             </bounce>
241 |             <contact>
242 |               <collide_without_contact>0</collide_without_contact>
243 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
244 |               <collide_bitmask>1</collide_bitmask>
245 |               <ode>
246 |                 <soft_cfm>0</soft_cfm>
247 |                 <soft_erp>0.2</soft_erp>
248 |                 <kp>1e+13</kp>
249 |                 <kd>1</kd>
250 |                 <max_vel>0.01</max_vel>
251 |                 <min_depth>0</min_depth>
252 |               </ode>
253 |               <bullet>
254 |                 <split_impulse>1</split_impulse>
255 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
256 |                 <soft_cfm>0</soft_cfm>
257 |                 <soft_erp>0.2</soft_erp>
258 |                 <kp>1e+13</kp>
259 |                 <kd>1</kd>
260 |               </bullet>
261 |             </contact>
262 |           </surface>
263 |         </collision>
264 |       </link>
265 |       <static>1</static>
266 |       <allow_auto_disable>1</allow_auto_disable>
267 |       <pose frame=''>3 -1.95836 0.48315 -0.004218 7e-06 0.001724</pose>
268 |     </model>
269 |     <model name='8m_simple_wall_clone_0'>
270 |       <link name='link'>
271 |         <inertial>
272 |           <mass>1</mass>
273 |           <inertia>
274 |             <ixx>0.166667</ixx>
275 |             <ixy>0</ixy>
276 |             <ixz>0</ixz>
277 |             <iyy>0.166667</iyy>
278 |             <iyz>0</iyz>
279 |             <izz>0.166667</izz>
280 |           </inertia>
281 |         </inertial>
282 |         <self_collide>0</self_collide>
283 |         <enable_wind>0</enable_wind>
284 |         <kinematic>0</kinematic>
285 |         <pose frame=''>0 0 0 0 -0 0</pose>
286 |         <visual name='visual'>
287 |           <geometry>
288 |             <box>
289 |               <size>1 8 1</size>
290 |             </box>
291 |           </geometry>
292 |           <material>
293 |             <script>
294 |               <name>Gazebo/Grey</name>
295 |               <uri>file://media/materials/scripts/gazebo.material</uri>
296 |             </script>
297 |           </material>
298 |           <pose frame=''>0 0 0 0 -0 0</pose>
299 |           <transparency>0</transparency>
300 |           <cast_shadows>1</cast_shadows>
301 |         </visual>
302 |         <collision name='collision'>
303 |           <laser_retro>0</laser_retro>
304 |           <max_contacts>10</max_contacts>
305 |           <pose frame=''>0 0 0 0 -0 0</pose>
306 |           <geometry>
307 |             <box>
308 |               <size>1 8 1</size>
309 |             </box>
310 |           </geometry>
311 |           <surface>
312 |             <friction>
313 |               <ode>
314 |                 <mu>1</mu>
315 |                 <mu2>1</mu2>
316 |                 <fdir1>0 0 0</fdir1>
317 |                 <slip1>0</slip1>
318 |                 <slip2>0</slip2>
319 |               </ode>
320 |               <torsional>
321 |                 <coefficient>1</coefficient>
322 |                 <patch_radius>0</patch_radius>
323 |                 <surface_radius>0</surface_radius>
324 |                 <use_patch_radius>1</use_patch_radius>
325 |                 <ode>
326 |                   <slip>0</slip>
327 |                 </ode>
328 |               </torsional>
329 |             </friction>
330 |             <bounce>
331 |               <restitution_coefficient>0</restitution_coefficient>
332 |               <threshold>1e+06</threshold>
333 |             </bounce>
334 |             <contact>
335 |               <collide_without_contact>0</collide_without_contact>
336 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
337 |               <collide_bitmask>1</collide_bitmask>
338 |               <ode>
339 |                 <soft_cfm>0</soft_cfm>
340 |                 <soft_erp>0.2</soft_erp>
341 |                 <kp>1e+13</kp>
342 |                 <kd>1</kd>
343 |                 <max_vel>0.01</max_vel>
344 |                 <min_depth>0</min_depth>
345 |               </ode>
346 |               <bullet>
347 |                 <split_impulse>1</split_impulse>
348 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
349 |                 <soft_cfm>0</soft_cfm>
350 |                 <soft_erp>0.2</soft_erp>
351 |                 <kp>1e+13</kp>
352 |                 <kd>1</kd>
353 |               </bullet>
354 |             </contact>
355 |           </surface>
356 |         </collision>
357 |       </link>
358 |       <static>1</static>
359 |       <allow_auto_disable>1</allow_auto_disable>
360 |       <pose frame=''>-6.43616 0.426991 0.477245 -0.004218 7e-06 0.001724</pose>
361 |     </model>
362 |     <model name='8m_simple_wall_clone_clone'>
363 |       <link name='link'>
364 |         <inertial>
365 |           <mass>1</mass>
366 |           <inertia>
367 |             <ixx>0.166667</ixx>
368 |             <ixy>0</ixy>
369 |             <ixz>0</ixz>
370 |             <iyy>0.166667</iyy>
371 |             <iyz>0</iyz>
372 |             <izz>0.166667</izz>
373 |           </inertia>
374 |         </inertial>
375 |         <self_collide>0</self_collide>
376 |         <enable_wind>0</enable_wind>
377 |         <kinematic>0</kinematic>
378 |         <pose frame=''>0 0 0 0 -0 0</pose>
379 |         <visual name='visual'>
380 |           <geometry>
381 |             <box>
382 |               <size>1 8 1</size>
383 |             </box>
384 |           </geometry>
385 |           <material>
386 |             <script>
387 |               <name>Gazebo/Grey</name>
388 |               <uri>file://media/materials/scripts/gazebo.material</uri>
389 |             </script>
390 |           </material>
391 |           <pose frame=''>0 0 0 0 -0 0</pose>
392 |           <transparency>0</transparency>
393 |           <cast_shadows>1</cast_shadows>
394 |         </visual>
395 |         <collision name='collision'>
396 |           <laser_retro>0</laser_retro>
397 |           <max_contacts>10</max_contacts>
398 |           <pose frame=''>0 0 0 0 -0 0</pose>
399 |           <geometry>
400 |             <box>
401 |               <size>1 8 1</size>
402 |             </box>
403 |           </geometry>
404 |           <surface>
405 |             <friction>
406 |               <ode>
407 |                 <mu>1</mu>
408 |                 <mu2>1</mu2>
409 |                 <fdir1>0 0 0</fdir1>
410 |                 <slip1>0</slip1>
411 |                 <slip2>0</slip2>
412 |               </ode>
413 |               <torsional>
414 |                 <coefficient>1</coefficient>
415 |                 <patch_radius>0</patch_radius>
416 |                 <surface_radius>0</surface_radius>
417 |                 <use_patch_radius>1</use_patch_radius>
418 |                 <ode>
419 |                   <slip>0</slip>
420 |                 </ode>
421 |               </torsional>
422 |             </friction>
423 |             <bounce>
424 |               <restitution_coefficient>0</restitution_coefficient>
425 |               <threshold>1e+06</threshold>
426 |             </bounce>
427 |             <contact>
428 |               <collide_without_contact>0</collide_without_contact>
429 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
430 |               <collide_bitmask>1</collide_bitmask>
431 |               <ode>
432 |                 <soft_cfm>0</soft_cfm>
433 |                 <soft_erp>0.2</soft_erp>
434 |                 <kp>1e+13</kp>
435 |                 <kd>1</kd>
436 |                 <max_vel>0.01</max_vel>
437 |                 <min_depth>0</min_depth>
438 |               </ode>
439 |               <bullet>
440 |                 <split_impulse>1</split_impulse>
441 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
442 |                 <soft_cfm>0</soft_cfm>
443 |                 <soft_erp>0.2</soft_erp>
444 |                 <kp>1e+13</kp>
445 |                 <kd>1</kd>
446 |               </bullet>
447 |             </contact>
448 |           </surface>
449 |         </collision>
450 |       </link>
451 |       <static>1</static>
452 |       <allow_auto_disable>1</allow_auto_disable>
453 |       <pose frame=''>-2.55182 -4.68915 0.48315 -7e-06 -0.004218 -1.56907</pose>
454 |     </model>
455 |     <model name='8m_simple_wall_clone'>
456 |       <link name='link'>
457 |         <inertial>
458 |           <mass>1</mass>
459 |           <inertia>
460 |             <ixx>0.166667</ixx>
461 |             <ixy>0</ixy>
462 |             <ixz>0</ixz>
463 |             <iyy>0.166667</iyy>
464 |             <iyz>0</iyz>
465 |             <izz>0.166667</izz>
466 |           </inertia>
467 |         </inertial>
468 |         <self_collide>0</self_collide>
469 |         <enable_wind>0</enable_wind>
470 |         <kinematic>0</kinematic>
471 |         <pose frame=''>0 0 0 0 -0 0</pose>
472 |         <visual name='visual'>
473 |           <geometry>
474 |             <box>
475 |               <size>1 8 1</size>
476 |             </box>
477 |           </geometry>
478 |           <material>
479 |             <script>
480 |               <name>Gazebo/Grey</name>
481 |               <uri>file://media/materials/scripts/gazebo.material</uri>
482 |             </script>
483 |           </material>
484 |           <pose frame=''>0 0 0 0 -0 0</pose>
485 |           <transparency>0</transparency>
486 |           <cast_shadows>1</cast_shadows>
487 |         </visual>
488 |         <collision name='collision'>
489 |           <laser_retro>0</laser_retro>
490 |           <max_contacts>10</max_contacts>
491 |           <pose frame=''>0 0 0 0 -0 0</pose>
492 |           <geometry>
493 |             <box>
494 |               <size>1 8 1</size>
495 |             </box>
496 |           </geometry>
497 |           <surface>
498 |             <friction>
499 |               <ode>
500 |                 <mu>1</mu>
501 |                 <mu2>1</mu2>
502 |                 <fdir1>0 0 0</fdir1>
503 |                 <slip1>0</slip1>
504 |                 <slip2>0</slip2>
505 |               </ode>
506 |               <torsional>
507 |                 <coefficient>1</coefficient>
508 |                 <patch_radius>0</patch_radius>
509 |                 <surface_radius>0</surface_radius>
510 |                 <use_patch_radius>1</use_patch_radius>
511 |                 <ode>
512 |                   <slip>0</slip>
513 |                 </ode>
514 |               </torsional>
515 |             </friction>
516 |             <bounce>
517 |               <restitution_coefficient>0</restitution_coefficient>
518 |               <threshold>1e+06</threshold>
519 |             </bounce>
520 |             <contact>
521 |               <collide_without_contact>0</collide_without_contact>
522 |               <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
523 |               <collide_bitmask>1</collide_bitmask>
524 |               <ode>
525 |                 <soft_cfm>0</soft_cfm>
526 |                 <soft_erp>0.2</soft_erp>
527 |                 <kp>1e+13</kp>
528 |                 <kd>1</kd>
529 |                 <max_vel>0.01</max_vel>
530 |                 <min_depth>0</min_depth>
531 |               </ode>
532 |               <bullet>
533 |                 <split_impulse>1</split_impulse>
534 |                 <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
535 |                 <soft_cfm>0</soft_cfm>
536 |                 <soft_erp>0.2</soft_erp>
537 |                 <kp>1e+13</kp>
538 |                 <kd>1</kd>
539 |               </bullet>
540 |             </contact>
541 |           </surface>
542 |         </collision>
543 |       </link>
544 |       <static>1</static>
545 |       <allow_auto_disable>1</allow_auto_disable>
546 |       <pose frame=''>2.65497 2.91478 0.477245 -0.004218 7e-06 0.001724</pose>
547 |     </model>
548 |     <gui fullscreen='0'>
549 |       <camera name='user_camera'>
550 |         <pose frame=''>25.8482 -2.60256 8.54988 0 0.289795 2.90508</pose>
551 |         <view_controller>orbit</view_controller>
552 |         <projection_type>perspective</projection_type>
553 |       </camera>
554 |     </gui>
555 |   </world>
556 | </sdf>
557 | 


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