From ce41541a6dad02fb74b3f3668d5fbbcba8fbd489 Mon Sep 17 00:00:00 2001 From: ijnek Date: Thu, 4 Nov 2021 18:53:04 +0900 Subject: [PATCH] add everything Signed-off-by: ijnek --- CMakeLists.txt | 18 +-- images/house1.png | Bin 0 -> 182307 bytes launch/house1.launch.py | 56 ++++++++ models/apple/.model.sdf.swp | Bin 0 -> 12288 bytes models/apple/materials/textures/apple.png | Bin 0 -> 1278 bytes models/apple/meshes/apple.dae | 123 ++++++++++++++++++ models/apple/model.config | 11 ++ models/apple/model.sdf | 24 ++++ models/banana/materials/textures/banana.png | Bin 0 -> 1296 bytes models/banana/meshes/banana.dae | 123 ++++++++++++++++++ models/banana/model.config | 11 ++ models/banana/model.sdf | 22 ++++ models/coffee/.model.sdf.swp | Bin 0 -> 12288 bytes models/coffee/materials/textures/coffee.png | Bin 0 -> 3536 bytes models/coffee/meshes/coffee.dae | 123 ++++++++++++++++++ models/coffee/model.config | 11 ++ models/coffee/model.sdf | 24 ++++ models/dining_room/.model.sdf.swp | Bin 0 -> 12288 bytes .../materials/textures/dining_room.png | Bin 0 -> 2245 bytes models/dining_room/meshes/dining_room.dae | 123 ++++++++++++++++++ models/dining_room/model.config | 11 ++ models/dining_room/model.sdf | 24 ++++ models/fanta/.model.sdf.swp | Bin 0 -> 12288 bytes models/fanta/materials/textures/fanta.png | Bin 0 -> 2203 bytes models/fanta/meshes/fanta.dae | 123 ++++++++++++++++++ models/fanta/model.config | 11 ++ models/fanta/model.sdf | 24 ++++ models/kitchen/.model.sdf.swp | Bin 0 -> 12288 bytes models/kitchen/materials/textures/kitchen.png | Bin 0 -> 2151 bytes models/kitchen/meshes/kitchen.dae | 123 ++++++++++++++++++ models/kitchen/model.config | 11 ++ models/kitchen/model.sdf | 24 ++++ models/living_room/.model.sdf.swp | Bin 0 -> 12288 bytes .../materials/textures/living_room.png | Bin 0 -> 2153 bytes models/living_room/meshes/living_room.dae | 123 ++++++++++++++++++ models/living_room/model.config | 11 ++ models/living_room/model.sdf | 24 ++++ models/orange/materials/textures/orange.png | Bin 0 -> 1273 bytes models/orange/meshes/orange.dae | 123 ++++++++++++++++++ models/orange/model.config | 11 ++ models/orange/model.sdf | 22 ++++ models/pantry/.model.sdf.swp | Bin 0 -> 12288 bytes models/pantry/materials/textures/pantry.png | Bin 0 -> 2123 bytes models/pantry/meshes/pantry.dae | 123 ++++++++++++++++++ models/pantry/model.config | 11 ++ models/pantry/model.sdf | 24 ++++ models/snickers/.model.sdf.swp | Bin 0 -> 12288 bytes .../snickers/materials/textures/snickers.png | Bin 0 -> 2244 bytes models/snickers/meshes/snickers.dae | 123 ++++++++++++++++++ models/snickers/model.config | 11 ++ models/snickers/model.sdf | 24 ++++ models/storage_room/.model.sdf.swp | Bin 0 -> 12288 bytes .../materials/textures/storage_room.png | Bin 0 -> 2253 bytes models/storage_room/meshes/storage_room.dae | 123 ++++++++++++++++++ models/storage_room/model.config | 11 ++ models/storage_room/model.sdf | 24 ++++ models/study/.model.sdf.swp | Bin 0 -> 12288 bytes models/study/materials/textures/study.png | Bin 0 -> 2139 bytes models/study/meshes/study.dae | 123 ++++++++++++++++++ models/study/model.config | 11 ++ models/study/model.sdf | 24 ++++ package.xml | 6 +- worlds/house1.model | 99 ++++++++++++++ 63 files changed, 2055 insertions(+), 16 deletions(-) create mode 100644 images/house1.png create mode 100644 launch/house1.launch.py create mode 100644 models/apple/.model.sdf.swp create mode 100644 models/apple/materials/textures/apple.png create mode 100644 models/apple/meshes/apple.dae create mode 100644 models/apple/model.config create mode 100644 models/apple/model.sdf create mode 100644 models/banana/materials/textures/banana.png create mode 100644 models/banana/meshes/banana.dae create mode 100644 models/banana/model.config create mode 100644 models/banana/model.sdf create mode 100644 models/coffee/.model.sdf.swp create mode 100644 models/coffee/materials/textures/coffee.png create mode 100644 models/coffee/meshes/coffee.dae create mode 100644 models/coffee/model.config create mode 100644 models/coffee/model.sdf create mode 100644 models/dining_room/.model.sdf.swp create mode 100644 models/dining_room/materials/textures/dining_room.png create mode 100644 models/dining_room/meshes/dining_room.dae create mode 100644 models/dining_room/model.config create mode 100644 models/dining_room/model.sdf create mode 100644 models/fanta/.model.sdf.swp create mode 100644 models/fanta/materials/textures/fanta.png create mode 100644 models/fanta/meshes/fanta.dae create mode 100644 models/fanta/model.config create mode 100644 models/fanta/model.sdf create mode 100644 models/kitchen/.model.sdf.swp create mode 100644 models/kitchen/materials/textures/kitchen.png create mode 100644 models/kitchen/meshes/kitchen.dae create mode 100644 models/kitchen/model.config create mode 100644 models/kitchen/model.sdf create mode 100644 models/living_room/.model.sdf.swp create mode 100644 models/living_room/materials/textures/living_room.png create mode 100644 models/living_room/meshes/living_room.dae create mode 100644 models/living_room/model.config create mode 100644 models/living_room/model.sdf create mode 100644 models/orange/materials/textures/orange.png create mode 100644 models/orange/meshes/orange.dae create mode 100644 models/orange/model.config create mode 100644 models/orange/model.sdf create mode 100644 models/pantry/.model.sdf.swp create mode 100644 models/pantry/materials/textures/pantry.png create mode 100644 models/pantry/meshes/pantry.dae create mode 100644 models/pantry/model.config create mode 100644 models/pantry/model.sdf create mode 100644 models/snickers/.model.sdf.swp create mode 100644 models/snickers/materials/textures/snickers.png create mode 100644 models/snickers/meshes/snickers.dae create mode 100644 models/snickers/model.config create mode 100644 models/snickers/model.sdf create mode 100644 models/storage_room/.model.sdf.swp create mode 100644 models/storage_room/materials/textures/storage_room.png create mode 100644 models/storage_room/meshes/storage_room.dae create mode 100644 models/storage_room/model.config create mode 100644 models/storage_room/model.sdf create mode 100644 models/study/.model.sdf.swp create mode 100644 models/study/materials/textures/study.png create mode 100644 models/study/meshes/study.dae create mode 100644 models/study/model.config create mode 100644 models/study/model.sdf create mode 100644 worlds/house1.model diff --git a/CMakeLists.txt b/CMakeLists.txt index a019dae..2e86686 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -17,19 +17,11 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) +find_package(gazebo REQUIRED) +find_package(gazebo_ros_pkgs REQUIRED) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() +install(DIRECTORY launch models worlds + DESTINATION share/${PROJECT_NAME}/ +) ament_package() diff --git a/images/house1.png b/images/house1.png new file mode 100644 index 0000000000000000000000000000000000000000..8d10cbf9825430a64afe185e1459b174a18abdd9 GIT binary patch literal 182307 zcmeAS@N?(olHy`uVBq!ia0y~yV0^*Az@);##K6E1^+BJLfq{XsILO_J@#aaLdIkmt z&H|6fVg?3oVGw3ym^DX&f$8`OPZ!6KiaBrgrcP10K2`5k{QKj(vu|dtdUt3^!kLbg zb2{rzB`tgRDk-f^@7c1XEVk0^Qb$s}x9LcxH0r9|-sF>9>0?~{{9N_>f7QQT!nQ_j zd$aM$l_=x#r;+!&`cC!O?EG#gdH)}uYklg|&(pVV-8ysT%$++eEq*e||Ibb>EiKK- zdGqDve{E=S0t3) 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z^81e;(E^{*sI}_;eiGhKE!PC{xWt~$(69Bo&B69!$ literal 0 HcmV?d00001 diff --git a/launch/house1.launch.py b/launch/house1.launch.py new file mode 100644 index 0000000..66a26d3 --- /dev/null +++ b/launch/house1.launch.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Darby Lim, Ryan Shim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + +TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + + +def generate_launch_description(): + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model' + world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), + 'worlds', world_file_name) + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), + launch_arguments={'use_sim_time': use_sim_time}.items(), + ), + ]) \ No newline at end of file diff --git a/models/apple/.model.sdf.swp b/models/apple/.model.sdf.swp new file mode 100644 index 0000000000000000000000000000000000000000..60497aa71fda85775ba437522fcec6d055ad7c94 GIT binary patch literal 12288 zcmYc?2=nw+u+TGPU|?VnU|={Wmz!APXT@;g0|P^Heoih(m=G>aD$Oe?C8Uahp$=rA zeo1LjNlt1~eu;5>d9i+RQ8Kbfab|95PGU)BeqJ%MaC%}@YEr&_ZhlH?PO*MsK|xL` zgrirSl1A9#Q5B;hFw#Syv?NW}f|tSA$j|^36v|493c^C6Am%6@4S~@R7!85Z5Eu=C z(GVC7fzc2c4S~@R7$G50QozVi&%nUI1of{3lx9Suq1;hwGz3ONU^E0qLtr!nMnhmU z1V%$(Gz3ONU^E0qLtr!nMnhl-hCpHp149Wf1H%Vi$oxO7|NoMof#E7Y1H(Rk28Jd4 z3=F;e3=CQP3=F>f3=DSs3=Bs63=B;C3=CiS7#N=NF)&=^V_?|L$G|X;kAb0^kAb0z zkAcC3kAcC6kAXpskAZ=YkAZ=SkAdMk%&s9AR-;ZH4S~@R7!85Z5Eu=C(GVC7fzc2c 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