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Merge pull request #76 from furushchev/enable-task3
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[jsk_mbzirc_tasks] add rviz for task3 / fix namespaces of UAVs
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@k-okada
k-okada committed Jun 7, 2016
2 parents fc18848 + 94e76f0 commit db20114
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37 changes: 37 additions & 0 deletions jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l
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;; box.l
;; Author: Yuki Furuta <[email protected]>

(defclass box-object
:super cascaded-link)

(defmethod box-object
(:init
(&rest args &key (name "dropping_zone_box") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0
box inner)
(setq box (make-cube 100000 50000 80000 :pos #f(0 0 40000)))
(setq inner (make-cube 95000 45000 77500 :pos #f(0 0 42500)))
(setq box (body- box inner))

(send-super* :init :name name args)
(setq bc (list box))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :box-bodyset :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send self :assoc blink0)
(setq links (list blink0))
(setq joint-list (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))

(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)

(defun box (&rest args) (instance* box-object :init args))

8 changes: 8 additions & 0 deletions jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l
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;; box-to-collada.l
;; Author: Yuki Furuta <[email protected]>

(load "irteus/irtcollada.l")

(load "box-object.l")
(collada::eus2collada (box) ".")
(exit)
16 changes: 16 additions & 0 deletions jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh
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#!/bin/bash

if [ "`which gzsdf`" = "" ]; then
GZSDF="gz sdf -p"
else
GZSDF="gzsdf print"
fi
rm -rf meshes model.sdf model.urdf dropping_zone_box.dae
roseus box-to-collada.l
sed -i -e 's/nil/box/g' dropping_zone_box.dae
rosrun collada_urdf collada_to_urdf dropping_zone_box.dae -G -A --mesh_output_dir meshes --mesh_prefix "model://dropping_zone_box/meshes" -O model.urdf
$GZSDF model.urdf > model.sdf
sed -i -e 's/<mass>.*<\/mass>/<mass>20<\/mass>/g' model.sdf
sed -i -e 's@<ixx>.*</ixx>@<ixx>1</ixx>@g' model.sdf
sed -i -e 's@<iyy>.*</iyy>@<iyy>1</iyy>@g' model.sdf
sed -i -e 's@<izz>.*</izz>@<izz>1</izz>@g' model.sdf
101 changes: 101 additions & 0 deletions jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae
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<?xml version="1.0"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Someone</author>
<authoring_tool>Assimp Collada Exporter</authoring_tool>
</contributor>
<created>2000-01-01T23:59:59</created>
<modified>2000-01-01T23:59:59</modified>
<unit name="centimeter" meter="0.01" />
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="m0blinn20-fx" name="m0blinn20">
<profile_COMMON>
<technique sid="standard">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.371094 0.371094 0.371094 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.742188 0.742188 0.742188 1</color>
</diffuse>
<specular>
<color sid="specular">0 0 0 1</color>
</specular>
<shininess>
<float sid="shininess">10</float>
</shininess>
<reflective>
<color sid="reflective">0 0 0 0</color>
</reflective>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="m0blinn20" name="m0blinn20">
<instance_effect url="#m0blinn20-fx"/>
</material>
</library_materials>
<library_geometries>
<geometry id="meshId0" name="meshId0_name" >
<mesh>
<source id="meshId0-positions" name="meshId0-positions">
<float_array id="meshId0-positions-array" count="144"> -50 25 80 -50 25 0 -50 -25 0 -50 -25 80 -50 -25 0 50 -25 0 50 -25 80 -50 -25 80 50 -25 0 50 25 0 50 25 80 50 -25 80 50 25 80 -50 25 80 -47.5 22.5 80 47.5 22.5 80 50 -25 80 -50 -25 80 -47.5 -22.5 80 47.5 -22.5 80 50 25 0 -50 25 0 -50 25 80 50 25 80 -50 25 0 50 25 0 50 -25 0 -50 -25 0 -47.5 22.5 3.75 -47.5 22.5 80 -47.5 -22.5 80 -47.5 -22.5 3.75 47.5 -22.5 3.75 -47.5 -22.5 3.75 -47.5 -22.5 80 47.5 -22.5 80 47.5 22.5 3.75 47.5 -22.5 3.75 47.5 -22.5 80 47.5 22.5 80 47.5 22.5 3.75 -47.5 22.5 3.75 -47.5 -22.5 3.75 47.5 -22.5 3.75 -47.5 22.5 3.75 47.5 22.5 3.75 47.5 22.5 80 -47.5 22.5 80 </float_array>
<technique_common>
<accessor count="48" offset="0" source="#meshId0-positions-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<source id="meshId0-normals" name="meshId0-normals">
<float_array id="meshId0-normals-array" count="144"> -1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 0 -1 0 0 -1 0 0 -1 0 -0 -1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -0 1 0 0 1 0 -0 1 0 0 1 0 1 0 0 1 0 0 1 0 -0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 1 0 -0 1 0 -0 1 0 -0 1 0 0 0 1 0 0 1 0 0 1 0 -0 1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -1 0 0 -1 0 0 -1 0 -0 -1 0 </float_array>
<technique_common>
<accessor count="48" offset="0" source="#meshId0-normals-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<vertices id="meshId0-vertices">
<input semantic="POSITION" source="#meshId0-positions" />
<input semantic="NORMAL" source="#meshId0-normals" />
</vertices>
<polylist count="28" material="theresonlyone">
<input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 12 14 15 16 12 15 14 13 17 18 14 17 19 18 17 19 17 16 19 16 15 20 21 22 22 23 20 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44 </p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="myScene" name="myScene">
<node id="base1d_med" name="base1d_med">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<node id="box_link" name="box_link">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#meshId0">
<bind_material>
<technique_common>
<instance_material symbol="theresonlyone" target="#m0blinn20" />
</technique_common>
</bind_material>
</instance_geometry>
</node>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#myScene" />
</scene>
</COLLADA>
11 changes: 11 additions & 0 deletions jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config
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<?xml version="1.0" ?>
<model>
<name>dropping_zone_box</name>
<version>1.0</version>
<sdf version="1.4">model.sdf</sdf>
<author>
<name>Yuki Furuta</name>
<email>[email protected]</email>
</author>
<description>mbzirc-jsk</description>
</model>
51 changes: 51 additions & 0 deletions jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf
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<sdf version='1.5'>
<model name='dropping_zone_box'>
<link name='box_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>20</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='box_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://dropping_zone_box/meshes/box_link_mesh.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode>
<mu>0.9</mu>
<mu2>0.9</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name='box_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://dropping_zone_box/meshes/box_link_mesh.dae</uri>
</mesh>
</geometry>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
</model>
</sdf>
6 changes: 6 additions & 0 deletions jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world
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</plugin>
</model>

<model name="dropping_zone_box">
<pose>-65 25 0 0 0 0</pose>
<include>
<uri>model://dropping_zone_box</uri>
</include>
</model>

<gui fullscreen='0'>
<camera name='user_camera'>
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