From b33c4c5b5d1c9e832ea7aa63e466bf5ad061aeb9 Mon Sep 17 00:00:00 2001 From: morpheus1820 Date: Wed, 26 Jun 2024 11:27:52 +0200 Subject: [PATCH 1/2] added madama gazebo world and start script --- app/maps/SIM_MADAMA/GAM_crowd_sim.world | 526 +++++++++++++++++ .../GAM_crowd_sim_engagement_det.world | 540 ++++++++++++++++++ app/maps/SIM_MADAMA/madama.world | 186 ++++++ app/maps/SIM_MADAMA/madama_crowd_sim.world | 232 ++++++++ app/maps/SIM_MADAMA/madama_world.dae | 101 ++++ app/navigation2/scripts/start_sim_madama.sh | 9 + 6 files changed, 1594 insertions(+) create mode 100644 app/maps/SIM_MADAMA/GAM_crowd_sim.world create mode 100644 app/maps/SIM_MADAMA/GAM_crowd_sim_engagement_det.world create mode 100644 app/maps/SIM_MADAMA/madama.world create mode 100644 app/maps/SIM_MADAMA/madama_crowd_sim.world create mode 100644 app/maps/SIM_MADAMA/madama_world.dae create mode 100755 app/navigation2/scripts/start_sim_madama.sh diff --git a/app/maps/SIM_MADAMA/GAM_crowd_sim.world 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279 7396 1009 279 7397 908 280 7398 1222 280 7399 1218 280 7400 764 281 7401 1078 281 7402 1080 281 7403 694 431 7404 1008 431 7405 1010 431 7406 905 432 7407 1219 432 7408 1223 432 7409 838 433 7410 1152 433 7411 1150 433 7412 837 285 7413 1151 285 7414 1153 285 7415 769 434 7416 1083 434 7417 1081 434 7418 699 435 7419 1013 435 7420 1008 435 7421 766 436 7422 1080 436 7423 1082 436 7424 839 289 7425 1153 289 7426 1155 289 7427

+ + + + + + + + 1 0 0 22.08471 0 1 0 -26.43807 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/app/navigation2/scripts/start_sim_madama.sh b/app/navigation2/scripts/start_sim_madama.sh new file mode 100755 index 0000000..3bb4846 --- /dev/null +++ b/app/navigation2/scripts/start_sim_madama.sh @@ -0,0 +1,9 @@ +yarpserver & +sleep 1; +ros2 launch gazebo_ros gazebo.launch.py extra_gazebo_args:=-slibgazebo_yarp_clock.so world:=/home/user1/tour-guide-robot/app/maps/SIM_MADAMA/madama.world & +sleep 1; +yarprun --server /console --log & +sleep 1; +yarplogger --start & +sleep 1; +yarpmanager From f988ce1604d2a8aebe0050437d84cb28c1dc3d5d Mon Sep 17 00:00:00 2001 From: morpheus1820 Date: Thu, 27 Jun 2024 08:38:40 +0000 Subject: [PATCH 2/2] cleanup, new madama model --- app/maps/SIM_MADAMA/GAM_crowd_sim.world | 526 ----------------- .../GAM_crowd_sim_engagement_det.world | 540 ------------------ app/maps/SIM_MADAMA/madama.world | 35 +- app/maps/SIM_MADAMA/madama_crowd_sim.world | 27 +- app/maps/SIM_MADAMA/madama_world.dae | 101 ---- .../palazzomadama.dae | 0 .../palazzomadama/model.config | 17 - .../palazzomadama/model.sdf | 39 -- 8 files changed, 23 insertions(+), 1262 deletions(-) delete mode 100644 app/maps/SIM_MADAMA/GAM_crowd_sim.world delete mode 100644 app/maps/SIM_MADAMA/GAM_crowd_sim_engagement_det.world delete mode 100644 app/maps/SIM_MADAMA/madama_world.dae rename app/maps/{SIM_PALAZZO_MADAMA/palazzomadama => SIM_MADAMA}/palazzomadama.dae (100%) delete mode 100644 app/maps/SIM_PALAZZO_MADAMA/palazzomadama/model.config delete mode 100644 app/maps/SIM_PALAZZO_MADAMA/palazzomadama/model.sdf diff --git a/app/maps/SIM_MADAMA/GAM_crowd_sim.world b/app/maps/SIM_MADAMA/GAM_crowd_sim.world deleted file mode 100644 index 731ee3b..0000000 --- a/app/maps/SIM_MADAMA/GAM_crowd_sim.world +++ /dev/null @@ -1,526 +0,0 @@ - - - - 1 - - - - - 0 0 1 - 200 200 - - - - - - 100 - 50 - - - - - - - - - - - 10 - - - 0 - - - 0 0 1 - 200 200 - - - - - - - 0 - 0 - 0 - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - 0 - 0 - 0 - - - - 0 0 0 0 -0 0 - 1 - - - - - GAM.dae - - - - - - - GAM.dae - - - - - - - - - - - - - - - 2 - - 0 - 0 - 0 - - - - - - model://cer_no_collisions_20m - - - - 0 0 -9.81 - 6e-06 2.3e-05 -4.2e-05 - - - 0.001 - 1 - 1000 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 15.017 7.47424 32.928 0 0.933798 3.03616 - orbit - perspective - - - - - - - - - -1 -1 1 0 0 0 - - walk-red.dae - 1.0 - - - walk-red.dae - 1.000000 - true - - - - 0.9 - 0.4 - 5.1 - walking - 6.0 - - 2.0 - 80.0 - 15 - 3.0 - 2.0 - 1.0 - - true - 0.5 5 1 - -1 12 1 - - - - - - 1 -1 1 0 0 0 - - walk-blue.dae - 1.0 - - - walk-blue.dae - 1.000000 - true - - - - 1.2 - 0.4 - 5.1 - walking - 6.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - true - 0 7 1 - -1 12 1 - - - - - - - moonwalk.dae - 1.0 - - - stand.dae - - - -1 1.5 1 0 0 0 - - - - 1 2 1 0 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 1.0 - 0.4 - 5.1 - walking - 6.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor5 - - - true - 0 6 1 - 0 -2 1 - - - - - - -1 10 1 0 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.7 - 0.4 - 5.1 - walking - 6.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor4 - - - true - 0.4 0.8 1 - -1.4 0.8 1 - - - - - - 3.6 1.8 1 0 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.9 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor4 - - - true - 3 0.8 1 - -3 0.8 1 - - - - - - - - -6 -4 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor7 - - - true - -6 -4 0 0 - -6 -5 0 0 - - - - - - -7 -5 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor7 - - - true - -6 -4 0 0 - -5 -5 0 0 - - - - - - -6 -6 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor7 - - - true - -6 -6 0 0 - - - - - - - - -6 1 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor10 - - - true - -5 1 0 - -18 1 0 - - - - - - - - - stand.dae - 1.0 - - - stand.dae - - - -13 -2 1 0 0 3.14 - - - - - - diff --git a/app/maps/SIM_MADAMA/GAM_crowd_sim_engagement_det.world b/app/maps/SIM_MADAMA/GAM_crowd_sim_engagement_det.world deleted file mode 100644 index 21c4bb5..0000000 --- a/app/maps/SIM_MADAMA/GAM_crowd_sim_engagement_det.world +++ /dev/null @@ -1,540 +0,0 @@ - - - - 1 - - - - - 0 0 1 - 200 200 - - - - - - 100 - 50 - - - - - - - - - - - 10 - - - 0 - - - 0 0 1 - 200 200 - - - - - - - 0 - 0 - 0 - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - 0 - 0 - 0 - - - - 0 0 0 0 -0 0 - 1 - - - - - GAM.dae - - - - - - - GAM.dae - - - - - - - - - - - - - - - 2 - - 0 - 0 - 0 - - - - - - model://cer_no_collisions_20m - - - - 0 0 -9.81 - 6e-06 2.3e-05 -4.2e-05 - - - 0.001 - 1 - 1000 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 15.017 7.47424 32.928 0 0.933798 3.03616 - orbit - perspective - - - - - - - - - -1 -1 1 0 0 0 - - walk-red.dae - 1.0 - - - walk-red.dae - 1.000000 - true - - - - 0.9 - 0.4 - 5.1 - walking - 6.0 - - 2.0 - 80.0 - 15 - 3.0 - 2.0 - 1.0 - - true - 0.5 5 1 - -1 12 1 - - - - - - 1 -1 1 0 0 0 - - walk-blue.dae - 1.0 - - - walk-blue.dae - 1.000000 - true - - - - 1.2 - 0.4 - 5.1 - walking - 6.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - true - 0 7 1 - -1 12 1 - - - - - - - moonwalk.dae - 1.0 - - - stand.dae - - - -1 1.5 1 0 0 0 - - - - - - - - -6 -4 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor7 - - - true - -6 -4 0 0 - -6 -5 0 0 - - - - - - -7 -5 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor7 - - - true - -6 -4 0 0 - -5 -5 0 0 - - - - - - -6 -6 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor7 - - - true - -6 -6 0 0 - - - - - - - - -6 1 0 0 - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - - 0.2 - 0.4 - 5.1 - walking - 5.0 - 2.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - actor10 - - - true - -5 1 0 - -18 1 0 - - - - - - - - - stand.dae - 1.0 - - - stand.dae - - - -13 -2 1 0 0 3.14 - - - - - - - - - 0 8 1 0 0 3.14 - - stand.dae - 1.0 - - - walk.dae - 1.000000 - true - - - 0.2 - 0.4 - 5.1 - walking - 4.0 - 20.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - visitor1 - - - false - -1 0 1 - -2 -2 1 - -5 -2 1 - -9 1.5 1 - -12 -1 1 - - - - - - 1 8 1 0 0 3.14 - - stand.dae - 1.0 - - - walk.dae - 1.000000 - true - - - 0.2 - 0.4 - 5.1 - walking - 4.0 - 20.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - visitor1 - - - false - -1 0 1 - -2 -2 1 - -5 -2 1 - -9 1.5 1 - -12 -1 1 - - - - - - -1 8 1 0 0 3.14 - - stand.dae - 1.0 - - - walk.dae - 1.000000 - true - - - 0.2 - 0.4 - 5.1 - walking - 4.0 - 20.0 - 80.0 - 15.0 - 3.0 - 2.0 - 1.0 - - visitor1 - - - false - -1 0 1 - -2 -2 1 - -5 -2 1 - -9 1.5 1 - -12 -1 1 - - - - - - - - - diff --git a/app/maps/SIM_MADAMA/madama.world b/app/maps/SIM_MADAMA/madama.world index 5b3f355..fd9b44b 100644 --- a/app/maps/SIM_MADAMA/madama.world +++ b/app/maps/SIM_MADAMA/madama.world @@ -7,7 +7,7 @@ 0 0 1 - 200 200 + 100 100 @@ -32,14 +32,14 @@ 0 0 1 - 200 200 + 100 100 + Gazebo/DarkGrey + 0 @@ -66,40 +66,21 @@ - - 0 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - 0.7 -0.9 -0.9 - - 0 - 0 - 0 - - - - - 0 0 0 0 -0 0 + + 10 -11 0 0 0 1.561 1 - madama_world.dae + palazzomadama.dae - madama_world.dae + palazzomadama.dae diff --git a/app/maps/SIM_MADAMA/madama_crowd_sim.world b/app/maps/SIM_MADAMA/madama_crowd_sim.world index 9ad9af1..c0e2151 100644 --- a/app/maps/SIM_MADAMA/madama_crowd_sim.world +++ b/app/maps/SIM_MADAMA/madama_crowd_sim.world @@ -7,7 +7,7 @@ 0 0 1 - 200 200 + 100 100 @@ -32,14 +32,14 @@ 0 0 1 - 200 200 + 100 100 + Gazebo/DarkGrey + 0 @@ -47,7 +47,7 @@ 0 - + 1 0 0 10 0 -0 0 0.8 0.8 0.8 1 @@ -65,21 +65,22 @@ 0 - - 0 0 0 0 -0 0 + + + 10 -11 0 0 0 1.561 1 - madama_world.dae + palazzomadama.dae - madama_world.dae + palazzomadama.dae @@ -107,7 +108,7 @@ model://cer_no_collisions_20m - + 0 0 -9.81 6e-06 2.3e-05 -4.2e-05 @@ -163,8 +164,7 @@ - - + 5 5 1 0 0 0 @@ -230,3 +230,6 @@ + + + \ No newline at end of file diff --git a/app/maps/SIM_MADAMA/madama_world.dae b/app/maps/SIM_MADAMA/madama_world.dae deleted file mode 100644 index acc4cd5..0000000 --- a/app/maps/SIM_MADAMA/madama_world.dae +++ /dev/null @@ -1,101 +0,0 @@ - - - - - Blender User - Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727 - - 2024-06-26T11:05:43 - 2024-06-26T11:05:43 - - Z_UP - - - - - - - - 0 0 0 1 - - - 1.32642e-4 0 0.8001724 1 - - - 1.45 - - - - - - - - - - - - - - - - - -3.364181 -0.3478122 0 1 -0.368193 0 -3.364181 1.020381 0 1 1 0 -26.06847 24.97338 0 -24.06847 24.97338 0 -26.80218 26.23967 0 -24.04401 27.85384 0 -26.06847 29.32126 0 -24.01956 29.51692 0 -28.02504 26.94893 0 -28.12286 29.15006 0 -29.27234 26.92447 0 -29.39463 29.02778 0 -21.47603 28.02504 0 -21.45157 29.68811 0 -21.12219 28.97331 0 -21.14019 29.43335 0 -19.14072 29.11485 0 -19.15872 29.56073 0 -18.9388 28.24623 0 -19.07758 29.79245 0 -13.37652 28.58591 0 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