diff --git a/examples/dave_robot_launch/CMakeLists.txt b/examples/dave_robot_launch/CMakeLists.txt new file mode 100644 index 00000000..bee48de8 --- /dev/null +++ b/examples/dave_robot_launch/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(dave_robot_launch) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch + DESTINATION share/dave_robot_launch +) + +ament_package() diff --git a/examples/dave_robot_launch/README.md b/examples/dave_robot_launch/README.md new file mode 100644 index 00000000..7b44ecfa --- /dev/null +++ b/examples/dave_robot_launch/README.md @@ -0,0 +1,33 @@ +## Examples + +### 1. Launching REXROV in an empty world + +To launch the rexrov model in an empty world, follow these steps: + +1. Build and source the workspace: + + ```bash + colcon build && source install/setup.bash + ``` + +2. Launch the model using the specified launch file: + + ```bash + ros2 launch dave_robot_launch robot_in_world.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false + ``` + +### 2. Launching REXROV in dave_ocean_waves.world + +To launch the rexrov model in an underwater world, follow these steps: + +1. Build and source the workspace: + + ```bash + colcon build && source install/setup.bash + ``` + +2. Launch the model using the specified launch file: + + ```bash + ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false + ``` diff --git a/examples/dave_robot_launch/launch/robot_in_world.launch.py b/examples/dave_robot_launch/launch/robot_in_world.launch.py new file mode 100644 index 00000000..26c21afc --- /dev/null +++ b/examples/dave_robot_launch/launch/robot_in_world.launch.py @@ -0,0 +1,176 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + paused = LaunchConfiguration("paused") + gui = LaunchConfiguration("gui") + use_sim_time = LaunchConfiguration("use_sim_time") + debug = LaunchConfiguration("debug") + headless = LaunchConfiguration("headless") + verbose = LaunchConfiguration("verbose") + namespace = LaunchConfiguration("namespace") + world_name = LaunchConfiguration("world_name") + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + roll = LaunchConfiguration("roll") + pitch = LaunchConfiguration("pitch") + yaw = LaunchConfiguration("yaw") + use_ned_frame = LaunchConfiguration("use_ned_frame") + + if world_name.perform(context) != "empty.sdf": + world_name = LaunchConfiguration("world_name").perform(context) + world_filename = f"{world_name}.world" + world_filepath = PathJoinSubstitution( + [FindPackageShare("dave_worlds"), "worlds", world_filename] + ) + gz_args = [world_filepath] + else: + gz_args = [world_name] + + if headless.perform(context) == "true": + gz_args.append(" -s") + if paused.perform(context) == "false": + gz_args.append(" -r") + if debug.perform(context) == "true": + gz_args.append(" -v ") + gz_args.append(verbose.perform(context)) + + # Include the first launch file + gz_sim_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("ros_gz_sim"), + "launch", + "gz_sim.launch.py", + ] + ) + ] + ), + launch_arguments=[ + ("gz_args", gz_args), + ], + condition=IfCondition(gui), + ) + + # Include the second launch file with model name + robot_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("dave_robot_models"), + "launch", + "upload_robot.launch.py", + ] + ) + ] + ), + launch_arguments={ + "gui": gui, + "use_sim_time": use_sim_time, + "namespace": namespace, + "x": x, + "y": y, + "z": z, + "roll": roll, + "pitch": pitch, + "yaw": yaw, + "use_ned_frame": use_ned_frame, + }.items(), + ) + + include = [gz_sim_launch, robot_launch] + + return include + + +def generate_launch_description(): + + # Declare the launch arguments with default values + args = [ + DeclareLaunchArgument( + "paused", + default_value="true", + description="Start the simulation paused", + ), + DeclareLaunchArgument( + "gui", + default_value="true", + description="Flag to enable the gazebo gui", + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Flag to indicate whether to use simulation time", + ), + DeclareLaunchArgument( + "debug", + default_value="false", + description="Flag to enable the gazebo debug flag", + ), + DeclareLaunchArgument( + "headless", + default_value="false", + description="Flag to enable the gazebo headless mode", + ), + DeclareLaunchArgument( + "verbose", + default_value="0", + description="Adjust level of console verbosity", + ), + DeclareLaunchArgument( + "world_name", + default_value="empty.sdf", + description="Gazebo world file to launch", + ), + DeclareLaunchArgument( + "namespace", + default_value="", + description="Namespace", + ), + DeclareLaunchArgument( + "x", + default_value="0.0", + description="Initial x position", + ), + DeclareLaunchArgument( + "y", + default_value="0.0", + description="Initial y position", + ), + DeclareLaunchArgument( + "z", + default_value="0.0", + description="Initial z position", + ), + DeclareLaunchArgument( + "roll", + default_value="0.0", + description="Initial roll angle", + ), + DeclareLaunchArgument( + "pitch", + default_value="0.0", + description="Initial pitch angle", + ), + DeclareLaunchArgument( + "yaw", + default_value="0.0", + description="Initial yaw angle", + ), + DeclareLaunchArgument( + "use_ned_frame", + default_value="false", + description="Flag to indicate whether to use the north-east-down frame", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/examples/dave_robot_launch/package.xml b/examples/dave_robot_launch/package.xml new file mode 100644 index 00000000..0854972c --- /dev/null +++ b/examples/dave_robot_launch/package.xml @@ -0,0 +1,12 @@ + + + dave_robot_launch + 0.1.0 + A package that shows a demo to launch robot models. + Rakesh Vivekanandan + MIT + ament_cmake + + ament_cmake + + \ No newline at end of file diff --git a/models/dave_robot_models/CMakeLists.txt b/models/dave_robot_models/CMakeLists.txt new file mode 100644 index 00000000..3f90e5d8 --- /dev/null +++ b/models/dave_robot_models/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.8) +project(dave_robot_models) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY description launch meshes + DESTINATION share/dave_robot_models +) + +ament_environment_hooks( + "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") + +ament_package() diff --git a/models/dave_robot_models/description/rexrov/model.sdf b/models/dave_robot_models/description/rexrov/model.sdf new file mode 100644 index 00000000..0b9bb15b --- /dev/null +++ b/models/dave_robot_models/description/rexrov/model.sdf @@ -0,0 +1,588 @@ + + + + + + + 0 0 -0.59 0 0 0 + 1862.87 + + 525.39 + 1.44 + 33.41 + 794.20 + 2.6 + 691.23 + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://meshes/rexrov/RexROV_no_props.dae + + + + + + + 0 0 -0.75 0 0 0 + + + 2.56 1.50 0.10 + + + + + + + 0 0 0.60 0 0 0 + + + 2.56 1.50 0.40 + + + + + + + -0.20 0.70 -0.15 0 0 0 + + + 2.20 0.10 1.10 + + + + + + 0.20 -0.70 -0.15 0 0 0 + + + 2.20 0.10 1.10 + + + + + + true + 1000.0 + imu + + + + + + -0.890895 0.334385 0.528822 0 -1.300794 -0.928689 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + -0.890895 -0.334385 0.528822 0 -1.300794 0.928689 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + 0.890895 0.334385 0.528822 0 -1.840798 0.928689 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + 0.890895 -0.334385 0.528822 0 -1.300794 -0.928689 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + -0.412125 0.505415 0.129 0 0 0.785398 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + -0.412125 -0.505415 0.129 0 0 -0.785398 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + 0.412125 0.505415 0.129 0 0 2.356194 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + 0.412125 -0.505415 0.129 0 0 -2.356194 + + 0.001 + + ixx="0.0005" + ixy="0" + ixz="0" + iyy="0.0005" + iyz="0" + izz="0.0005" + + + + + + 1 1 1 + model://meshes/rexrov/prop.dae + + + + + + + 0.000001 + 0.000001 + + + 0 0 0 0 0 0 + + + + + -0.890895 0.334385 0.528822 0 -1.300794 -0.928689 + base_link + thruster1 + + 1 0 0 + + -1 + -1 + + + + + + -0.890895 -0.334385 0.528822 0 -1.300794 0.928689 + base_link + thruster2 + + 1 0 0 + + -1 + -1 + + + + + + 0.890895 0.334385 0.528822 0 -1.840798 0.928689 + base_link + thruster3 + + 1 0 0 + + -1 + -1 + + + + + + 0.890895 -0.334385 0.528822 0 -1.300794 -0.928689 + base_link + thruster4 + + 1 0 0 + + -1 + -1 + + + + + + -0.412125 0.505415 0.129 0 0 0.785398 + base_link + thruster5 + + 1 0 0 + + -1 + -1 + + + + + + -0.412125 -0.505415 0.129 0 0 -0.785398 + base_link + thruster6 + + 1 0 0 + + -1 + -1 + + + + + + 0.412125 0.505415 0.129 0 0 2.356194 + base_link + thruster7 + + 1 0 0 + + -1 + -1 + + + + + + 0.412125 -0.505415 0.129 0 0 -2.356194 + base_link + thruster8 + + 1 0 0 + + -1 + -1 + + + + + + rexrov + thruster1_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster2_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster3_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster4_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster5_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster6_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster7_joint + 1000.0 + 0.00031 + true + false + + + + rexrov + thruster8_joint + 1000.0 + 0.00031 + true + false + + + + base_link + + + -4.876161 + -126.324739 + -126.324739 + 0 + -33.46 + -33.46 + + + + -74.82 + -69.48 + -728.4 + -268.8 + -309.77 + -105 + + + -748.22 + -992.53 + -1821.01 + -672 + -774.44 + -523.27 + + + + + + + map + base_link + 3 + 100 + + + + thruster1_joint + thruster2_joint + thruster3_joint + thruster4_joint + thruster5_joint + thruster6_joint + thruster7_joint + thruster8_joint + + + + diff --git a/models/dave_robot_models/hooks/dave_robot_models.dsv.in b/models/dave_robot_models/hooks/dave_robot_models.dsv.in new file mode 100644 index 00000000..346888c8 --- /dev/null +++ b/models/dave_robot_models/hooks/dave_robot_models.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ diff --git a/models/dave_robot_models/launch/upload_robot.launch.py b/models/dave_robot_models/launch/upload_robot.launch.py new file mode 100755 index 00000000..263508a3 --- /dev/null +++ b/models/dave_robot_models/launch/upload_robot.launch.py @@ -0,0 +1,137 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, RegisterEventHandler, LogInfo +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare +from launch.event_handlers import OnProcessExit +from launch_ros.actions import Node + + +def generate_launch_description(): + gui = LaunchConfiguration("gui") + use_sim_time = LaunchConfiguration("use_sim_time") + namespace = LaunchConfiguration("namespace") + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + roll = LaunchConfiguration("roll") + pitch = LaunchConfiguration("pitch") + yaw = LaunchConfiguration("yaw") + use_ned_frame = LaunchConfiguration("use_ned_frame") + + args = [ + DeclareLaunchArgument( + "gui", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Flag to indicate whether to use sim time", + ), + DeclareLaunchArgument( + "namespace", + default_value="", + description="Namespace", + ), + DeclareLaunchArgument( + "x", + default_value="0", + description="Initial x position", + ), + DeclareLaunchArgument( + "y", + default_value="0", + description="Initial y position", + ), + DeclareLaunchArgument( + "z", + default_value="0.0", + description="Initial z position", + ), + DeclareLaunchArgument( + "roll", + default_value="0.0", + description="Initial roll", + ), + DeclareLaunchArgument( + "pitch", + default_value="0.0", + description="Initial pitch", + ), + DeclareLaunchArgument( + "yaw", + default_value="0.0", + description="Initial yaw", + ), + DeclareLaunchArgument( + "use_ned_frame", + default_value="false", + description="Use North-East-Down frame", + ), + ] + + description_file = PathJoinSubstitution( + [ + FindPackageShare("dave_robot_models"), + "description", + namespace, + "model.sdf", + ] + ) + + tf2_spawner = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="world_to_world_ned", + arguments=[ + "--roll", + "1.57", + "--yaw", + "3.14", + "--frame_id", + "world", + "--child_frame_id", + "world_ned", + ], + output="both", + condition=IfCondition(use_ned_frame), + parameters=[{"use_sim_time_time": use_sim_time}], + ) + + gz_spawner = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-name", + namespace, + "-file", + description_file, + "-x", + x, + "-y", + y, + "-z", + z, + "-roll", + roll, + "-pitch", + pitch, + "-yaw", + yaw, + ], + output="both", + condition=IfCondition(gui), + parameters=[{"use_sim_time_time": use_sim_time}], + ) + + nodes = [tf2_spawner, gz_spawner] + + event_handlers = [ + RegisterEventHandler( + OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Robot Model Uploaded")) + ) + ] + + return LaunchDescription(args + nodes + event_handlers) diff --git a/models/dave_robot_models/meshes/rexrov/RexROV_no_props.dae b/models/dave_robot_models/meshes/rexrov/RexROV_no_props.dae new file mode 100644 index 00000000..e51caafe --- /dev/null +++ b/models/dave_robot_models/meshes/rexrov/RexROV_no_props.dae @@ -0,0 +1,1980 @@ + + + + + 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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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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+ + + + + + + + + 6.85872e-4 -3.17366e-4 6.54853e-4 0.007481098 7.27624e-4 3.12465e-4 -6.10658e-4 -0.006507874 -1.08166e-5 8.95332e-4 4.4524e-4 0.005343437 0 0 0 1 + + + + -2.90861e-4 -7.71091e-4 5.66386e-4 0.004076481 9.55159e-4 -1.99881e-4 2.18388e-4 0.001005411 -5.51883e-5 6.04517e-4 7.94662e-4 0.005903721 0 0 0 1 + + + + 9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/models/dave_robot_models/package.xml b/models/dave_robot_models/package.xml new file mode 100644 index 00000000..e0436ca8 --- /dev/null +++ b/models/dave_robot_models/package.xml @@ -0,0 +1,14 @@ + + + dave_robot_models + 0.1.0 + Dave robot model description files are placed here. + Rakesh Vivekanandan + MIT + ament_cmake + + ament_cmake + + + + \ No newline at end of file diff --git a/models/dave_worlds/worlds/dave_ocean_waves.world b/models/dave_worlds/worlds/dave_ocean_waves.world index c4060d30..de877d5b 100644 --- a/models/dave_worlds/worlds/dave_ocean_waves.world +++ b/models/dave_worlds/worlds/dave_ocean_waves.world @@ -102,5 +102,17 @@ 0 0 -95 0 0 0 + + + 1000 + + 0 + 1 + + + +