Revision: 7385
http://playerstage.svn.sourceforge.net/playerstage/?rev=7385&view=rev
Author: rtv
Date: 2009-03-08 04:55:48 +0000 (Sun, 08 Mar 2009)
Log Message:
-----------
added federation demo files
Added Paths:
-----------
code/branches/federation/gazebo/Media/materials/textures/cave.png
code/branches/federation/gazebo/worlds/federation.world
Added: code/branches/federation/gazebo/Media/materials/textures/cave.png
===================================================================
(Binary files differ)
Property changes on:
code/branches/federation/gazebo/Media/materials/textures/cave.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: code/branches/federation/gazebo/worlds/federation.world
===================================================================
--- code/branches/federation/gazebo/worlds/federation.world
(rev 0)
+++ code/branches/federation/gazebo/worlds/federation.world 2009-03-08
04:55:48 UTC (rev 7385)
@@ -0,0 +1,159 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>5</verbosity>
+
+ <physics:ode>
+ <stepTime>0.03</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-5</cfm>
+ <erp>0.3</erp>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.2 0.2 0.2 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+
+ <fog>
+ <color>1.0 1.0 1.0</color>
+ <linearStart>10</linearStart>
+ <linearEnd>100</linearEnd>
+ </fog>
+
+ <shadowTechnique>stencilAdditive</shadowTechnique>
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/Grey</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="sphere1_model">
+ <xyz>2.15 -1.68 .3</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>true</static>
+
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <size>0.1</size>
+
+ <visual>
+ <scale>0.1 0.1 0.1</scale>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+
+ <!--
+ Include the complete model described in the .model file
+ This assumes the root node is a <model:...>
+ -->
+ <!-- <include embedded="false">
+ <xi:include href="pioneer2dx.model" />
+ </include>
+ -->
+
+ <model:physical name="pioneer2dx_model1">
+ <xyz>0 0 .145</xyz>
+ <rpy>0.0 0.0 90.0</rpy>
+ <enableGravity>false</enableGravity>
+ <enableFriction>false</enableFriction>
+
+ <controller:differential_position2d name="controller1">
+ <leftJoint>left_wheel_hinge</leftJoint>
+ <rightJoint>right_wheel_hinge</rightJoint>
+ <wheelSeparation>0.39</wheelSeparation>
+ <wheelDiameter>0.15</wheelDiameter>
+ <torque>5</torque>
+ <interface:position name="position_iface_0"/>
+ </controller:differential_position2d>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+ <enableGravity>false</enableGravity>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0 2 2</xyz>
+ <enableGravity>false</enableGravity>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <attenuation>20 0.5 0.1 0</attenuation>
+ </light>
+ </model:renderable>
+
+ <model:physical name="map">
+ <xyz>0 0 0</xyz>
+ <static>true</static>
+ <body:map name="map_body">
+ <geom:map name="map_geom">
+ <scale>0.032</scale>
+ <image>cave.png</image>
+ <threshold>200</threshold>
+ <granularity>2</granularity>
+ <negative>false</negative>
+ <scale>0.1</scale>
+ <material>Gazebo/Rocky</material>
+ </geom:map>
+ </body:map>
+ </model:physical>
+
+</gazebo:world>
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