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1398 2060 1614 2061 1614 2061 1616 2065 1395 2064 1397 2062 1394 2066 1617 2067 1617 2067 1615 2063 1397 2062 1392 2068 1395 2064 1616 2065 1616 2065 1618 2069 1392 2068 1394 2066 1391 2070 1619 2071 1619 2071 1617 2067 1394 2066 1390 2072 1392 2068 1618 2069 1618 2069 1620 2073 1390 2072 1391 2070 1389 2074 1621 2075 1621 2075 1619 2071 1391 2070 1388 2076 1390 2072 1620 2073 1620 2073 1622 2077 1388 2076 1389 2074 1387 2078 1623 2079 1623 2079 1621 2075 1389 2074 1386 2080 1388 2076 1622 2077 1622 2077 1624 2081 1386 2080 1387 2078 1385 2082 1625 2 1625 2 1623 2079 1387 2078 1384 2083 1386 2080 1624 2081 1624 2081 1626 2 1384 2083 1385 2082 1383 2084 1627 2 1627 2 1625 2 1385 2082 1383 2084 1377 2 1628 2 1628 2 1627 2 1383 2084 1222 2085 1226 2 1629 2 1629 2 1631 2 1222 2085 1225 2086 1221 2087 1632 2 1632 2 1630 2 1225 2086 1205 1 1222 2085 1631 2 1631 2 1633 1 1205 1 1204 1 1205 1 1633 1 1633 1 1634 1 1204 1 1221 2087 1203 1 1635 1 1635 1 1632 2 1221 2087 1203 1 1204 1 1634 1 1634 1 1635 1 1203 1

+ + + + + + + + 0.1615792 0 0 0 0 1.21989e-8 -0.1615792 0 0 0.1615792 1.21989e-8 0 0 0 0 1 + + + + + + + + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518912 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/hybrid_body.mtl b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/hybrid_body.mtl similarity index 100% rename from CustomRobots/car_junction/models/waymo_light/meshes/hybrid_body.mtl rename to CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/hybrid_body.mtl diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/hybrid_body.obj b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/hybrid_body.obj similarity index 100% rename from CustomRobots/car_junction/models/waymo_light/meshes/hybrid_body.obj rename to CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/hybrid_body.obj diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/steering_wheel.mtl b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/steering_wheel.mtl similarity index 100% rename from CustomRobots/car_junction/models/waymo_light/meshes/steering_wheel.mtl rename to CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/steering_wheel.mtl diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/steering_wheel.obj b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/steering_wheel.obj similarity index 100% rename from CustomRobots/car_junction/models/waymo_light/meshes/steering_wheel.obj rename to CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/steering_wheel.obj diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/wheel.mtl b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/wheel.mtl similarity index 100% rename from CustomRobots/car_junction/models/waymo_light/meshes/wheel.mtl rename to CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/wheel.mtl diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/wheel.obj b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/wheel.obj similarity index 100% rename from CustomRobots/car_junction/models/waymo_light/meshes/wheel.obj rename to CustomRobots/autopark_harmonic/models/prius_autoparking_camera/meshes/wheel.obj diff --git a/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/model.config b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/model.config new file mode 100644 index 000000000..f96285e01 --- /dev/null +++ b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/model.config @@ -0,0 +1,23 @@ + + + prius_autoparking_3laser_harmonic + 1.0 + model.sdf + + + Your Name + your.email@example.com + + + + Prius vehicle model with Ackermann steering and 3 laser sensors for autonomous parking simulation. + + + + + + model://ground_plane + + + + \ No newline at end of file diff --git a/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/model.sdf b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/model.sdf new file mode 100644 index 000000000..c27959c73 --- /dev/null +++ b/CustomRobots/autopark_harmonic/models/prius_autoparking_camera/model.sdf @@ -0,0 +1,554 @@ + + + + + 0 0 0.0 0 0 0 + + + + + 0.0 0.0 0.0 0 0 0 + base_link + chassis_link + + + + + 1e-06 0.07307 0.65096 0 -0 0 + 1580 + + 1997.86 + -3e-05 + -1e-06 + 442.769 + 62.5206 + 2238.05 + + + + 0 -0.0801 0 0 0 -3.1416 + + + 0.01 0.01 0.01 + model://prius_autoparking_3laser/meshes/hybrid_body.obj + + + + + 0x01 + + + + 0.2 + 0.2 + + + + + + + 0 -0.08 0 0 0 -3.1416 + + + 0.01 0.0109 0.01 + model://prius_autoparking_lidar/meshes/hybrid_body.obj + + + + + + + + + + 0 -1.25 1.725 0 0 0 + + + 0.05 + 0.15 + + + + 1 1 1 1 + 1 1 1 1 + + + + 0 -1.25 1.575 0 0 0 + + + 0.25 + 0.025 + + + + 1 1 1 1 + 1 1 1 1 + + + + 0 -1.25 1.725 0 0 0 + + + 28 28 28 + model://prius_autoparking_lidar/meshes/hokuyo.dae + + + + + + + + 0 0.2 1.45 0 0 1.57 + + + 0.1 0.1 0.1 + + + + 0.05 0.05 0.05 1 + 0.05 0.05 0.05 1 + 0.7 0.7 0.7 1 + 0 0 0 0 + + + + + 0 0.2 1.45 0 0 1.57 + true + true + 20 + /prius_autoparking/image_raw + + /prius_autoparking/camera_info + 2.094 + + + 329.9 + 329.9 + 359.5 + 539.5 + 0 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 1080 + 720 + R8G8B8 + + + 0.01 + 200 + + + gaussian + 0 + 0.007 + + + + + + + + -0.775 -1.63364 0.324997 0 -0 0 + chassis_link + bl_1 + + -1 0 0 + + 12.031606150200002 + + + + + 0 0 0 0 -0 0 + + -0.0377 0 -0 0 -0 0 + 24.5 + + 1.84514 + 0 + 0 + 1.04961 + 0 + 1.04961 + + + + 0 0 0 0 1.5708 0 + + + .3425 + .22 + + + + + 0x01 + + + + 1.7 + 1.7 + + + + + + 0 0 0 0 0 0 + + + 0.01 0.01 0.01 + model://prius_autoparking_3laser_harmonic/meshes/wheel.obj + + + + + + + 0.775 -1.63364 0.324997 0 -0 0 + chassis_link + br_1 + + -1 0 0 + + 12.031606150200002 + + + + + 0 0 0 0 -0 0 + + -0.0377 0 -0 0 -0 0 + 24.5 + + 1.84514 + 0 + 0 + 1.04961 + 0 + 1.04961 + + + + 0 0 0 0 1.5708 0 + + + .3425 + .22 + + + + + 0x01 + + + + 1.7 + 1.7 + + + + + + 0 0 0 0 0 0 + + + 0.01 0.01 0.01 + model://prius_autoparking_3laser_harmonic/meshes/wheel.obj + + + + + + + -0.825 1.51736 0.324997 0 -0 0 + chassis_link + l_steer_1 + + 0 0 1 + + -0.95 + 0.95 + 1e6 + 1e6 + + + 18.0474092253 + + + + + 0 0 0 0 -0 0 + + 0.003381 0 0.02162 0 -0 0 + 1 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + + -0.05 0 0 0 -0 0 + l_steer_1 + fl_1 + + -1 0 0 + + 12.031606150200002 + + + + + 0 0 0 0 -0 0 + + -0.0377 0 -0 0 -0 0 + 24.5 + + 1.84514 + 0 + 0 + 1.04961 + 0 + 1.04961 + + + + 0.875 -1.5174 0.1444 0 -0 0 + + + 0.001 0.001 0.001 + model://autocar/meshes/fl_1.stl + + + + + 0x01 + + + + 1.1 + 1.1 + + + + + + 0.13 0 0 0 0 0 + + + 0.01 0.01 0.01 + model://prius_autoparking_3laser_harmonic/meshes/wheel.obj + + + + + + + 0.825 1.51736 0.324997 0 -0 0 + chassis_link + r_steer_1 + + 0 0 1 + + -0.95 + 0.95 + 1e6 + 1e6 + + + 0.01 + 18.0474092253 + + + + + 0 0 0 0 -0 0 + + 0.003381 0 0.02162 0 -0 0 + 1 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + 0.05 0 0 0 -0 0 + r_steer_1 + fr_1 + + -1 0 0 + + 12.031606150200002 + + + + + 0 0 0 0 -0 0 + + -0.0377 0 -0 0 -0 0 + 24.5 + + 1.84514 + 0 + 0 + 1.04961 + 0 + 1.04961 + + + + -0.875 -1.5174 0.1444 0 -0 0 + + + 0.001 0.001 0.001 + model://autocar/meshes/fr_1.stl + + + + + 0x01 + + + + 1.7 + 1.7 + + + + + + -0.13 0 0 0 0 0 + + + 0.01 0.01 0.01 + model://prius_autoparking_3laser_harmonic/meshes/wheel.obj + + + + + + + + -0.01 0.6 0.6 0 0 0 + chassis_link + steering_wheel + + 0.0 -1.0 0.0 + + -100 + 100 + + + 10.0 + + + + + 0 0.87 -0.54 0 0 1.5708 + + + + + fl_axle + bl_axle + fr_axle + br_axle + l_steer + r_steer + 1.65 + 0.52 + 3.351 + 1.65 + 0.3425 + -50 + 50 + -50 + 50 + /prius_autoparking/cmd_vel + + + + + fl_axle + fr_axle + bl_axle + br_axle + l_steer + r_steer + steering_joint + + + + + /prius_autoparking/odom + chassis_link + odom + 50 + 3 + + + + + true + false + false + true + 50 + + + + \ No newline at end of file diff --git a/CustomRobots/autopark_harmonic/params/prius_autoparking_camera.yaml b/CustomRobots/autopark_harmonic/params/prius_autoparking_camera.yaml new file mode 100644 index 000000000..9d320834c --- /dev/null +++ b/CustomRobots/autopark_harmonic/params/prius_autoparking_camera.yaml @@ -0,0 +1,20 @@ +# gz topic published by DiffDrive plugin +- ros_topic_name: "/odom" + gz_topic_name: "/prius_autoparking/odom" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "gz.msgs.Odometry" + direction: GZ_TO_ROS + +# gz topic subscribed to by DiffDrive plugin +- ros_topic_name: "/cmd_vel" + gz_topic_name: "/prius_autoparking/cmd_vel" + ros_type_name: "geometry_msgs/msg/Twist" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + +# gz topic published by Sensors plugin (Camera) +- ros_topic_name: "/camera_info" + gz_topic_name: "/prius_autoparking/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/CustomRobots/car_junction/models/gas_station/materials/scripts/gas_station.material b/CustomRobots/car_junction/models/gas_station/materials/scripts/gas_station.material deleted file mode 100755 index 959b13546..000000000 --- a/CustomRobots/car_junction/models/gas_station/materials/scripts/gas_station.material +++ /dev/null @@ -1,44 +0,0 @@ -material GasStation/Diffuse -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture GasStation_Diffuse.png - } - } - } -} - -material GasStation/Specular -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture GasStation_Spec.png - } - } - } -} - -material GasStation/Normal -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture GasStation_Normal.png - } - } - } -} diff --git a/CustomRobots/car_junction/models/gas_station/model-1_3.sdf b/CustomRobots/car_junction/models/gas_station/model-1_3.sdf deleted file mode 100755 index 048cb138f..000000000 --- a/CustomRobots/car_junction/models/gas_station/model-1_3.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - true - - 0 0 0 0 0 0 - - - - model://gas_station/meshes/gas_station.dae - - - - - - - model://gas_station/meshes/gas_station.dae - - - - - - GasStation_Normal.png - - - - - - diff --git a/CustomRobots/car_junction/models/gas_station/model-1_4.sdf b/CustomRobots/car_junction/models/gas_station/model-1_4.sdf deleted file mode 100755 index 30ecef804..000000000 --- a/CustomRobots/car_junction/models/gas_station/model-1_4.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - true - - 0 0 0 0 0 0 - - - - model://gas_station/meshes/gas_station.dae - - - - - - - model://gas_station/meshes/gas_station.dae - - - - - - GasStation_Normal.png - - - - - - diff --git a/CustomRobots/car_junction/models/gas_station/model.sdf b/CustomRobots/car_junction/models/gas_station/model.sdf index d2a05fee7..45f9a7a35 100755 --- a/CustomRobots/car_junction/models/gas_station/model.sdf +++ b/CustomRobots/car_junction/models/gas_station/model.sdf @@ -8,6 +8,7 @@ model://gas_station/meshes/gas_station.dae + 1.5 1.5 1.5 @@ -15,17 +16,17 @@ model://gas_station/meshes/gas_station.dae + 1.5 1.5 1.5 - - - GasStation_Normal.png - + 1.0 1.0 1.0 1.0 + 0.0 0.0 0.0 1.0 + + + model://gas_station/materials/textures/gas_station.png + + diff --git a/CustomRobots/car_junction/models/hatchback/meshes/hatchback.mtl b/CustomRobots/car_junction/models/hatchback/meshes/hatchback.mtl index a61a0f95f..f83afe9e0 100644 --- a/CustomRobots/car_junction/models/hatchback/meshes/hatchback.mtl +++ b/CustomRobots/car_junction/models/hatchback/meshes/hatchback.mtl @@ -26,5 +26,5 @@ newmtl Wheels3 Kd 0.5882 0.5882 0.5882 Ks 0.0000 0.0000 0.0000 Ke 0.0000 0.0000 0.0000 - map_Ka wheels3.png - map_Kd wheels3.png + map_Ka Wheels3.png + map_Kd Wheels3.png diff --git a/CustomRobots/car_junction/models/house_1/model-1_3.sdf b/CustomRobots/car_junction/models/house_1/model-1_3.sdf deleted file mode 100755 index d249ea5ef..000000000 --- a/CustomRobots/car_junction/models/house_1/model-1_3.sdf +++ /dev/null @@ -1,32 +0,0 @@ - - - - true - - - - - model://house_1/meshes/house_1.dae - - - - - - - model://house_1/meshes/house_1.dae - - - - - - House_1_Normal.png - - - - - - diff --git a/CustomRobots/car_junction/models/house_1/model-1_4.sdf b/CustomRobots/car_junction/models/house_1/model-1_4.sdf deleted file mode 100755 index 27254c6c1..000000000 --- a/CustomRobots/car_junction/models/house_1/model-1_4.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - true - - - - - model://house_1/meshes/house_1.dae - - - - - - - model://house_1/meshes/house_1.dae - - - - - - - House_1_Normal.png - - - - - - diff --git a/CustomRobots/car_junction/models/house_1/model.sdf b/CustomRobots/car_junction/models/house_1/model.sdf index dfffe6ed4..61ccabfc9 100755 --- a/CustomRobots/car_junction/models/house_1/model.sdf +++ b/CustomRobots/car_junction/models/house_1/model.sdf @@ -19,15 +19,13 @@ - - + 1.0 1.0 1.0 1.0 + 0.0 0.0 0.0 1.0 + + + model://house_1/materials/textures/house_1.png + + diff --git a/CustomRobots/car_junction/models/house_2/model-1_3.sdf b/CustomRobots/car_junction/models/house_2/model-1_3.sdf deleted file mode 100755 index 15cb9806b..000000000 --- a/CustomRobots/car_junction/models/house_2/model-1_3.sdf +++ /dev/null @@ -1,29 +0,0 @@ - - - - true - - - - - model://house_2/meshes/house_2.dae - - - - - - - model://house_2/meshes/house_2.dae - - - - - - - - - diff --git a/CustomRobots/car_junction/models/house_2/model-1_4.sdf b/CustomRobots/car_junction/models/house_2/model-1_4.sdf deleted file mode 100755 index ec2da9e48..000000000 --- a/CustomRobots/car_junction/models/house_2/model-1_4.sdf +++ /dev/null @@ -1,34 +0,0 @@ - - - - true - - - - - model://house_2/meshes/house_2.dae - - - - - - - model://house_2/meshes/house_2.dae - - - - - - - model://house_1/materials/textures/House_1_Normal.png - - - - - - diff --git a/CustomRobots/car_junction/models/house_2/model.sdf b/CustomRobots/car_junction/models/house_2/model.sdf index 6ab4dba94..0f6516abe 100755 --- a/CustomRobots/car_junction/models/house_2/model.sdf +++ b/CustomRobots/car_junction/models/house_2/model.sdf @@ -19,16 +19,13 @@ - - + 1.0 1.0 1.0 1.0 + 0.0 0.0 0.0 1.0 + + + model://house_2/materials/textures/house_2.png + + diff --git a/CustomRobots/car_junction/models/house_3/materials/scripts/house_3.material b/CustomRobots/car_junction/models/house_3/materials/scripts/house_3.material deleted file mode 100755 index 40ef546ff..000000000 --- a/CustomRobots/car_junction/models/house_3/materials/scripts/house_3.material +++ /dev/null @@ -1,14 +0,0 @@ -material House_3/Diffuse -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture House_3_Diffuse.png - } - } - } -} diff --git a/CustomRobots/car_junction/models/house_3/meshes/house_3.dae b/CustomRobots/car_junction/models/house_3/meshes/house_3.dae index 16f3314dc..9735114a6 100755 --- a/CustomRobots/car_junction/models/house_3/meshes/house_3.dae +++ b/CustomRobots/car_junction/models/house_3/meshes/house_3.dae @@ -10,92 +10,6 @@ Z_UP - - - - - - 49.13434 - 1.777778 - 0.1 - 100 - - - - - - - - - - 1 1 1 - 1 - 0 - 0.00111109 - - - - - 0.000999987 - 0 - 1 - 1 - 1 - 1 - 1 - 2 - 0 - 1 - 1 - 1 - 1 - 1 - 0 - 2880 - 2 - 30.002 - 1.000799 - 0.04999995 - 29.99998 - 1 - 2 - 0 - 0 - 1 - 1 - 1 - 1 - 8192 - 1 - 1 - 0 - 1 - 1 - 1 - 3 - 0 - 0 - 0 - 0 - 45 - 0 - 1 - 1 - 1 - 3 - 0.15 - 75 - 1 - 1 - 0 - 1 - 1 - 0 - - - - - @@ -186,22 +100,6 @@ - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - 0 0 0 0 0 1 -8.65142e-6 diff --git a/CustomRobots/car_junction/models/house_3/model-1_3.sdf b/CustomRobots/car_junction/models/house_3/model-1_3.sdf deleted file mode 100755 index 081f4003d..000000000 --- a/CustomRobots/car_junction/models/house_3/model-1_3.sdf +++ /dev/null @@ -1,29 +0,0 @@ - - - - true - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_3/meshes/house_3.dae - - - - - - - - - diff --git a/CustomRobots/car_junction/models/house_3/model-1_4.sdf b/CustomRobots/car_junction/models/house_3/model-1_4.sdf deleted file mode 100755 index cba2d5452..000000000 --- a/CustomRobots/car_junction/models/house_3/model-1_4.sdf +++ /dev/null @@ -1,35 +0,0 @@ - - - - true - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_1/materials/textures/House_1_Normal.png - - - - - - - diff --git a/CustomRobots/car_junction/models/house_3/model.config b/CustomRobots/car_junction/models/house_3/model.config index 6f8498022..cfc1971fa 100755 --- a/CustomRobots/car_junction/models/house_3/model.config +++ b/CustomRobots/car_junction/models/house_3/model.config @@ -23,7 +23,7 @@ - model://house_1 + model://house_3 1.0 diff --git a/CustomRobots/car_junction/models/house_3/model.sdf b/CustomRobots/car_junction/models/house_3/model.sdf index c059ac401..71bfe8bd1 100755 --- a/CustomRobots/car_junction/models/house_3/model.sdf +++ b/CustomRobots/car_junction/models/house_3/model.sdf @@ -7,27 +7,27 @@ model://house_3/meshes/house_3.dae - - - + 1.5 1.5 1.5 + + + model://house_3/meshes/house_3.dae - - + 1.5 1.5 1.5 + + - - - model://house_1/materials/textures/House_1_Normal.png - - - - - + 1.0 1.0 1.0 1.0 + 0.0 0.0 0.0 1.0 + + + model://house_3/materials/textures/house_3.png + + + + + + diff --git a/CustomRobots/car_junction/models/stopW/meshes/stop.dae b/CustomRobots/car_junction/models/stopW/meshes/stop.dae index ce6e2116e..7ba974e6c 100755 --- a/CustomRobots/car_junction/models/stopW/meshes/stop.dae +++ b/CustomRobots/car_junction/models/stopW/meshes/stop.dae @@ -256,7 +256,7 @@ - + 0 0 0 1 @@ -264,7 +264,7 @@ 0 0 0 1 - 0.5647059 0.6352941 0.6666667 1 + 0.1151428 0.3104104 0.07835445 1 0.5 0.5 0.5 1 @@ -275,7 +275,7 @@ 1 - + diff --git a/CustomRobots/car_junction/models/stopW/model.sdf b/CustomRobots/car_junction/models/stopW/model.sdf index 6d91df875..4771af81e 100755 --- a/CustomRobots/car_junction/models/stopW/model.sdf +++ b/CustomRobots/car_junction/models/stopW/model.sdf @@ -1,5 +1,5 @@ - + true @@ -14,7 +14,7 @@ - model://stopW/meshes/stop.dae + model://stopW/meshes/stop.dae diff --git a/CustomRobots/car_junction/models/stop_sign/materials/scripts/stopsign.material b/CustomRobots/car_junction/models/stop_sign/materials/scripts/stopsign.material deleted file mode 100755 index ec100d3b1..000000000 --- a/CustomRobots/car_junction/models/stop_sign/materials/scripts/stopsign.material +++ /dev/null @@ -1,29 +0,0 @@ -material StopSign/Diffuse -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture StopSign_Diffuse.png - } - } - } -} - -material StopSign/Specular -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture StopSign_Spec.png - } - } - } -} diff --git a/CustomRobots/car_junction/models/stop_sign/materials/textures/StopSign_Diffuse.png b/CustomRobots/car_junction/models/stop_sign/materials/textures/StopSign_Diffuse.png deleted file mode 100755 index 585152804..000000000 Binary files a/CustomRobots/car_junction/models/stop_sign/materials/textures/StopSign_Diffuse.png and /dev/null differ diff --git a/CustomRobots/car_junction/models/stop_sign/materials/textures/StopSign_Spec.png b/CustomRobots/car_junction/models/stop_sign/materials/textures/StopSign_Spec.png deleted file mode 100755 index 777df1ed5..000000000 Binary files a/CustomRobots/car_junction/models/stop_sign/materials/textures/StopSign_Spec.png and /dev/null differ diff --git a/CustomRobots/car_junction/models/stop_sign/materials/textures/stop_sign.png b/CustomRobots/car_junction/models/stop_sign/materials/textures/stop_sign.png index 585152804..42d374095 100644 Binary files a/CustomRobots/car_junction/models/stop_sign/materials/textures/stop_sign.png and b/CustomRobots/car_junction/models/stop_sign/materials/textures/stop_sign.png differ diff --git a/CustomRobots/car_junction/models/stop_sign/model-1_3.sdf b/CustomRobots/car_junction/models/stop_sign/model-1_3.sdf deleted file mode 100755 index 6c2c6f9c6..000000000 --- a/CustomRobots/car_junction/models/stop_sign/model-1_3.sdf +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - model://stop_sign/meshes/stop_sign.dae - - - - - - - model://stop_sign/meshes/stop_sign.dae - - - - - - - - - diff --git a/CustomRobots/car_junction/models/stop_sign/model-1_4.sdf b/CustomRobots/car_junction/models/stop_sign/model-1_4.sdf deleted file mode 100755 index c3945a933..000000000 --- a/CustomRobots/car_junction/models/stop_sign/model-1_4.sdf +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - model://stop_sign/meshes/stop_sign.dae - - - - - - - model://stop_sign/meshes/stop_sign.dae - - - - - - - - - diff --git a/CustomRobots/car_junction/models/stop_sign/model.sdf b/CustomRobots/car_junction/models/stop_sign/model.sdf index 656ac7d57..46eab6e46 100755 --- a/CustomRobots/car_junction/models/stop_sign/model.sdf +++ b/CustomRobots/car_junction/models/stop_sign/model.sdf @@ -5,22 +5,24 @@ - model://stop_sign/meshes/stop_sign.dae + meshes/stop_sign.dae - model://stop_sign/meshes/stop_sign.dae + meshes/stop_sign.dae - + 1.0 1.0 1.0 1.0 + 0.0 0.0 0.0 1.0 + + + model://stop_sign/materials/textures/stop_sign.png + + diff --git a/CustomRobots/car_junction/models/stop_sign/my_mesh.world~ b/CustomRobots/car_junction/models/stop_sign/my_mesh.world~ deleted file mode 100755 index 40bc7e8ea..000000000 --- a/CustomRobots/car_junction/models/stop_sign/my_mesh.world~ +++ /dev/null @@ -1,37 +0,0 @@ - - - - - model://stop_sign/meshes/stop_sign.dae - - - - model://sun - - - - 0 0 0 0 0 0 - true - - - - file://my_mesh.dae - - - - 0 6 5 1.5708 0 0 - - file://stop_sign/meshes/stop_sign.dae - - - - - - - - - diff --git a/CustomRobots/car_junction/models/waymo_light/meshes/stop_sign.dae b/CustomRobots/car_junction/models/waymo_light/meshes/stop_sign.dae deleted file mode 100644 index 6ed22eb8e..000000000 --- a/CustomRobots/car_junction/models/waymo_light/meshes/stop_sign.dae +++ /dev/null @@ -1,149 +0,0 @@ - - - - - Cole - OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static - file:///C:/Users/Cole/Desktop/Houses.max - - 2012-12-21T07:34:46 - 2012-12-21T07:34:46 - - Z_UP - - - - - - - - 0.4 0.4 0.4 1 - - - 1 1 1 1 - - - 1 1 1 1 - - - 0.9 0.9 0.9 1 - - - 9.999999 - - - 0 0 0 1 - - - 1 1 1 1 - - - 1 - - - - - - - - 0 - 0 - 0 - 1.5 - 0 - 3 - 1 - 0 - - - 1 - 1 - 0 - 0.1 - 0 - - - - - - - - - - - - - - - -13.84356 -13.84356 0 13.84356 -13.84356 0 -20.80055 13.85827 0 20.80055 13.84356 0 -13.84356 -13.84356 0.06310844 13.84356 -13.84356 0.06310844 -20.80055 13.85827 0.06310844 20.80055 13.84356 0.06310844 -38.9725 13.85827 0 38.9725 13.85827 0 -38.9725 13.85827 0.06310844 38.9725 13.85827 0.06310844 372.7209 14.83838 0.05638889 -152.7327 14.83845 0.0493368 152.7327 14.83844 0.07323318 -372.7209 14.83851 0.06618109 152.7327 14.83841 0.0493368 -372.7209 14.8385 0.05638889 372.7209 14.8384 0.06618109 -152.7327 14.83848 0.07323318 372.7209 14.82395 0.05638889 -152.7327 14.82388 0.0493368 152.7327 14.82389 0.07323318 -372.7209 14.82382 0.06618109 152.7327 14.82393 0.0493368 -372.7209 14.82384 0.05638889 372.7209 14.82394 0.06618109 -152.7327 14.82385 0.07323318 - - - - - - - - - - 0 1 0 0 1 0 0 1 0 0 1 0 -0.9698516 0.243696 0 -0.9698516 0.243696 0 -0.9698516 0.243696 0 -0.9698516 0.243696 0 0.9698822 0.2435743 0 0.9698822 0.2435743 0 0.9698822 0.2435743 0 0.9698822 0.2435743 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999997 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999997 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 1.52086e-7 0.9999991 -0.001363475 1.52086e-7 0.9999991 -0.001363475 1.50729e-7 0.9999991 -0.001345753 1.49858e-7 0.999999 -0.001410702 1.52086e-7 0.9999991 -0.001363475 1.52086e-7 0.9999991 -0.001363475 1.50729e-7 0.9999991 -0.001345753 1.49858e-7 0.999999 -0.001410702 1.52274e-7 -0.9999991 -0.001365922 1.52086e-7 -0.9999991 -0.001363475 1.52086e-7 -0.9999991 -0.001363475 1.5298e-7 -0.9999992 -0.001313311 1.50083e-7 -0.9999991 -0.001393926 1.47751e-7 -0.9999991 -0.001363475 1.47751e-7 -0.9999991 -0.001363475 1.49858e-7 -0.999999 -0.001410703 - - - - - - - - - - 0.9494321 0.01310597 0 0.9643632 0.01310597 0 0.9643632 0.9873208 0 0.9494321 0.9873208 0 0.9797532 0.01310597 0 0.9797532 0.9873208 0 0.9342675 0.01310597 0 0.9342675 0.9873208 0 0.9895588 0.01310597 0 0.9895588 0.9873208 0 0.9244692 0.9873208 0 0.9244692 0.01310597 0 0.2972562 0.5648474 0 0.7110413 0.3916107 0 0.4704929 0.9786325 0 0.8842779 0.8053958 0 0.4704929 0.3916107 0 0.8842779 0.5648474 0 0.2972562 0.8053958 0 0.7110413 0.9786325 0 0.01798677 0.1499531 0 0.3365018 0.01660254 0 0.1513374 0.4684682 0 0.4698524 0.3351176 0 0.1513374 0.01660254 0 0.4698524 0.1499531 0 0.01798677 0.3351176 0 0.3365018 0.4684682 0 - - - - - - - - - - - - - - - -

0 0 0 4 1 3 5 2 2 5 2 2 1 3 1 0 0 0 1 4 1 5 5 2 7 6 5 7 6 5 3 7 4 1 4 1 2 8 6 6 9 7 4 10 3 4 10 3 0 11 0 2 8 6 7 12 5 11 13 9 9 14 8 9 15 8 3 16 4 7 17 5 2 18 6 8 19 11 10 20 10 10 21 10 6 22 7 2 23 6 18 24 18 12 25 12 16 26 16 16 26 16 13 27 13 17 28 17 17 28 17 15 29 15 19 30 19 16 26 16 17 28 17 19 30 19 18 24 18 16 26 16 19 30 19 14 31 14 18 24 18 19 30 19 27 32 27 23 33 23 25 34 25 25 34 25 21 35 21 24 36 24 27 32 27 25 34 25 24 36 24 24 36 24 20 37 20 26 38 26 27 32 27 24 36 24 26 38 26 22 39 22 27 32 27 26 38 26

- - - - - - - - - 0 0 0 - - - - - - - - - - - 0 0 1 -180 - 0.03132377 0.03132377 977.1375 - - - - - - - - - - - - - - diff --git a/CustomRobots/car_junction/models/waymo_light/model.config b/CustomRobots/car_junction/models/waymo_light/model.config deleted file mode 100644 index 8321b6af8..000000000 --- a/CustomRobots/car_junction/models/waymo_light/model.config +++ /dev/null @@ -1,17 +0,0 @@ - - - - waymo_light - 1.0 - model.sdf - - - Astha Sahu - aasthasahoo4@gmail.com - - - - A lighter version of the waymo ackermann car with top lidar and front camera - - - \ No newline at end of file diff --git a/CustomRobots/car_junction/models/waymo_light/model.sdf b/CustomRobots/car_junction/models/waymo_light/model.sdf deleted file mode 100644 index d2453e222..000000000 --- a/CustomRobots/car_junction/models/waymo_light/model.sdf +++ /dev/null @@ -1,810 +0,0 @@ - - - - - - - ogre2 - - - - front_left_steer_joint - front_right_steer_joint - front_left_wheel_joint - front_right_wheel_joint - rear_left_wheel_joint - rear_right_wheel_joint - /joint_states - - - - - - - 0 0 0 0 0 0 - 1 - - 0.001 - 0 - 0 - 0.001 - 0 - 0.001 - - - - - - 1.45 0 0 0 0 1.57 - base_link - chassis - - - - 0 0 0 0 0 0 - - - 0 -0.002982 0.485295 0 -0 1.5708 - 1375 - - 2595.52 - 0.000189032 - -0.949708 - 657.155 - 3.48847e-06 - 2749.81 - - - - - 0 0.05 0.625 0 -0 0 - - - 1.7526 2.1 0.95 - - - - - - 0 -2 0.458488 0 -0 0 - - - 1.33728 0.48 0.566691 - - - - - - 0 -1.90084 0.676305 0.341247 -0 0 - - - 1.59797 0.493107 0.265468 - - - - - - 0 -0.875105 1.03227 0.335476 -0 0 - - - 1.16838 1.65425 0.272347 - - - - - - 0 0.161236 1.38604 0.13503 -0 0 - - - 1.27915 0.625988 0.171868 - - - - - - 0 0.817696 1.36007 -0.068997 0 0 - - - 1.28513 0.771189 0.226557 - - - - - - 0 1.64053 1.17513 -0.262017 0 0 - - - 1.26785 1.11634 0.244286 - - - - - - 0 1.63706 0.88818 0 -0 0 - - - 1.78806 1.13899 0.482746 - - - - - - 0 2.05445 0.57787 0 -0 0 - - - 1.78165 0.512093 0.581427 - - - - - - 0 0 0 0 -0 0 - - - 0.01 0.01 0.01 - model://waymo_light/meshes/hybrid_body.obj - - - - - 0 0 1.8 0 0 0 - - - 0 0.5 1.6 0 0 0 - - - 0.4 0.4 0.1 - - - - 0.05 0.05 0.05 1 - 0.05 0.05 0.05 1 - 0.7 0.7 0.7 1 - 0 0 0 0 - - - - - 0 0.5 1.6 0 0 0 - - - 0.2 0.2 0.1 - - - - - 0 0 1.8 0 0 -1.57 - false - - - - 180 - 1.0 - -1.047 - 1.047 - - - 4 - 1.0 - -0.174 - 0.0 - - - - - 0.1 - 15.0 - - - true - 5 - /waymo/lidar - - - ~/out:=/waymo/lidar/points - - top_lidar_link - 0.1 - 15.0 - 0.005 - - - - - - - - - 0 -1.7 0.9 0 0 0 - - - 0.1 0.1 0.1 - - - - 0.05 0.05 0.05 1 - 0.05 0.05 0.05 1 - 0.7 0.7 0.7 1 - 0 0 0 0 - - - - - - 0 -1.8 0.9 0 0 -1.57 - 1 - true - 5 - - 2.094 - - - - 329.9 - 329.9 - - 359.5 - - 539.5 - 0 - - - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 -
0.5 0.5
- - - 1080 - 720 - R8G8B8 - - - 0.01 - 200 - - - gaussian - 0 - 0.007 - - - /waymo/camera_front - - - /waymo - image_raw:=camera_front - camera_info:=camera_info - - front_camera - 0.07 - - - - - - - - 0.767 -1.41 0 0 -0 0 - chassis - fl_axle - - 0 0 1 - - -0.7 - 0.7 - 500 - 3.0 - - - 0.5 - 0 - 0 - - - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.004 - 0 - 0 - 0.004 - 0 - 0.004 - - - - - - 0 0 0 0 -0 0 - fl_axle - front_left_wheel - - 1 0 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 11 - - 0.586312 - 0 - 0 - 0.335529 - 0 - 0.335529 - - - - 0 0 0 0 -0 0 - - - 0.31265 - - - - - - 1e+08 - 0.005 - - - - - 0.9 - 0.9 - - - - - - 0 0 0 0 -0 0 - - - 0.01 0.01 0.01 - model://waymo_light/meshes/wheel.obj - - - - - - - -0.767 -1.41 0 0 -0 0 - chassis - fr_axle - - 0 0 1 - - -0.7 - 0.7 - 500 - 3.0 - - - 0.5 - 0 - 0 - - - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.004 - 0 - 0 - 0.004 - 0 - 0.004 - - - - - - 0 0 0 0 -0 0 - fr_axle - front_right_wheel - - 1 0 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - - - - - 0 0 0 0 0 0 - - 0 0 0 0 0 0 - 11 - - 0.586312 - 0 - 0 - 0.335529 - 0 - 0.335529 - - - - 0 0 0 0 -0 0 - - - 0.31265 - - - - - - 1e+08 - 0.005 - - - - - 0.9 - 0.9 - - - - - - 0 0 0 0 -0 0 - - - 0.01 0.01 0.01 - model://waymo_light/meshes/wheel.obj - - - - - - - 0.793 1.45 0.1 0 -0 0 - chassis - rear_left_wheel - - 1 0 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 11 - - 0.586312 - 0 - 0 - 0.335529 - 0 - 0.335529 - - - - 0 0 0 0 -0 0 - - - 0.31265 - - - - - - 1e+08 - 0.005 - - - - - 0.9 - 0.9 - - - - - - 0 0 0 0 -0 0 - - - 0.01 0.01 0.01 - model://waymo_light/meshes/wheel.obj - - - - - - - -0.793 1.45 0.1 0 -0 0 - chassis - rear_right_wheel - - 1 0 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 11 - - 0.586312 - 0 - 0 - 0.335529 - 0 - 0.335529 - - - - 0 0 0 0 -0 0 - - - 0.31265 - - - - - - 1e+08 - 0.005 - - - - - 0.9 - 0.9 - - - - - - 0 0 0 0 -0 0 - - - 0.01 0.01 0.01 - model://waymo_light/meshes/wheel.obj - - - - - - 0.357734 -0.627868 0.988243 -1.3021 0 0 - chassis - steering_wheel - - 0 0 1 - - 1e+07 - 1e+06 - -1e+16 - 1e+16 - - - 0 - 0 - - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.145833 - 0 - 0 - 0.145833 - 0 - 0.125 - - - - 0 0 0 1.3021 -0 0 - - - 0.01 0.01 0.01 - model://waymo_light/meshes/steering_wheel.obj - - - - - - - front_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - rear_right_wheel_joint - front_left_steer_joint - front_right_steer_joint - - 1.2 - 2.8 - 1.56 - 0.31265 - - -5 - 5 - -3 - 3 - - false - false - 0.7 - 15.0 - 3.0 - - /cmd_vel - - - - diff --git a/CustomRobots/car_junction/scripts/TrafficSystem.py b/CustomRobots/car_junction/scripts/TrafficSystem.py index e5247a129..b82334907 100644 --- a/CustomRobots/car_junction/scripts/TrafficSystem.py +++ b/CustomRobots/car_junction/scripts/TrafficSystem.py @@ -16,13 +16,13 @@ def __init__(self): self.active_models = {} self.last_spawn = 0 self.sdf_path = "model://hatchback/model.sdf" - self.world = "road_junction.world" + self.world = "default" self.spawn_interval = 15.0 self.lifetime = 35.0 self.spawn_positions = [ - (2, -20.0, 1.5, 1.57), - (-2, 20.0, 1.5, -1.57), - (20.0, 2, 1.5, 3.14), + (-2.5, 20.0, 0.1, -1.57), + (20.0, 2.5, 0.1, 3.14), + (-20.0, -2.5, 0.1, 0), ] def update(self, info, _ecm): diff --git a/CustomRobots/drone_assets/models/gas_station/materials/scripts/gas_station.material b/CustomRobots/drone_assets/models/gas_station/materials/scripts/gas_station.material deleted file mode 100644 index 959b13546..000000000 --- a/CustomRobots/drone_assets/models/gas_station/materials/scripts/gas_station.material +++ /dev/null @@ -1,44 +0,0 @@ -material GasStation/Diffuse -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture GasStation_Diffuse.png - } - } - } -} - -material GasStation/Specular -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture GasStation_Spec.png - } - } - } -} - -material GasStation/Normal -{ - receive_shadows off - technique - { - pass - { - texture_unit - { - texture GasStation_Normal.png - } - } - } -} diff --git a/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Diffuse.png b/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Diffuse.png deleted file mode 100644 index c7e1748cc..000000000 Binary files a/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Diffuse.png and /dev/null differ diff --git a/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Normal.png b/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Normal.png deleted file mode 100644 index f5a65a178..000000000 Binary files a/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Normal.png and /dev/null differ diff --git a/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Spec.png b/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Spec.png deleted file mode 100644 index e3245397e..000000000 Binary files a/CustomRobots/drone_assets/models/gas_station/materials/textures/GasStation_Spec.png and /dev/null differ diff --git a/CustomRobots/drone_assets/models/gas_station/meshes/gas_station.dae b/CustomRobots/drone_assets/models/gas_station/meshes/gas_station.dae deleted file mode 100644 index e61b0ca54..000000000 --- a/CustomRobots/drone_assets/models/gas_station/meshes/gas_station.dae +++ /dev/null @@ -1,160 +0,0 @@ - - - - - Cole - OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static - file:///C:/Users/Cole/Desktop/Commercial.max - - 2012-12-21T06:10:14 - 2012-12-21T06:10:14 - - Z_UP - - - - - - - - 0 0 0 1 - - - 1 1 1 1 - - - 1 1 1 1 - - - 0.9 0.9 0.9 1 - - - 9.999999 - - - 0 0 0 1 - - - 1 1 1 1 - - - 1 - - - - - - - - 0 - 0 - 0 - 1.5 - 0 - 3 - 1 - 0 - - - 1 - 1 - 0 - 0.1 - 0 - - - - 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1065 2553 2039 2039 1055 2554 2040 2040 1055 2554 2040 2040 1090 2555 2041 2041 1098 2556 2042 2042 1064 2552 2038 2038 1055 2554 2040 2040 1098 2556 2042 2042 1064 2552 2038 2038 1098 2556 2042 2042 1079 2557 2043 2043 1053 2558 2019 2019 1064 2552 2038 2038 1079 2557 2043 2043 1374 2559 2614 2614 1358 2560 2615 2615 1056 2561 2137 2137 1374 2559 2614 2614 1056 2561 2137 2137 1353 2562 2604 2604 1054 2563 2022 2022 1374 2559 2614 2614 1353 2562 2604 2604 1358 2564 2616 2616 1364 2565 2626 2626 1065 2566 2138 2138 1065 2567 2138 2138 1056 2568 2021 2021 1358 2569 2616 2616 1110 2570 2142 2142 1089 2571 2143 2143 1094 2572 2144 2144 1094 2573 2144 2144 1109 2574 2141 2141 1110 2575 2142 2142 1361 2576 2620 2620 1362 2577 2621 2621 1060 2578 2145 2145 1060 2579 2145 2145 1059 2580 2025 2025 1361 2581 2620 2620 1355 2582 2606 2606 1383 2583 2609 2609 1061 2584 2147 2147 1355 2585 2606 2606 1061 2586 2147 2147 1115 2587 2148 2148 1055 2588 2020 2020 1355 2589 2606 2606 1115 2590 2148 2148 1059 2591 2097 2097 1061 2592 2098 2098 1063 2593 2099 2099 1063 2594 2099 2099 1062 2595 2100 2100 1059 2596 2097 2097 1383 2597 2608 2608 1356 2598 2611 2611 1063 2599 2149 2149 1063 2600 2149 2149 1061 2601 2027 2027 1383 2602 2608 2608 1351 2603 2599 2599 1354 2604 2605 2605 1352 2605 2601 2601 1352 2605 2601 2601 1066 2606 2018 2018 1351 2603 2599 2599 1064 2607 2033 2033 1054 2608 2034 2034 1351 2609 2600 2600 1351 2610 2600 2600 1066 2611 2035 2035 1064 2612 2033 2033 1056 2613 2021 2021 1065 2614 2138 2138 1352 2615 2602 2602 1065 2616 2029 2029 1064 2617 2030 2030 1066 2618 2031 2031 1066 2619 2031 2031 1352 2620 2032 2032 1065 2621 2029 2029 1058 2622 2061 2061 1091 2623 2069 2069 1087 2624 2103 2103 1087 2625 2103 2103 1073 2626 2050 2050 1058 2627 2061 2061 1112 2628 2153 2153 1087 2629 2154 2154 1088 2630 2155 2155 1088 2631 2155 2155 1111 2632 2152 2152 1112 2633 2153 2153 1074 2634 2105 2105 1088 2635 2106 2106 1089 2636 2107 2107 1089 2637 2107 2107 1075 2638 2104 2104 1074 2639 2105 2105 1053 2640 2019 2019 1079 2641 2043 2043 1084 2642 2109 2109 1084 2643 2109 2109 1067 2644 2108 2108 1053 2645 2019 2019 1067 2646 2108 2108 1084 2647 2109 2109 1085 2648 2111 2111 1085 2649 2111 2111 1068 2650 2110 2110 1067 2651 2108 2108 1068 2652 2110 2110 1085 2653 2111 2111 1086 2654 2113 2113 1086 2655 2113 2113 1069 2656 2112 2112 1068 2657 2110 2110 1070 2658 2115 2115 1069 2659 2112 2112 1086 2660 2113 2113 1086 2661 2113 2113 1083 2662 2114 2114 1070 2663 2115 2115 1057 2664 2117 2117 1072 2665 2118 2118 1081 2666 2119 2119 1081 2667 2119 2119 1080 2668 2116 2116 1057 2669 2117 2117 1072 2670 2118 2118 1071 2671 2120 2120 1082 2672 2121 2121 1082 2673 2121 2121 1081 2674 2119 2119 1072 2675 2118 2118 1071 2676 2120 2120 1070 2677 2115 2115 1083 2678 2114 2114 1083 2679 2114 2114 1082 2680 2121 2121 1071 2681 2120 2120 1098 2682 2042 2042 1100 2683 2122 2122 1084 2684 2109 2109 1084 2685 2109 2109 1079 2686 2043 2043 1098 2687 2042 2042 1100 2688 2157 2157 1101 2689 2158 2158 1104 2690 2159 2159 1104 2691 2159 2159 1103 2692 2156 2156 1100 2693 2157 2157 1101 2694 2123 2123 1102 2695 2124 2124 1086 2696 2113 2113 1086 2697 2113 2113 1085 2698 2111 2111 1101 2699 2123 2123 1106 2700 2161 2161 1105 2701 2162 2162 1102 2702 2163 2163 1102 2703 2163 2163 1097 2704 2160 2160 1106 2705 2161 2161 1080 2706 2116 2116 1081 2707 2119 2119 1095 2708 2126 2126 1095 2709 2126 2126 1099 2710 2125 2125 1080 2711 2116 2116 1107 2712 2165 2165 1108 2713 2166 2166 1096 2714 2167 2167 1096 2715 2167 2167 1095 2716 2164 2164 1107 2717 2165 2165 1082 2718 2121 2121 1083 2719 2114 2114 1097 2720 2128 2128 1097 2721 2128 2128 1096 2722 2127 2127 1082 2723 2121 2121 1055 2724 2040 2040 1078 2725 2129 2129 1092 2726 2130 2130 1092 2727 2130 2130 1090 2728 2041 2041 1055 2729 2040 2040 1113 2730 2169 2169 1114 2731 2170 2170 1093 2732 2171 2171 1093 2733 2171 2171 1092 2734 2168 2168 1113 2735 2169 2169 1077 2736 2132 2132 1076 2737 2133 2133 1094 2738 2134 2134 1094 2739 2134 2134 1093 2740 2131 2131 1077 2741 2132 2132 1089 2742 2107 2107 1097 2743 2128 2128 1102 2744 2124 2124 1102 2745 2124 2124 1094 2746 2134 2134 1089 2747 2107 2107 1091 2748 2069 2069 1099 2749 2125 2125 1095 2750 2126 2126 1095 2751 2126 2126 1087 2752 2103 2103 1091 2753 2069 2069 1087 2754 2103 2103 1095 2755 2126 2126 1096 2756 2127 2127 1096 2757 2127 2127 1088 2758 2106 2106 1087 2759 2103 2103 1088 2760 2106 2106 1096 2761 2127 2127 1097 2762 2128 2128 1097 2763 2128 2128 1089 2764 2107 2107 1088 2765 2106 2106 1098 2766 2042 2042 1090 2767 2041 2041 1092 2768 2130 2130 1092 2769 2130 2130 1100 2770 2122 2122 1098 2771 2042 2042 1100 2772 2122 2122 1092 2773 2130 2130 1093 2774 2131 2131 1093 2775 2131 2131 1101 2776 2123 2123 1100 2777 2122 2122 1101 2778 2123 2123 1093 2779 2131 2131 1094 2780 2134 2134 1094 2781 2134 2134 1102 2782 2124 2124 1101 2783 2123 2123 1084 2784 2071 2071 1100 2785 2172 2172 1103 2786 2173 2173 1101 2787 2072 2072 1085 2788 2174 2174 1104 2789 2175 2175 1085 2790 2055 2055 1084 2791 2056 2056 1103 2792 2074 2074 1103 2793 2074 2074 1104 2794 2075 2075 1085 2795 2055 2055 1086 2796 2073 2073 1102 2797 2176 2176 1105 2798 2177 2177 1097 2799 2068 2068 1083 2800 2178 2178 1106 2801 2179 2179 1083 2802 2054 2054 1086 2803 2057 2057 1105 2804 2076 2076 1105 2805 2076 2076 1106 2806 2077 2077 1083 2807 2054 2054 1081 2808 2180 2180 1082 2809 2181 2181 1108 2810 2182 2182 1108 2811 2182 2182 1107 2812 2183 2183 1081 2813 2180 2180 1082 2814 2053 2053 1096 2815 2067 2067 1108 2816 2079 2079 1095 2817 2052 2052 1081 2818 2066 2066 1107 2819 2078 2078 1076 2820 2184 2184 1075 2821 2185 2185 1110 2822 2186 2186 1110 2823 2186 2186 1109 2824 2187 2187 1076 2825 2184 2184 1075 2826 2046 2046 1089 2827 2060 2060 1110 2828 2081 2081 1094 2829 2047 2047 1076 2830 2065 2065 1109 2831 2080 2080 1074 2832 2188 2188 1073 2833 2189 2189 1112 2834 2190 2190 1112 2835 2190 2190 1111 2836 2191 2191 1074 2837 2188 2188 1073 2838 2044 2044 1087 2839 2058 2058 1112 2840 2083 2083 1088 2841 2045 2045 1074 2842 2059 2059 1111 2843 2082 2082 1078 2844 2192 2192 1077 2845 2193 2193 1114 2846 2194 2194 1114 2847 2194 2194 1113 2848 2195 2195 1078 2849 2192 2192 1077 2850 2048 2048 1093 2851 2064 2064 1114 2852 2085 2085 1092 2853 2049 2049 1078 2854 2063 2063 1113 2855 2084 2084 1078 2856 2129 5215 1055 2857 2040 5216 1115 2858 2135 5217 1077 2859 2132 5214 1078 2860 2129 5215 1115 2861 2135 5217 1076 2862 2133 2136 1077 2863 2132 5214 1115 2864 2135 5217 1075 2865 2104 2135 1076 2866 2133 2136 1115 2867 2135 5217 1116 2868 2136 5218 1058 2869 2061 5219 1073 2870 2050 5220 1115 2871 2135 5217 1116 2872 2136 5218 1073 2873 2050 5220 1115 2874 2135 5217 1073 2875 2050 5220 1074 2876 2105 5221 1075 2877 2104 2135 1115 2878 2135 5217 1074 2879 2105 5221 1061 2880 2093 2093 1059 2881 2094 2094 1060 2882 2095 2095 1115 2883 2092 2092 1061 2884 2093 2093 1060 2885 2095 2095 1115 2886 2092 2092 1060 2887 2095 2095 1116 2888 2096 2096 1149 2889 2196 2196 1150 2890 2198 2198 1151 2891 2199 2199 1151 2892 2199 2199 1119 2893 2197 2197 1149 2894 2196 2196 1117 2895 2201 2201 1147 2896 2200 2200 1153 2897 2203 2203 1153 2897 2203 2203 1120 2898 2202 2202 1117 2895 2201 2201 1118 2899 2204 2204 1117 2895 2201 2201 1120 2898 2202 2202 1120 2898 2202 2202 1154 2900 2205 2205 1118 2899 2204 2204 1119 2901 2206 2206 1120 2898 2202 2202 1153 2897 2203 2203 1153 2897 2203 2203 1149 2902 2257 2257 1119 2901 2206 2206 1151 2903 2208 2208 1154 2900 2205 2205 1120 2898 2202 2202 1120 2898 2202 2202 1119 2901 2206 2206 1151 2903 2208 2208 1118 2904 2218 2218 1121 2905 2221 2221 1122 2906 2210 2210 1122 2906 2210 2210 1117 2907 2219 2219 1118 2904 2218 2218 1117 2907 2211 2211 1122 2906 2210 2210 1155 2908 2209 2209 1155 2908 2209 2209 1147 2909 2207 2207 1117 2907 2211 2211 1131 2910 2224 2224 1124 2911 2223 2223 1158 2912 2281 2281 1158 2912 2281 2281 1166 2913 2282 2282 1131 2910 2224 2224 1146 2914 2259 2259 1160 2915 2276 2276 1157 2916 2283 2283 1157 2916 2283 2283 1123 2917 2225 2225 1146 2914 2259 2259 1133 2918 2233 2233 1126 2919 2231 2231 1161 2920 2289 2289 1161 2920 2289 2289 1168 2921 2291 2291 1133 2918 2233 2233 1129 2922 2227 2227 1128 2923 2226 2226 1163 2924 2284 2284 1163 2924 2284 2284 1164 2925 2285 2285 1129 2922 2227 2227 1130 2926 2228 2228 1129 2922 2227 2227 1164 2925 2285 2285 1164 2925 2285 2285 1165 2927 2286 2286 1130 2926 2228 2228 1127 2928 2229 2229 1130 2926 2228 2228 1165 2927 2286 2286 1165 2927 2286 2286 1162 2929 2287 2287 1127 2928 2229 2229 1128 2923 2226 2226 1131 2910 2224 2224 1166 2913 2282 2282 1166 2913 2282 2282 1163 2924 2284 2284 1128 2923 2226 2226 1126 2919 2231 2231 1132 2930 2240 2240 1167 2931 2296 2296 1167 2931 2296 2296 1161 2920 2289 2289 1126 2919 2231 2231 1170 2932 2290 2290 1135 2933 2232 2232 1127 2928 2229 2229 1127 2928 2229 2229 1162 2929 2287 2287 1170 2932 2290 2290 1167 2931 2303 2303 1132 2930 2247 2247 1134 2934 2241 2241 1134 2934 2241 2241 1169 2935 2297 2297 1167 2931 2303 2303 1135 2933 2254 2254 1137 2936 2255 2255 1134 2934 2253 2253 1137 2936 2245 2245 1136 2937 2243 2243 1171 2938 2299 2299 1171 2938 2299 2299 1172 2939 2301 2301 1137 2936 2245 2245 1134 2934 2241 2241 1137 2936 2245 2245 1172 2939 2301 2301 1172 2939 2301 2301 1169 2935 2297 2297 1134 2934 2241 2241 1125 2940 2222 2222 1121 2905 2234 2234 1159 2941 2280 2280 1122 2906 2210 2210 1123 2917 2252 2252 1155 2908 2209 2209 1125 2940 2251 2251 1123 2917 2252 2252 1122 2906 2210 2210 1121 2905 2221 2221 1125 2940 2251 2251 1122 2906 2210 2210 1140 2942 2212 2212 1141 2943 2215 2215 1139 2944 2214 2214 1139 2944 2214 2214 1138 2945 2213 2213 1140 2942 2212 2212 1139 2944 2214 2214 1141 2943 2215 2215 1144 2946 2220 2220 1144 2946 2220 2220 1145 2947 2216 2216 1139 2944 2214 2214 1143 2948 2230 2230 1145 2947 2216 2216 1144 2946 2220 2220 1144 2946 2220 2220 1142 2949 2238 2238 1143 2948 2230 2230 1133 2918 2235 2235 1146 2914 2258 2258 1126 2919 2237 2237 1146 2914 2258 2258 1133 2918 2235 2235 1136 2937 2256 2256 1132 2930 2239 2239 1130 2926 2244 2244 1127 2928 2242 2242 1136 2937 2256 2256 1137 2936 2255 2255 1135 2933 2254 2254 1135 2933 2254 2254 1146 2914 2258 2258 1136 2937 2256 2256 1135 2933 2254 2254 1134 2934 2253 2253 1132 2930 2239 2239 1132 2930 2239 2239 1127 2928 2242 2242 1135 2933 2254 2254 1126 2919 2237 2237 1129 2922 2246 2246 1130 2926 2244 2244 1130 2926 2244 2244 1132 2930 2239 2239 1126 2919 2237 2237 1146 2914 2258 2258 1123 2917 2252 2252 1125 2940 2251 2251 1131 2910 2249 2249 1146 2914 2258 2258 1125 2940 2251 2251 1131 2910 2249 2249 1125 2940 2251 2251 1124 2911 2250 2250 1146 2914 2258 2258 1131 2910 2249 2249 1128 2923 2248 2248 1129 2922 2246 2246 1146 2914 2258 2258 1128 2923 2248 2248 1146 2914 2258 2258 1129 2922 2246 2246 1126 2919 2237 2237 1133 2918 2233 2233 1168 2921 2291 2291 1171 2938 2299 2299 1171 2938 2299 2299 1136 2937 2243 2243 1133 2918 2233 2233 1148 2950 2262 2262 1152 2951 2263 2263 1153 2897 2264 2264 1153 2897 2264 2264 1147 2896 2261 2261 1148 2950 2262 2262 1118 2899 2265 2265 1154 2900 2266 2266 1152 2951 2263 2263 1152 2951 2263 2263 1148 2950 2262 2262 1118 2899 2265 2265 1150 2952 2267 2267 1149 2902 2314 2314 1153 2897 2264 2264 1153 2897 2264 2264 1152 2951 2263 2263 1150 2952 2267 2267 1151 2903 2269 2269 1150 2952 2267 2267 1152 2951 2263 2263 1152 2951 2263 2263 1154 2900 2266 2266 1151 2903 2269 2269 1118 2904 2277 2277 1148 2953 2278 2278 1156 2954 2271 2271 1156 2954 2271 2271 1121 2905 2279 2279 1118 2904 2277 2277 1148 2953 2272 2272 1147 2909 2268 2268 1155 2908 2270 2270 1155 2908 2270 2270 1156 2954 2271 2271 1148 2953 2272 2272 1125 2940 2222 2222 1159 2941 2280 2280 1158 2912 2281 2281 1158 2912 2281 2281 1124 2911 2223 2223 1125 2940 2222 2222 1170 2932 2311 2311 1169 2935 2310 2310 1172 2939 2312 2312 1170 2932 2260 2260 1160 2915 2276 2276 1146 2914 2259 2259 1146 2914 2259 2259 1135 2933 2236 2236 1170 2932 2260 2260 1156 2954 2271 2271 1155 2908 2270 2270 1157 2916 2308 2308 1159 2941 2307 2307 1156 2954 2271 2271 1157 2916 2308 2308 1121 2905 2279 2279 1156 2954 2271 2271 1159 2941 2307 2307 1140 2942 2212 2212 1173 2955 2273 2273 1174 2956 2274 2274 1174 2956 2274 2274 1141 2943 2215 2215 1140 2942 2212 2212 1174 2956 2274 2274 1176 2957 2275 2275 1144 2946 2220 2220 1144 2946 2220 2220 1141 2943 2215 2215 1174 2956 2274 2274 1175 2958 2288 2288 1142 2949 2238 2238 1144 2946 2220 2220 1144 2946 2220 2220 1176 2957 2275 2275 1175 2958 2288 2288 1168 2921 2292 2292 1161 2920 2294 2294 1160 2915 2309 2309 1160 2915 2309 2309 1171 2938 2313 2313 1168 2921 2292 2292 1167 2931 2295 2295 1162 2929 2298 2298 1165 2927 2300 2300 1171 2938 2313 2313 1160 2915 2309 2309 1170 2932 2311 2311 1170 2932 2311 2311 1172 2939 2312 2312 1171 2938 2313 2313 1170 2932 2311 2311 1162 2929 2298 2298 1167 2931 2295 2295 1167 2931 2295 2295 1169 2935 2310 2310 1170 2932 2311 2311 1161 2920 2294 2294 1167 2931 2295 2295 1165 2927 2300 2300 1165 2927 2300 2300 1164 2925 2302 2302 1161 2920 2294 2294 1166 2913 2305 2305 1158 2912 2306 2306 1159 2941 2307 2307 1159 2941 2307 2307 1157 2916 2308 2308 1160 2915 2309 2309 1166 2913 2305 2305 1159 2941 2307 2307 1160 2915 2309 2309 1160 2915 2309 2309 1163 2924 2304 2304 1166 2913 2305 2305 1164 2925 2302 2302 1163 2924 2304 2304 1160 2915 2309 2309 1160 2915 2309 2309 1161 2920 2294 2294 1164 2925 2302 2302 1123 2917 2225 2225 1157 2916 2283 2283 1155 2908 2293 2293 1209 2959 2315 2315 1210 2960 2317 2317 1211 2961 2318 2318 1211 2962 2318 2318 1179 2963 2316 2316 1209 2964 2315 2315 1177 2965 2320 2320 1207 2966 2319 2319 1213 2967 2322 2322 1213 2967 2322 2322 1180 2968 2321 2321 1177 2965 2320 2320 1178 2969 2323 2323 1177 2965 2320 2320 1180 2968 2321 2321 1180 2968 2321 2321 1214 2970 2324 2324 1178 2969 2323 2323 1179 2971 2325 2325 1180 2968 2321 2321 1213 2967 2322 2322 1213 2967 2322 2322 1209 2972 2375 2375 1179 2971 2325 2325 1211 2973 2327 2327 1214 2970 2324 2324 1180 2968 2321 2321 1180 2968 2321 2321 1179 2971 2325 2325 1211 2973 2327 2327 1178 2974 2336 2336 1181 2975 2339 2339 1182 2976 2329 2329 1182 2976 2329 2329 1177 2977 2337 2337 1178 2974 2336 2336 1177 2977 2330 2330 1182 2976 2329 2329 1215 2978 2328 2328 1215 2978 2328 2328 1207 2979 2326 2326 1177 2977 2330 2330 1191 2980 2342 2342 1184 2981 2341 2341 1218 2982 2399 2399 1218 2982 2399 2399 1226 2983 2400 2400 1191 2980 2342 2342 1206 2984 2377 2377 1220 2985 2394 2394 1217 2986 2401 2401 1217 2986 2401 2401 1183 2987 2343 2343 1206 2984 2377 2377 1193 2988 2351 2351 1186 2989 2349 2349 1221 2990 2407 2407 1221 2990 2407 2407 1228 2991 2409 2409 1193 2988 2351 2351 1189 2992 2345 2345 1188 2993 2344 2344 1223 2994 2402 2402 1223 2994 2402 2402 1224 2995 2403 2403 1189 2992 2345 2345 1190 2996 2346 2346 1189 2992 2345 2345 1224 2995 2403 2403 1224 2995 2403 2403 1225 2997 2404 2404 1190 2996 2346 2346 1187 2998 2347 2347 1190 2996 2346 2346 1225 2997 2404 2404 1225 2997 2404 2404 1222 2999 2405 2405 1187 2998 2347 2347 1188 2993 2344 2344 1191 2980 2342 2342 1226 2983 2400 2400 1226 2983 2400 2400 1223 2994 2402 2402 1188 2993 2344 2344 1186 2989 2349 2349 1192 3000 2358 2358 1227 3001 2414 2414 1227 3001 2414 2414 1221 2990 2407 2407 1186 2989 2349 2349 1230 3002 2408 2408 1195 3003 2350 2350 1187 2998 2347 2347 1187 2998 2347 2347 1222 2999 2405 2405 1230 3002 2408 2408 1227 3001 2421 2421 1192 3000 2365 2365 1194 3004 2359 2359 1194 3004 2359 2359 1229 3005 2415 2415 1227 3001 2421 2421 1195 3003 2372 2372 1197 3006 2373 2373 1194 3004 2371 2371 1197 3006 2363 2363 1196 3007 2361 2361 1231 3008 2417 2417 1231 3008 2417 2417 1232 3009 2419 2419 1197 3006 2363 2363 1194 3004 2359 2359 1197 3006 2363 2363 1232 3009 2419 2419 1232 3009 2419 2419 1229 3005 2415 2415 1194 3004 2359 2359 1185 3010 2340 2340 1181 2975 2352 2352 1219 3011 2398 2398 1182 2976 2329 2329 1183 2987 2370 2370 1215 2978 2328 2328 1185 3010 2369 2369 1183 2987 2370 2370 1182 2976 2329 2329 1181 2975 2339 2339 1185 3010 2369 2369 1182 2976 2329 2329 1200 3012 2331 2331 1201 3013 2334 2334 1199 3014 2333 2333 1199 3014 2333 2333 1198 3015 2332 2332 1200 3012 2331 2331 1199 3014 2333 2333 1201 3013 2334 2334 1204 3016 2338 2338 1204 3016 2338 2338 1205 3017 2335 2335 1199 3014 2333 2333 1203 3018 2348 2348 1205 3017 2335 2335 1204 3016 2338 2338 1204 3016 2338 2338 1202 3019 2356 2356 1203 3018 2348 2348 1193 2988 2353 2353 1206 2984 2376 2376 1186 2989 2355 2355 1206 2984 2376 2376 1193 2988 2353 2353 1196 3007 2374 2374 1192 3000 2357 2357 1190 2996 2362 2362 1187 2998 2360 2360 1196 3007 2374 2374 1197 3006 2373 2373 1195 3003 2372 2372 1195 3003 2372 2372 1206 2984 2376 2376 1196 3007 2374 2374 1195 3003 2372 2372 1194 3004 2371 2371 1192 3000 2357 2357 1192 3000 2357 2357 1187 2998 2360 2360 1195 3003 2372 2372 1186 2989 2355 2355 1189 2992 2364 2364 1190 2996 2362 2362 1190 2996 2362 2362 1192 3000 2357 2357 1186 2989 2355 2355 1206 2984 2376 2376 1183 2987 2370 2370 1185 3010 2369 2369 1191 2980 2367 2367 1206 2984 2376 2376 1185 3010 2369 2369 1191 2980 2367 2367 1185 3010 2369 2369 1184 2981 2368 2368 1206 2984 2376 2376 1191 2980 2367 2367 1188 2993 2366 2366 1189 2992 2364 2364 1206 2984 2376 2376 1188 2993 2366 2366 1206 2984 2376 2376 1189 2992 2364 2364 1186 2989 2355 2355 1193 2988 2351 2351 1228 2991 2409 2409 1231 3008 2417 2417 1231 3008 2417 2417 1196 3007 2361 2361 1193 2988 2351 2351 1208 3020 2380 2380 1212 3021 2381 2381 1213 2967 2382 2382 1213 2967 2382 2382 1207 2966 2379 2379 1208 3020 2380 2380 1178 2969 2383 2383 1214 2970 2384 2384 1212 3021 2381 2381 1212 3021 2381 2381 1208 3020 2380 2380 1178 2969 2383 2383 1210 3022 2385 2385 1209 2972 2432 2432 1213 2967 2382 2382 1213 2967 2382 2382 1212 3021 2381 2381 1210 3022 2385 2385 1211 2973 2387 2387 1210 3022 2385 2385 1212 3021 2381 2381 1212 3021 2381 2381 1214 2970 2384 2384 1211 2973 2387 2387 1178 2974 2395 2395 1208 3023 2396 2396 1216 3024 2389 2389 1216 3024 2389 2389 1181 2975 2397 2397 1178 2974 2395 2395 1208 3023 2390 2390 1207 2979 2386 2386 1215 2978 2388 2388 1215 2978 2388 2388 1216 3024 2389 2389 1208 3023 2390 2390 1185 3010 2340 2340 1219 3011 2398 2398 1218 2982 2399 2399 1218 2982 2399 2399 1184 2981 2341 2341 1185 3010 2340 2340 1230 3002 2429 2429 1229 3005 2428 2428 1232 3009 2430 2430 1230 3002 2378 2378 1220 2985 2394 2394 1206 2984 2377 2377 1206 2984 2377 2377 1195 3003 2354 2354 1230 3002 2378 2378 1216 3024 2389 2389 1215 2978 2388 2388 1217 2986 2426 2426 1219 3011 2425 2425 1216 3024 2389 2389 1217 2986 2426 2426 1181 2975 2397 2397 1216 3024 2389 2389 1219 3011 2425 2425 1200 3012 2331 2331 1233 3025 2391 2391 1234 3026 2392 2392 1234 3026 2392 2392 1201 3013 2334 2334 1200 3012 2331 2331 1234 3026 2392 2392 1236 3027 2393 2393 1204 3016 2338 2338 1204 3016 2338 2338 1201 3013 2334 2334 1234 3026 2392 2392 1235 3028 2406 2406 1202 3019 2356 2356 1204 3016 2338 2338 1204 3016 2338 2338 1236 3027 2393 2393 1235 3028 2406 2406 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1304 3105 2558 2558 1305 3107 2559 2559 1303 3106 2557 2557 1300 3102 2552 2552 1302 3103 2569 2569 1302 3103 2569 2569 1305 3107 2571 2571 1303 3106 2557 2557 1307 3108 2561 2561 1304 3105 2558 2558 1303 3106 2557 2557 1303 3106 2557 2557 1306 3109 2560 2560 1307 3108 2561 2561 1308 3110 2562 2562 1305 3107 2559 2559 1304 3105 2558 2558 1304 3105 2558 2558 1307 3108 2561 2561 1308 3110 2562 2562 1306 3109 2560 2560 1303 3106 2557 2557 1305 3107 2571 2571 1305 3107 2571 2571 1308 3110 2572 2572 1306 3109 2560 2560 1306 3109 2560 2560 1309 3111 2563 2563 1310 3112 2564 2564 1310 3112 2564 2564 1307 3108 2561 2561 1306 3109 2560 2560 1307 3108 2561 2561 1310 3112 2564 2564 1311 3113 2565 2565 1311 3113 2565 2565 1308 3110 2562 2562 1307 3108 2561 2561 1308 3110 2572 2572 1311 3113 2573 2573 1309 3111 2563 2563 1309 3111 2563 2563 1306 3109 2560 2560 1308 3110 2572 2572 1313 3114 2567 2567 1310 3112 2564 2564 1309 3111 2563 2563 1309 3111 2563 2563 1312 3115 2566 2566 1313 3114 2567 2567 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1479 3604 2857 2857 1480 3605 2859 2859 1446 3571 2858 2858 1447 3570 2817 2817 1448 3573 2820 2820 1456 3579 2860 2860 1479 3604 2861 2861 1447 3570 2817 2817 1456 3579 2860 2860 1446 3571 2816 2816 1447 3570 2817 2817 1479 3604 2861 2861 1481 3606 2862 2862 1484 3607 2865 2865 1483 3608 2864 2864 1483 3608 2864 2864 1482 3609 2863 2863 1481 3606 2862 2862 1483 3608 2864 2864 1486 3610 2867 2867 1485 3611 2866 2866 1485 3611 2866 2866 1482 3609 2863 2863 1483 3608 2864 2864 1488 3612 2869 2869 1487 3613 2868 2868 1485 3611 2866 2866 1485 3611 2866 2866 1486 3610 2867 2867 1488 3612 2869 2869 1460 3582 2870 2870 1457 3585 2872 2872 1453 3578 2871 2871 1453 3578 2871 2871 1476 3603 2873 2873 1460 3582 2870 2870 1469 3595 2874 2874 1468 3592 2876 2876 1466 3590 2875 2875 1476 3603 2873 2873 1453 3578 2871 2871 1471 3597 2850 2850 1471 3597 2850 2850 1475 3600 2851 2851 1476 3603 2873 2873 1471 3597 2850 2850 1468 3592 2876 2876 1469 3595 2874 2874 1469 3595 2874 2874 1473 3599 2852 2852 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1673 3884 3243 3243 1679 3886 3245 3245 1683 3891 3256 3256 1682 3890 3255 3255 1682 3890 3255 3255 1673 3884 3243 3243 1679 3886 3245 3245 1684 3892 3253 3253 1686 3893 3281 3281 1687 3894 3265 3265 1687 3894 3265 3265 1685 3895 3254 3254 1684 3892 3253 3253 1686 3893 3257 3257 1688 3896 3260 3260 1689 3897 3259 3259 1689 3897 3259 3259 1687 3894 3258 3258 1686 3893 3257 3257 1688 3896 3260 3260 1690 3898 3266 3266 1691 3899 3264 3264 1691 3899 3264 3264 1689 3897 3259 3259 1688 3896 3260 3260 1690 3898 3266 3266 1692 3900 3268 3268 1693 3901 3267 3267 1693 3901 3267 3267 1691 3899 3264 3264 1690 3898 3266 3266 1686 3893 3281 3281 1684 3892 3253 3253 1694 3902 3283 3283 1694 3902 3283 3283 1695 3903 3282 3282 1686 3893 3281 3281 1688 3896 3260 3260 1686 3893 3257 3257 1695 3903 3275 3275 1695 3903 3275 3275 1696 3904 3274 3274 1688 3896 3260 3260 1690 3898 3266 3266 1688 3896 3260 3260 1696 3904 3274 3274 1696 3904 3274 3274 1697 3905 3276 3276 1690 3898 3266 3266 1692 3900 3268 3268 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1971 4379 3797 3806 1970 4380 3792 3801 1970 4380 3792 3801 1974 4384 3791 3800 1975 4383 3796 3805 1976 4385 3780 3789 1972 4381 3784 3793 1971 4379 3779 3788 1971 4379 3779 3788 1975 4383 3778 3787 1976 4385 3780 3789 1977 4386 3794 3803 1973 4382 3795 3804 1972 4381 3793 3802 1972 4381 3793 3802 1976 4385 3783 3792 1977 4386 3794 3803 1974 4384 3758 3767 1970 4380 3761 3770 1973 4382 3757 3766 1973 4382 3757 3766 1977 4386 3754 3763 1974 4384 3758 3767 1959 4367 3786 3795 1975 4383 3785 3794 1974 4384 3797 3806 1974 4384 3797 3806 1958 4368 3796 3805 1959 4367 3786 3795 1960 4369 3766 3775 1976 4385 3759 3768 1975 4383 3784 3793 1975 4383 3784 3793 1959 4367 3780 3789 1960 4369 3766 3775 1961 4370 3769 3778 1977 4386 3760 3769 1976 4385 3795 3804 1976 4385 3795 3804 1960 4369 3794 3803 1961 4370 3769 3778 1958 4368 3745 3754 1974 4384 3742 3751 1977 4386 3761 3770 1977 4386 3761 3770 1961 4370 3758 3767 1958 4368 3745 3754 2002 4387 3868 3877 1980 4388 3799 3808 2004 4389 3870 3879 2004 4390 3870 3879 2005 4391 3871 3880 1981 4392 3800 3809 2002 4393 3868 3877 2004 4394 3870 3879 1981 4395 3800 3809 1981 4396 3800 3809 2003 4397 3869 3878 1979 4398 3801 3810 2002 4399 3868 3877 1981 4400 3800 3809 1979 4401 3801 3810 1978 4402 3798 3807 2002 4403 3868 3877 1979 4404 3801 3810 1998 4405 3839 3848 2023 4406 3889 3898 2000 4407 3854 3863 2000 4407 3854 3863 2025 4408 3891 3900 1998 4405 3839 3848 1978 4409 3806 3815 1979 4410 3807 3816 2007 4411 3862 3871 2007 4411 3862 3871 1982 4412 3863 3872 1978 4409 3806 3815 2003 4413 3810 3819 1981 4414 3811 3820 2009 4415 3856 3865 2009 4415 3856 3865 1983 4416 3857 3866 2003 4413 3810 3819 2005 4417 3814 3823 2004 4418 3815 3824 2008 4419 3860 3869 2008 4419 3860 3869 1985 4420 3861 3870 2005 4417 3814 3823 1980 4421 3818 3827 2002 4422 3819 3828 2006 4423 3858 3867 2006 4423 3858 3867 1984 4424 3859 3868 1980 4421 3818 3827 1990 4425 3850 3859 2015 4426 3851 3860 1994 4427 3852 3861 1994 4427 3852 3861 2019 4428 3853 3862 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1989 4452 3864 3873 2020 4440 3886 3895 2020 4440 3886 3895 1995 4439 3836 3845 2010 4451 3876 3885 2013 4453 3879 3888 2012 4454 3878 3887 2021 4436 3887 3896 2021 4436 3887 3896 1996 4435 3865 3874 2013 4453 3879 3888 1988 4455 3866 3875 2011 4456 3877 3886 2018 4432 3884 3893 2018 4432 3884 3893 1997 4431 3867 3876 1988 4455 3866 3875 1987 4457 3823 3832 2027 4458 3918 3927 2028 4459 3920 3929 2028 4459 3920 3929 1986 4460 3822 3831 1987 4457 3823 3832 2011 4461 3826 3835 1988 4462 3827 3836 2024 4463 3828 3837 2024 4463 3828 3837 1999 4464 3829 3838 2029 4465 3921 3930 2011 4461 3826 3835 2024 4463 3828 3837 2029 4465 3921 3930 2012 4466 3824 3833 2013 4467 3825 3834 2025 4408 3840 3849 2025 4408 3840 3849 2000 4407 3841 3850 2012 4466 3824 3833 1989 4468 3830 3839 2010 4469 3831 3840 2026 4470 3916 3925 1989 4468 3830 3839 2026 4470 3916 3925 2022 4471 3832 3841 1989 4468 3830 3839 2022 4471 3832 3841 2001 4472 3833 3842 1979 4410 3892 3901 2003 4413 3810 3819 1983 4416 3857 3866 1983 4416 3857 3866 2007 4411 3893 3902 1979 4410 3892 3901 1982 4412 3894 3903 2006 4423 3858 3867 2002 4422 3819 3828 2002 4422 3819 3828 1978 4409 3895 3904 1982 4412 3894 3903 1981 4414 3896 3905 2005 4417 3814 3823 1985 4420 3861 3870 1985 4420 3861 3870 2009 4415 3897 3906 1981 4414 3896 3905 2004 4418 3898 3907 1980 4421 3818 3827 1984 4424 3859 3868 1984 4424 3859 3868 2008 4419 3899 3908 2004 4418 3898 3907 2014 4438 3900 3909 1990 4425 3850 3859 2019 4428 3853 3862 2019 4428 3853 3862 1995 4439 3901 3910 2014 4438 3900 3909 2015 4426 3902 3911 1991 4429 3802 3811 2018 4432 3805 3814 2018 4432 3805 3814 1994 4427 3903 3912 2015 4426 3902 3911 2016 4430 3904 3913 1992 4433 3846 3855 2021 4436 3849 3858 2021 4436 3849 3858 1997 4431 3905 3914 2016 4430 3904 3913 2017 4434 3906 3915 1993 4437 3842 3851 2020 4440 3845 3854 2020 4440 3845 3854 1996 4435 3907 3916 2017 4434 3906 3915 2006 4448 3872 3881 1982 4441 3808 3817 1990 4425 3813 3822 1990 4425 3813 3822 2014 4438 3880 3889 2006 4448 3872 3881 2007 4442 3873 3882 1983 4443 3809 3818 1991 4429 3812 3821 1991 4429 3812 3821 2015 4426 3881 3890 2007 4442 3873 3882 2009 4444 3875 3884 1985 4445 3816 3825 1992 4433 3817 3826 1992 4433 3817 3826 2016 4430 3882 3891 2009 4444 3875 3884 2008 4446 3874 3883 1984 4447 3820 3829 1993 4437 3821 3830 1993 4437 3821 3830 2017 4434 3883 3892 2008 4446 3874 3883 2011 4456 3877 3886 1987 4449 3834 3843 1994 4427 3837 3846 1994 4427 3837 3846 2018 4432 3884 3893 2011 4456 3877 3886 1986 4450 3835 3844 2010 4451 3876 3885 1995 4439 3836 3845 1995 4439 3836 3845 2019 4428 3885 3894 1986 4450 3835 3844 1989 4452 3864 3873 2013 4453 3879 3888 1996 4435 3865 3874 1996 4435 3865 3874 2020 4440 3886 3895 1989 4452 3864 3873 2012 4454 3878 3887 1988 4455 3866 3875 1997 4431 3867 3876 1997 4431 3867 3876 2021 4436 3887 3896 2012 4454 3878 3887 1986 4460 3822 3831 2028 4459 3920 3929 2026 4470 3917 3926 2026 4470 3917 3926 2010 4469 3908 3917 1986 4460 3822 3831 2011 4461 3826 3835 2029 4465 3921 3930 2027 4458 3919 3928 2027 4458 3919 3928 1987 4457 3910 3919 2011 4461 3826 3835 1988 4462 3912 3921 2012 4466 3824 3833 2000 4407 3841 3850 2000 4407 3841 3850 2024 4463 3913 3922 1988 4462 3912 3921 2013 4467 3914 3923 1989 4468 3830 3839 2001 4472 3833 3842 2001 4472 3833 3842 2025 4408 3915 3924 2013 4467 3914 3923 2023 4406 3889 3898 1998 4405 3839 3848 2028 4459 3920 3929 2028 4459 3920 3929 2027 4458 3918 3927 2023 4406 3889 3898 1998 4405 3839 3848 2022 4471 3909 3918 2026 4470 3917 3926 2026 4470 3917 3926 2028 4459 3920 3929 1998 4405 3839 3848 1999 4464 3829 3838 2023 4406 3911 3920 2027 4458 3919 3928 2027 4458 3919 3928 2029 4465 3921 3930 1999 4464 3829 3838 1999 4464 3838 3847 2024 4463 3890 3899 2000 4407 3854 3863 2000 4407 3854 3863 2023 4406 3889 3898 1999 4464 3838 3847 1998 4405 3839 3848 2025 4408 3891 3900 2001 4472 3855 3864 2001 4472 3855 3864 2022 4471 3888 3897 1998 4405 3839 3848 2035 4473 3960 3969 2031 4474 3961 3970 2030 4475 3958 3967 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- - - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 -8.65142e-6 - 0 1 0 180 - 1 0 0 -3.78166e-13 - -1.042307 -1.814176 -0.8643525 - - 0.9594102 -1.44867e-7 1.44867e-7 0 -8.32311e-8 -0.5512145 -3.63814e-15 0 -1.74692e-7 1.87418e-14 1.156935 0 0 0 0 1 - 40.35424 -6.09332e-6 6.09332e-6 - 0 0 1 -8.65142e-6 - 0 1 0 180 - 1 0 0 -3.78166e-13 - -1.042307 -1.814176 -0.8643525 - - - - - - - - - - - - - - - - - - diff --git a/CustomRobots/drone_assets/models/house_3/model-1_3.sdf b/CustomRobots/drone_assets/models/house_3/model-1_3.sdf deleted file mode 100644 index 081f4003d..000000000 --- a/CustomRobots/drone_assets/models/house_3/model-1_3.sdf +++ /dev/null @@ -1,29 +0,0 @@ - - - - true - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_3/meshes/house_3.dae - - - - - - - - - diff --git a/CustomRobots/drone_assets/models/house_3/model-1_4.sdf b/CustomRobots/drone_assets/models/house_3/model-1_4.sdf deleted file mode 100644 index cba2d5452..000000000 --- a/CustomRobots/drone_assets/models/house_3/model-1_4.sdf +++ /dev/null @@ -1,35 +0,0 @@ - - - - true - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_1/materials/textures/House_1_Normal.png - - - - - - - diff --git a/CustomRobots/drone_assets/models/house_3/model.config b/CustomRobots/drone_assets/models/house_3/model.config deleted file mode 100644 index 6f8498022..000000000 --- a/CustomRobots/drone_assets/models/house_3/model.config +++ /dev/null @@ -1,31 +0,0 @@ - - - - House 3 - 1.0 - model-1_3.sdf - model-1_4.sdf - model.sdf - - - Cole Biesemeyer - cole.bsmr@gmail.com - - - - Nate Koenig - natekoenig@gmail.com - - - - A model of a residential house. - - - - - model://house_1 - 1.0 - - - - diff --git a/CustomRobots/drone_assets/models/house_3/model.sdf b/CustomRobots/drone_assets/models/house_3/model.sdf deleted file mode 100644 index c059ac401..000000000 --- a/CustomRobots/drone_assets/models/house_3/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - true - - - - - model://house_3/meshes/house_3.dae - - - - - - - model://house_3/meshes/house_3.dae - - - - - - model://house_1/materials/textures/House_1_Normal.png - - - - - - diff --git a/Launchers/car_junction.launch.py b/Launchers/car_junction.launch.py index 705d0086d..11c8a07a2 100644 --- a/Launchers/car_junction.launch.py +++ b/Launchers/car_junction.launch.py @@ -24,9 +24,25 @@ def generate_launch_description(): + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + roll = LaunchConfiguration("R") + pitch = LaunchConfiguration("P") + yaw = LaunchConfiguration("Y") + package_dir = get_package_share_directory("custom_robots") ros_gz_sim = get_package_share_directory("ros_gz_sim") + + gazebo_models_path = os.path.join(package_dir, "models") + gazebo_scripts_path = os.path.join(package_dir, "scripts") + + robot_launch_dir = "/opt/jderobot/Launchers/car_junction" + use_sim_time = LaunchConfiguration("use_sim_time", default="true") + x_pose = LaunchConfiguration("x_pose", default="1.0") + y_pose = LaunchConfiguration("y_pose", default="-1.5") + z_pose = LaunchConfiguration("z_pose", default="7.1") world_file_name = "road_junction.world" worlds_dir = "/opt/jderobot/Worlds" world_path = os.path.join(worlds_dir, world_file_name) @@ -41,11 +57,25 @@ def generate_launch_description(): }.items(), ) - declare_use_simulator_cmd = DeclareLaunchArgument( - name="use_simulator", - default_value="True", - description="Whether to start the simulator", + declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0") + + declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5") + + declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1") + + declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0") + + declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0") + + declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079") + + spawn_robot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(robot_launch_dir, "spawn_robot.launch.py") + ), + launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(), ) + world_entity_cmd = Node( package="ros_gz_sim", executable="create", @@ -53,38 +83,28 @@ def generate_launch_description(): output="screen", ) - start_ros_gazebo_bridge = Node( - package="ros_gz_bridge", - executable="parameter_bridge", - arguments=[ - "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", - "/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist", - "/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry", - "/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked", - "/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", - ], - parameters=[{"use_sim_time": True}], - output="screen", - ) + ld = LaunchDescription() - # Set the path to the SDF model files. - gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" + # Create the launch description and populate + ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path)) + ld.add_action(SetEnvironmentVariable("GZ_SIM_SYSTEM_PLUGIN_PATH", gazebo_scripts_path)) + set_env_vars_resources = AppendEnvironmentVariable( + "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models") ) - - start_ros_gazebo_image_bridge = Node( - package="ros_gz_image", - executable="image_bridge", - arguments=["/waymo/camera_front@sensor_msgs/msg/Image[gz.msgs.Image"], - output="screen", + set_env_vars_resources = AppendEnvironmentVariable( + "GZ_SIM_SYSTEM_PLUGIN_PATH", gazebo_scripts_path ) - - # Create the launch description and populate - ld = LaunchDescription() + ld.add_action(set_env_vars_resources) ld.add_action(gazebo_server) + # ld.add_action(gazebo_client) + ld.add_action(declare_x_cmd) + ld.add_action(declare_y_cmd) + ld.add_action(declare_z_cmd) + ld.add_action(declare_roll_cmd) + ld.add_action(declare_pitch_cmd) + ld.add_action(declare_yaw_cmd) ld.add_action(world_entity_cmd) - ld.add_action(start_ros_gazebo_bridge) - ld.add_action(start_ros_gazebo_image_bridge) + # ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_robot_cmd) return ld diff --git a/Launchers/car_junction/spawn_robot.launch.py b/Launchers/car_junction/spawn_robot.launch.py new file mode 100644 index 000000000..c996a9bf2 --- /dev/null +++ b/Launchers/car_junction/spawn_robot.launch.py @@ -0,0 +1,107 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the urdf file + model_folder = "prius_autoparking_camera" + urdf_path = os.path.join( + get_package_share_directory("custom_robots"), + "models", + model_folder, + "model.sdf", + ) + + # Launch configuration variables specific to simulation + # x_pose = LaunchConfiguration('x_pose', default='1.0') + # y_pose = LaunchConfiguration('y_pose', default='-1.5') + # z_pose = LaunchConfiguration('z_pose', default='7.1') + + # Declare the launch arguments + # declare_x_position_cmd = DeclareLaunchArgument( + # 'x_pose', default_value='1.0', + # description='Specify namespace of the robot') + + # declare_y_position_cmd = DeclareLaunchArgument( + # 'y_pose', default_value='-1.5', + # description='Specify namespace of the robot') + + # declare_z_position_cmd = DeclareLaunchArgument( + # 'z_pose', default_value='7.1', + # description='Specify namespace of the robot') + + # start_gazebo_ros_spawner_cmd = Node( + # package='ros_gz_sim', + # executable='create', + # arguments=[ + # '-name', 'waffle', + # '-file', urdf_path, + # '-x', x_pose, + # '-y', y_pose, + # '-z', z_pose + # ], + # output='screen', + # ) + + bridge_params = os.path.join( + get_package_share_directory("custom_robots"), "params", "prius_autoparking_camera.yaml" + ) + + start_gazebo_ros_bridge_cmd = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "--ros-args", + "-p", + f"config_file:={bridge_params}", + ], + output="screen", + ) + + start_gazebo_ros_image_bridge_cmd = Node( + package="ros_gz_image", + executable="image_bridge", + arguments=["/prius_autoparking/image_raw"], + output="screen", + ) + + # start_gazebo_ros_depth_bridge_cmd = Node( + # package="ros_gz_image", + # executable="image_bridge", + # arguments=["/turtlebot3/camera/depth"], + # output="screen", + # ) + + ld = LaunchDescription() + + # Declare the launch options + # ld.add_action(declare_x_position_cmd) + # ld.add_action(declare_y_position_cmd) + # ld.add_action(declare_z_position_cmd) + + # Add any conditioned actions + # ld.add_action(start_gazebo_ros_spawner_cmd) + ld.add_action(start_gazebo_ros_bridge_cmd) + ld.add_action(start_gazebo_ros_image_bridge_cmd) + # ld.add_action(start_gazebo_ros_depth_bridge_cmd) + + return ld \ No newline at end of file diff --git a/Launchers/visualization/car_junction.config b/Launchers/visualization/car_junction.config index 96d09e586..98b8618ba 100644 --- a/Launchers/visualization/car_junction.config +++ b/Launchers/visualization/car_junction.config @@ -28,7 +28,7 @@ scene 0.4 0.4 0.4 0.8 0.8 0.8 - 0.0 0.0 8 0 1.57 3.14 + 7 -40 5 0 0.2 2 @@ -52,7 +52,7 @@ - + diff --git a/Worlds/road_junction.world b/Worlds/road_junction.world index 151d30a51..5dfc2b8f1 100644 --- a/Worlds/road_junction.world +++ b/Worlds/road_junction.world @@ -2,444 +2,55 @@ - + - + - + + + + ogre2 - 0 0 -9.8 + + 1 1 1 1 + 1 1 1 1 + true + false + + - false + 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 + false - + true - + 0 0 1 + 100 100 - - - - 1.0 - 1.0 - - - - - - 0 0 1 - 1000 1000 - - - - 0.1 0.3 0.1 1 - 0.2 0.5 0.2 1 - 0.1 0.2 0.1 1 - 0 0 0 1 - - - - - - - true - - 0 500 500 0 0 0 - - - - 1000 2 1000 - - - - - - - 1000 2 1000 - - - - 0.4 0.65 0.95 1.0 - 0.4 0.65 0.95 1.0 - 0 0 0 1 - 0.3 0.55 0.85 1.0 - false - - - - - 0 -500 500 0 0 0 - - - - 1000 2 1000 - - - - - - - 1000 2 1000 - - - - 0.4 0.65 0.95 1.0 - 0.4 0.65 0.95 1.0 - 0 0 0 1 - 0.3 0.55 0.85 1.0 - false - - - - - 500 0 500 0 0 0 - - - - 2 1000 1000 - - - - - - - 2 1000 1000 - - - - 0.4 0.65 0.95 1.0 - 0.4 0.65 0.95 1.0 - 0 0 0 1 - 0.3 0.55 0.85 1.0 - false - - - - - -500 0 500 0 0 0 - - - - 2 1000 1000 - - - - - - - 2 1000 1000 - - - - 0.4 0.65 0.95 1.0 - 0.4 0.65 0.95 1.0 - 0 0 0 1 - 0.3 0.55 0.85 1.0 - false - - - - - 150 -50 60 0 0 0 - - 150 -50 50 0 0 0 - - 1 1 1 - - - - 150 -50 50 0 1.57 1.57 - 20 20 20 - model://sky/meshes/CloudMedium2.obj + model://stopW/meshes/stop.dae + 1.5 1.5 1 - - 200 10 40 0 0 0 - - 200 10 40 0 0 0 - - 1 1 1 - - - - 200 10 40 0 1.57 1.57 - - - 40 40 40 - model://hatchback/meshes/CloudLong3.obj - - - - - - - - true - - 0 0 0.01 0 0 0 - - - - 1000 10 0.01 - - - - - - - 1000 10 0.01 - - - - 0 0 0 1 - 0 0 0 1 - 0.1 0.1 0.1 1 - 0 0 0 1 - - - - - 0 0 0.01 0 0 0 - - - - 10 1000 0.01 - - - - - - - 10 1000 0.01 - - - - 0 0 0 1 - 0 0 0 1 - 0.1 0.1 0.1 1 - 0 0 0 1 - - - - - - - true - - 250 6.5 0.01 0 0 0 - - - - 490 3 0.05 - - - - - - - 490 3 0.05 - - - - - - - - - -250 6.5 0.01 0 0 0 - - - - 490 3 0.05 - - - - - - - 490 3 0.05 - - - - - - - - - 250 -6.5 0.01 0 0 0 - - - - 490 3 0.05 - - - - - - - 490 3 0.05 - - - - - - - - - -250 -6.5 0.01 0 0 0 - - - - 490 3 0.05 - - - - - - - 490 3 0.05 - - - - - - - - - 6.5 250 0.01 0 0 0 - - - - 3 490 0.05 - - - - - - - 3 490 0.05 - - - - - - - - - 6.5 -250 0.01 0 0 0 - - - - 3 490 0.05 - - - - - - - 3 490 0.05 - - - - - - - - - -6.5 250 0.01 0 0 0 - - - - 3 490 0.05 - - - - - - - 3 490 0.05 - - - - - - - - - -6.5 -250 0.01 0 0 0 - - - - 3 490 0.05 - - - - - - - 3 490 0.05 - - - - - - - - + true - - - - - 0.1 14.1 0.05 - - - - 1 1 0 1 - 0.1 0.1 0 1 - - 0 0 0.05 0 0 0.78 - - - - - - - 0.1 14.1 0.05 - - - - 1 1 0 1 - 0.1 0.1 0 1 - - 0 0 0.05 0 0 -0.78 - - - - - - - 0.1 7 0.05 - - - - 1 1 0 1 - 0.1 0.1 0 1 - - 2.5 2.5 0.05 0 0 0.78 - - - - - - - 0.1 7 0.05 - - - - 1 1 0 1 - 0.1 0.1 0 1 - - -2.5 -2.5 0.05 0 0 0.78 - - - - - - - 0.1 7 0.05 - - - - 1 1 0 1 - 0.1 0.1 0 1 - - -2.5 2.5 0.05 0 0 -0.78 - - - - - - - 0.1 7 0.05 - - - - 1 1 0 1 - 0.1 0.1 0 1 - - 2.5 -2.5 0.05 0 0 -0.78 - - - - - + model://stop_sign 6 -6 0 0 0 0 + stop_1 + - - 0 0 2.5 0 0 0 - - - - 0.1 - 5.0 - - - - 0.3 0.3 0.3 1 - 0.1 0.1 0.1 1 - - - - - - 0.1 - 5.0 - - - - - - - 0 0 5 1.57 0 1.57 - - - - 0.5 - 0.02 - - - - 1 0 0 1 - 0.5 0.1 0.1 1 - - - - - - 0.5 - 0.02 - - - - - - pole - sign - 0 0 5.05 0 0 0 - - - + + + model://house_1 + -13.5 13 0 0 0 0 + + + model://house_2 + -30.5 11 0 0 0 0 + + + model://house_3 + -9 -11 0 0 0 1.57 + + + + model://gas_station + 14.75 21.5 0 0 0 1.57 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree @@ -656,13 +147,6 @@ 65 5 0.5 0 0 0 - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree - tree_4 - 85 5 0.5 0 0 0 - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Lamp Post lp_1 @@ -688,14 +172,12 @@ - model://waymo_light - -10 -2 1.5 0.0 0.0 0.0 + model://prius_autoparking_camera + 2.5 -30 0 0 0 0 - - scripts.TrafficSystem + + TrafficSystem road_junction model://hatchback/model.sdf