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Import example code and basic prototype

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Nicolas Hiillos
2022-10-18 17:20:50 +03:00
parent ed00da86c3
commit ae44ce87e9
33 changed files with 3882 additions and 0 deletions
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worlds/follow_target.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.9">
<world name="ign_moveit2_follow_target_world">
<!-- Physics -->
<plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics">
<engine>
<filename>ignition-physics-dartsim-plugin</filename>
</engine>
<dart>
<collision_detector>bullet</collision_detector>
</dart>
</plugin>
<physics name="physics_config" type="dart">
<max_step_size>0.005</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<!-- Scene -->
<plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<scene>
<ambient>0.8 0.8 0.8</ambient>
<grid>false</grid>
</scene>
<!-- User Commands (transform control) -->
<plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands">
</plugin>
<!-- -->
<!-- Illumination -->
<!-- -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.3 0.3 -0.9</direction>
</light>
<!-- -->
<!-- Models -->
<!-- -->
<!-- Ground -->
<model name="ground_plane">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="ground_plane_link">
<collision name="ground_plane_collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="ground_plane_visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>4 4</size>
</plane>
</geometry>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<!-- Static target -->
<model name="target">
<static>true</static>
<pose>0.5 -0.25 0.5 3.1415927 0 0</pose>
<link name="target_link">
<visual name="target_visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>0.04 0.04 0.04</size>
</box>
</geometry>
<material>
<diffuse>0.1 0.1 0.1 1</diffuse>
<specular>0.4 0.4 0.4 1</specular>
</material>
</visual>
</link>
<!-- Pose publisher plugin, used to determine the target pose to reach -->
<plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
<publish_nested_model_pose>true</publish_nested_model_pose>
<publish_link_pose>false</publish_link_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
</plugin>
</model>
</world>
</sdf>