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nkoeniggitak2019knoedlerNate Koenigacschang
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Model submission for Karen ground robot sensor configuration 1 and 2… (#865)
* Add Coordinated Robotics Karen. Ackermann Steered Robot * Fix missing default and offset rgbd camera forward * Have description point to urdf * Adjust update rate and range * Adjust velocity limit to 1.0 until validation data available * Add compass/alt bridge, optical frame publishers * Adjust camera resolution per review comment * Wrong 100 was changed to 300, unique names * node fix * Disable description.launch / xacro / urdf * Fix incorrect battery life, fix incorrect velocity in config_2 * Model submission for Karen ground robot sensor configuration 1 and 2 from Coordinated Robotics (#815) * Add Coordinated Robotics Karen. Ackermann Steered Robot * Fix missing default and offset rgbd camera forward * Have description point to urdf * Adjust update rate and range * Adjust velocity limit to 1.0 until validation data available * Add compass/alt bridge, optical frame publishers * Adjust camera resolution per review comment * Wrong 100 was changed to 300, unique names * node fix * Disable description.launch / xacro / urdf * Fix incorrect battery life, fix incorrect velocity in config_2 Co-authored-by: Kevin <[email protected]> * Model updates * Added missing xacro * Aligned thermal camera range with the repository standard. * Thermal camera range of 100m Signed-off-by: Nate Koenig <[email protected]> * fix color and transparency Signed-off-by: Nate Koenig <[email protected]> * Removed wheel slip plugin Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Kevin <[email protected]> Co-authored-by: knoedler <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Arthur Schang <[email protected]>
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‎submitted_models/coro_karen_sensor_config_1/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(coro_karen_sensor_config_1)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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message_runtime
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std_msgs
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geometry_msgs
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)
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find_package(ignition-gazebo4 REQUIRED)
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find_package(ignition-transport9 REQUIRED)
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find_package(ignition-common3 REQUIRED)
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find_package(Eigen3 REQUIRED)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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catkin_package(
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CATKIN_DEPENDS message_runtime roscpp std_msgs geometry_msgs
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(ackermannlocal SHARED
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src/AckermannSteering.cc
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src/SpeedLimiter.cc
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)
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target_link_libraries(ackermannlocal
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PUBLIC ${catkin_LIBRARIES}
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PRIVATE ignition-plugin1::ignition-plugin1
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PRIVATE ignition-gazebo4::ignition-gazebo4
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PRIVATE ignition-common3::ignition-common3
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PRIVATE ignition-transport9::ignition-transport9
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PRIVATE Eigen3::Eigen
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)
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install(TARGETS ackermannlocal
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY launch meshes urdf worlds
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(FILES model.sdf model.config
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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‎submitted_models/coro_karen_sensor_config_1/launch/description.launch‎

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<?xml version="1.0"?>
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<launch>
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<arg name="name" doc="Name of Vehicle"/>
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<param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/karen.xacro' name:=$(arg name)"/>
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</launch>
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‎submitted_models/coro_karen_sensor_config_1/launch/example.ign‎

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<?xml version="1.0"?>
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<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
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Parameters:
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robotName: Name to be assigned to model
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-->
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<%
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require_relative 'spawner'
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# Modify these as needed
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$enableGroundTruth = true
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$headless = false
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%>
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<%
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unless local_variables.include?(:robotName)
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raise "missing parameters. robotName is a required parameter"
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end
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# This assumes that this launch file is in a directory below the model
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modelURI = File.expand_path("../", File.dirname(__FILE__))
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$worldName = 'example'
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worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
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%>
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<ignition version='1.0'>
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<env>
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<name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
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<value>$LD_LIBRARY_PATH</value>
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</env>
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<!-- Start ROS first. This is a bit hacky for now. -->
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<!-- Make sure to source /opt/ros/melodic/setup.bash -->
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<executable name='ros'>
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<command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
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</executable>
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<plugin name="ignition::launch::GazeboServer"
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filename="libignition-launch-gazebo.so">
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<world_file><%= worldFile %></world_file>
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<run>true</run>
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<levels>false</levels>
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<record>
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<enabled>false</enabled>
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</record>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-physics-system.so"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-sensors-system.so"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-user-commands-system.so"
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name="ignition::gazebo::systems::UserCommands">
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</plugin>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-scene-broadcaster-system.so"
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name="ignition::gazebo::systems::SceneBroadcaster">
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</plugin>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-imu-system.so"
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name="ignition::gazebo::systems::Imu">
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</plugin>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-magnetometer-system.so"
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name="ignition::gazebo::systems::Magnetometer">
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</plugin>
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<plugin entity_name="<%= $worldName %>"
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entity_type="world"
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filename="libignition-gazebo-air-pressure-system.so"
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name="ignition::gazebo::systems::AirPressure">
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</plugin>
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</plugin>
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<%if !$headless %>
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<executable_wrapper>
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<plugin name="ignition::launch::GazeboGui"
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filename="libignition-launch-gazebogui.so">
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<world_name><%= $worldName %></world_name>
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<window_title>SubT Simulator</window_title>
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<window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
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<plugin filename="GzScene3D" name="3D View">
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<ignition-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</ignition-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>0.2 0.2 0.1</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
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<service>/world/<%= $worldName %>/scene/info</service>
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<pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
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<scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
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<deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
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</plugin>
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<plugin filename="WorldControl" name="World control">
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<ignition-gui>
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<title>World control</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">72</property>
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<property type="double" key="width">121</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="left" target="left"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<play_pause>true</play_pause>
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<step>true</step>
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<start_paused>true</start_paused>
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<service>/world/<%= $worldName %>/control</service>
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<stats_topic>/world/<%= $worldName %>/stats</stats_topic>
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</plugin>
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<plugin filename="WorldStats" name="World stats">
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<ignition-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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<topic>/world/<%= $worldName %>/stats</topic>
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</plugin>
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</plugin>
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</executable_wrapper>
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<%end%>
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<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
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<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
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</plugin>
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<%= rosExecutables(robotName, $worldName) %>
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</ignition>

‎submitted_models/coro_karen_sensor_config_1/launch/spawner.rb‎

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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
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<<-HEREDOC
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<spawn name='#{_name}'>
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<name>#{_name}</name>
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<allow_renaming>false</allow_renaming>
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<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
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<world>#{_worldName}</world>
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<is_performer>true</is_performer>
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<sdf version='1.6'>
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<include>
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<name>#{_name}</name>
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<uri>#{_modelURI}</uri>
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<!-- Ackermann Steering -->
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<plugin filename="libackermannlocal.so"
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name="ignition::gazebo::systems::AckermannSteering">
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<left_joint>front_left_wheel_joint</left_joint>
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<left_joint>rear_left_wheel_joint</left_joint>
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<right_joint>front_right_wheel_joint</right_joint>
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<right_joint>rear_right_wheel_joint</right_joint>
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<left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
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<right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
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<wheel_separation>0.65</wheel_separation>
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<kingpin_width>0.44</kingpin_width>
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<steering_limit>0.187</steering_limit>
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<wheel_base>0.93</wheel_base>
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<wheel_radius>0.175</wheel_radius>
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<topic>/model/#{_name}/cmd_vel_relay</topic>
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<min_velocity>-1.0</min_velocity>
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<max_velocity>1.0</max_velocity>
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<min_acceleration>-3</min_acceleration>
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<max_acceleration>3</max_acceleration>
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</plugin>
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<!-- Publish robot state information -->
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<plugin filename="libignition-gazebo-pose-publisher-system.so"
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name="ignition::gazebo::systems::PosePublisher">
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<publish_link_pose>true</publish_link_pose>
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<publish_sensor_pose>true</publish_sensor_pose>
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<publish_collision_pose>false</publish_collision_pose>
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<publish_visual_pose>false</publish_visual_pose>
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<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
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<use_pose_vector_msg>true</use_pose_vector_msg>
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<static_publisher>true</static_publisher>
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<static_update_frequency>1</static_update_frequency>
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</plugin>
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<!-- Battery plugin -->
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<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
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name="ignition::gazebo::systems::LinearBatteryPlugin">
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<battery_name>linear_battery</battery_name>
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<voltage>12.694</voltage>
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<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
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<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
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<initial_charge>78.4</initial_charge>
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<capacity>78.4</capacity>
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<resistance>0.061523</resistance>
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<smooth_current_tau>1.9499</smooth_current_tau>
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<power_load>9.9</power_load>
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<start_on_motion>true</start_on_motion>
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</plugin>
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<!-- Gas Sensor plugin -->"
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<plugin filename="libGasEmitterDetectorPlugin.so"
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name="subt::GasDetector">
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<topic>/model/#{_name}/gas_detected</topic>
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<update_rate>10</update_rate>
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<type>gas</type>
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</plugin>
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</include>
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</sdf>
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</spawn>
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HEREDOC
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end
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def rosExecutables(_name, _worldName)
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<<-HEREDOC
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<executable name='robot_description'>
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<command>roslaunch --wait coro_karen_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
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</executable>
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<executable name='topics'>
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<command>roslaunch --wait coro_karen_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
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</executable>
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HEREDOC
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end

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