Revision: 7011
http://playerstage.svn.sourceforge.net/playerstage/?rev=7011&view=rev
Author: natepak
Date: 2008-09-09 14:25:39 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
Applied patch 1905901
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/server/controllers/position2d/SConscript
Added Paths:
-----------
code/gazebo/trunk/server/controllers/position2d/holonome3sw/
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.hh
code/gazebo/trunk/server/controllers/position2d/holonome3sw/SConscript
code/gazebo/trunk/worlds/models/wizbot.model
code/gazebo/trunk/worlds/wizbot.world
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-09-09 14:06:20 UTC (rev
7010)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-09-09 14:25:39 UTC (rev
7011)
@@ -346,8 +346,6 @@
/// Type of model that owns this interface
public: std::string modelType;
-
-
};
/** \} */
Modified: code/gazebo/trunk/server/controllers/position2d/SConscript
===================================================================
--- code/gazebo/trunk/server/controllers/position2d/SConscript 2008-09-09
14:06:20 UTC (rev 7010)
+++ code/gazebo/trunk/server/controllers/position2d/SConscript 2008-09-09
14:25:39 UTC (rev 7011)
@@ -1,12 +1,7 @@
#Import variable
Import('env sharedObjs')
-dirs = Split('differential steering')
+dirs = Split('differential steering holonome3sw')
for subdir in dirs :
SConscript('%s/SConscript' % subdir)
-
-#sources = Split('')
-
-#staticObjs.append(env.StaticObject(sources))
-#sharedObjs.append(env.SharedObject(sources))
Added:
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
(rev 0)
+++
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
2008-09-09 14:25:39 UTC (rev 7011)
@@ -0,0 +1,269 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/*
+ * Desc: Position2d controller for a Holonome3Sw drive.
+ * Author: Christian Gagneraud (ch'Gans), based on Differential_Position2d.cc
+ * Date: 21 Feb 2007
+ * SVN info: $Id$
+ */
+
+#include "XMLConfig.hh"
+#include "Model.hh"
+#include "Global.hh"
+#include "HingeJoint.hh"
+#include "World.hh"
+#include "Simulator.hh"
+#include "gazebo.h"
+#include "GazeboError.hh"
+#include "ControllerFactory.hh"
+#include "Holonome3Sw_Position2d.hh"
+
+using namespace gazebo;
+
+GZ_REGISTER_STATIC_CONTROLLER("holonome3sw_position2d",
Holonome3Sw_Position2d);
+
+enum {RIGHT, LEFT};
+
+////////////////////////////////////////////////////////////////////////////////
+// Constructor
+Holonome3Sw_Position2d::Holonome3Sw_Position2d(Entity *parent )
+ : Controller(parent)
+{
+ this->myParent = dynamic_cast<Model*>(this->parent);
+
+ if (!this->myParent)
+ gzthrow("Holonome3Sxw_Position2d controller requires a Model as its
parent");
+
+ ResetData();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+Holonome3Sw_Position2d::~Holonome3Sw_Position2d()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void Holonome3Sw_Position2d::LoadChild(XMLConfigNode *node)
+{
+ this->myIface = dynamic_cast<PositionIface*>(this->ifaces[0]);
+
+ if (!this->myIface)
+ gzthrow("Holonome3Sw_Position2d controller requires a PositionIface");
+
+ // Get wheels child
+ node = node->GetChild("wheels");
+ if (!node)
+ gzthrow("Holonome3Sw_Position2d controller requires a <wheels> node");
+
+ // Get default params
+ float distdef = node->GetFloat("distance", 0.0, 0);
+ float radiusdef = node->GetFloat("radius", 0.0, 0);
+ float maxtorquedef = node->GetFloat("torque", 0.0, 0);
+ float betadef = node->GetFloat("beta", 0.0, 0);
+ float gammadef = node->GetFloat("gamma", 0.0, 0);
+
+ // Get params for each wheels
+ for (size_t i = 0; i < 3; ++i)
+ {
+ std::ostringstream sw; sw << "swedish" << i;
+ XMLConfigNode *lnode = node->GetChild(sw.str());
+ if (!lnode)
+ gzthrow("The controller couldn't get swedish wheels " + sw.str());
+
+ std::string joint = lnode->GetString("joint", "", 1);
+ this->joint[i] =
dynamic_cast<HingeJoint*>(this->myParent->GetJoint(joint));
+ if (!this->joint[i])
+ gzthrow("The controller couldn't get hinge joint for " + sw.str());
+
+ this->ALPHA[i] = lnode->GetFloat("alpha", 1000000, 1);
+ if (this->ALPHA[i] == 1000000)
+ gzthrow("The controller could't get alpha param for " + sw.str());
+
+ this->DIST[i] = lnode->GetFloat("distance", distdef, 0);
+ if (!this->DIST[i])
+ gzthrow("The controller could't get distance param for " + sw.str());
+
+ this->BETA[i] = lnode->GetFloat("beta", betadef, 0);
+
+ this->GAMMA[i] = lnode->GetFloat("gamma", gammadef, 0);
+
+ this->RADIUS[i] = lnode->GetFloat("radius", radiusdef, 0);
+ if (!this->RADIUS[i])
+ gzthrow("The controller could't get radius param for " + sw.str());
+
+ this->MAXTORQUE[i] = lnode->GetFloat("torque", maxtorquedef, 0);
+ if (!this->MAXTORQUE[i])
+ gzthrow("The controller could't get torque param for " + sw.str());
+
+ // Pre-compute some constants
+ A[i] = (2*3.14159265358979)*fmodf(ALPHA[i]+BETA[i]+GAMMA[i], 360)/360;
+ L[i] = DIST[i]*cos((2*3.14159265358979)*fmodf(BETA[i]+GAMMA[i],
360)/360);
+ R[i] = RADIUS[i]*cos((2*3.14159265358979)*fmodf(GAMMA[i], 360)/360);
+ }
+
+#if 0
+ std::cout << "Holonomous robot, here are the params:" << std::endl;
+ for (size_t i = 0; i < 3; ++i)
+ {
+ std::cout << " - swedish" << i << std::endl;
+ std::cout << " alpha = " << ALPHA[i] << std::endl;
+ std::cout << " beta = " << BETA[i] << std::endl;
+ std::cout << " gamma = " << GAMMA[i] << std::endl;
+ std::cout << " dist = " << DIST[i] << std::endl;
+ std::cout << " radius = " << RADIUS[i] << std::endl;
+ std::cout << " max-torque = " << MAXTORQUE[i] << std::endl;
+ std::cout << " A = " << A[i] << std::endl;
+ std::cout << " L = " << L[i] << std::endl;
+ std::cout << " R = " << R[i] << std::endl;
+ std::cout << std::endl;
+ }
+#endif
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+/*void Holonome3Sw_Position2d::SaveChild(XMLConfigNode *node)
+{
+ node = node->GetChild("wheels");
+ if (!node)
+ gzthrow("No such child node: wheels");
+ for (size_t i = 0; i < 3; ++i)
+ {
+ std::ostringstream sw; sw << "swedish" << i;
+ XMLConfigNode *lnode = node->GetChild(sw.str());
+ if (!lnode)
+ gzthrow("No such child node wheels/" + sw.str());
+ lnode->SetValue("alpha", this->ALPHA[i]);
+ lnode->SetValue("distance", this->DIST[i]);
+ lnode->SetValue("beta", this->BETA[i]);
+ lnode->SetValue("gamma", this->GAMMA[i]);
+ lnode->SetValue("radius", this->RADIUS[i]);
+ lnode->SetValue("max-torque", this->MAXTORQUE[i]);
+ // "joint" ???
+ }
+}*/
+
+////////////////////////////////////////////////////////////////////////////////
+// Initialize the controller
+void Holonome3Sw_Position2d::InitChild()
+{
+ ResetData();
+}
+
+void Holonome3Sw_Position2d::ResetChild()
+{
+ ResetData();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void Holonome3Sw_Position2d::UpdateChild()
+{
+ this->GetPositionCmd();
+
+ //std::cout << "Anchors: {";
+ for (size_t i = 0; i < 3; ++i)
+ {
+ //std::cout << "[" << this->joint[i]->GetAnchor() << "] ";
+ if (this->enableMotors)
+ {
+ this->joint[i]->SetParam( dParamVel, this->PhiP[i]);
+ this->joint[i]->SetParam( dParamFMax, this->MAXTORQUE[i] );
+ }
+ else
+ {
+ this->joint[i]->SetParam( dParamVel, 0 );
+ this->joint[i]->SetParam( dParamVel, 0 );
+ }
+ }
+ //std::cout << "}" << std::endl;
+ this->PutPositionData();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Finalize the controller
+void Holonome3Sw_Position2d::FiniChild()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Reset internal data to 0
+void Holonome3Sw_Position2d::ResetData()
+{
+ for (size_t i = 0; i < 3; ++i)
+ {
+ Xi[i] = 0;
+ XiP[i] = 0;
+ PhiP[i] = 0;
+ }
+ this->enableMotors = true;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Get commands from the external interface
+void Holonome3Sw_Position2d::GetPositionCmd()
+{
+ if (this->myIface->Lock(1))
+ {
+ double vx = this->myIface->data->cmdVelocity.pos.x;
+ double vy = this->myIface->data->cmdVelocity.pos.y;
+ double va = this->myIface->data->cmdVelocity.yaw;
+ for (size_t i = 0; i < 3; ++i)
+ {
+ this->PhiP[i] = -(1/R[i])*(-sin(A[i])*vx +
+ cos(A[i])*vy +
+ L[i]*va);
+ }
+ this->enableMotors = this->myIface->data->cmdEnableMotors > 0;
+ this->myIface->Unlock();
+#if 0
+ std::cout << "Xi=[" << Xi[0] << ", " << Xi[1] << ", " << Xi[2] << "]; ";
+ std::cout << "vx=" << vx <<", vy=" << vy << ", va=" << va << "; ";
+ std::cout << "PhiP=[" << PhiP[0] << ", " << PhiP[1] << ", " << PhiP[2]
<< "];\n";
+#endif
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Update the data in the interface
+void Holonome3Sw_Position2d::PutPositionData()
+{
+ if (this->myIface->Lock(1))
+ {
+ // TODO: Data timestamp
+ this->myIface->data->head.time = Simulator::Instance()->GetSimTime();
+
+ this->myIface->data->pose.pos.x = this->Xi[0];
+ this->myIface->data->pose.pos.y = this->Xi[1];
+ this->myIface->data->pose.yaw = NORMALIZE(this->Xi[2]);
+
+ this->myIface->data->velocity.pos.x = 0;
+ this->myIface->data->velocity.pos.y = 0;
+ this->myIface->data->velocity.yaw = 0;
+
+ // TODO
+ this->myIface->data->stall = 0;
+
+ this->myIface->Unlock();
+ }
+}
Added:
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.hh
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.hh
(rev 0)
+++
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.hh
2008-09-09 14:25:39 UTC (rev 7011)
@@ -0,0 +1,211 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/*
+ * Desc: Position2d controller for a Holonome3Sw drive.
+ * Author: Christian Gagneraud (ch'Gans), based on Differential_Position2d.hh
+ * Date: 21 Feb 2007
+ * SVN: $Id$
+ */
+
+#ifndef HOLONOME3SW_POSITION2D_HH
+#define HOLONOME3SW_POSITION2D_HH
+
+#include <map>
+
+#include "Controller.hh"
+
+namespace gazebo
+{
+ class HingeJoint;
+ class Entity;
+ class PositionIface;
+
+/// \addtogroup gazebo_controller
+/// \{
+/** \defgroup holonome3sw_position2d holonome3sw_position2d
+
+ \brief Position2D controller for an holonomous robot using 3 swedish
+ wheels.
+
+ This is a controller that simulates the motion of an holonomous
+ robot using 3 swedish wheels (such as WizBot).
+
+ Kinematics model:
+ \verbatim
+ J1.R(Th).XiP + J2.PhiP = 0
+
+ J1 = [ -sin(A1) cos(A1) L1 ]
+ [ -sin(A2) cos(A2) L2 ]
+ [ -sin(A3) cos(A3) L3 ]
+
+ J2 = [ R1 0 0 ]
+ [ 0 R2 0 ]
+ [ 0 0 R3 ]
+
+ R(t) = [ cos(t) sin(t) 0 ]
+ [ -sin(t) cos(t) 0 ]
+ [ 0 0 1 ]
+
+ With:
+ A1 = alpha1+beta1+gamma1;
+ L1 = l1*cos(beta1+gamma1)
+ R1 = r1*cos(gamma1)
+ \endverbatim
+
+ \verbatim
+ <controller:holonome3sw_position2d name="controller-name">
+ <wheels>
+ <-- Global to all wheels, optional -->
+ <distance>d</distance>
+ <-- Global to all wheels, optional -->
+ <radius>r</radius>
+ <-- Global to all wheels, optional -->
+ <max-torque>t</max-torque>
+ <-- Global to all wheels, optional -->
+ <beta>b</beta>
+ <-- Global to all wheels, optional -->
+ <gamma>g</gamma>
+ <-- 1st wheel -->
+ <swedish0>
+ <joint-name>joint-name</joint-name>
+ <alpha>a</alpha>
+ <-- default to wheels/distance -->
+ <distance>d</distance>
+ <-- default to wheels/radius -->
+ <radius>r</radius>
+ <-- default to wheels/max-torque -->
+ <max-torque>max-torque</max-torque>
+ <-- default to wheels/beta if exist or to zero -->
+ <beta>b</beta>
+ <-- default to wheels/beta if exist or to zero -->
+ <gamma>g</gamma>
+ </swedish0>
+ <-- 2nd wheel -->
+ <swedish1>
+ ...
+ </swedish>
+ <-- 3rd wheel -->
+ <swedish2>
+ ...
+ </swedish>
+ </wheels>
+ <interface:position name="iface-name"/>
+ </controller:holonome3sw_position2d>
+ \endverbatim
+
+ Where:
+ - P: Reference point on the robot frame.
+ - A: Point representing the center of a wheel
+ - distance, alpha: Polar coordinates of A in the robot frame.
+ - beta: Orientation of the plane of the wheel with respect with (PA).
+ - gamma: Direction, with respect to the wheel plane, of the zero
+ component of the velocity of the contact point.
+
+ \{
+*/
+
+/// \brief WizBot Position2D controller.
+/// This is a controller that simulates a WizBot motion
+class Holonome3Sw_Position2d : public Controller
+{
+ /// Constructor
+ public: Holonome3Sw_Position2d(Entity *parent );
+
+ /// Destructor
+ public: virtual ~Holonome3Sw_Position2d();
+
+ /// Load the controller
+ /// \param node XML config node
+ protected: virtual void LoadChild(XMLConfigNode *node);
+
+ /// Init the controller
+ protected: virtual void InitChild();
+
+ /// \brief Reset the controller
+ protected: void ResetChild();
+
+ /// Update the controller
+ protected: virtual void UpdateChild();
+
+ /// Finalize the controller
+ protected: virtual void FiniChild();
+
+
+ /// Update the data in the interface
+ private: void PutPositionData();
+
+ /// Get the position command from libgazebo
+ private: void GetPositionCmd();
+
+ /// Reset internal datas
+ private: void ResetData();
+
+ /// The Position interface
+ private: PositionIface *myIface;
+
+ /// The parent Model
+ private: Model *myParent;
+
+
+ // The wheel joints.
+ private: HingeJoint *joint[3];
+
+ /// Polar coordinate of the center of the wheels
+ private: float DIST[3];
+
+ /// Polar coordinate of the center of the wheels
+ private: float ALPHA[3];
+
+ /// Orientation of the plane of the wheel
+ private: float BETA[3];
+
+ /// Direction of the zero component of the velocity of the contact point.
+ private: float GAMMA[3];
+
+ /// Radius of the wheels
+ private: float RADIUS[3];
+
+ /// Max torque to applied to the wheels
+ private: float MAXTORQUE[3];
+
+ // Robot posture coordinates in the world: x, y, theta
+ private: float Xi[3];
+ // Robot speed coordinates in the world: vx, vy, vtheta
+ private: float XiP[3];
+ // Rotation speed coordinates (wheels, rad/s)
+ private: float PhiP[3];
+
+ /// True = enable motors
+ private: bool enableMotors;
+
+private:
+ float A[3], L[3], R[3];
+
+};
+
+/** \} */
+/// \}
+
+}
+
+#endif
+
Added: code/gazebo/trunk/server/controllers/position2d/holonome3sw/SConscript
===================================================================
--- code/gazebo/trunk/server/controllers/position2d/holonome3sw/SConscript
(rev 0)
+++ code/gazebo/trunk/server/controllers/position2d/holonome3sw/SConscript
2008-09-09 14:25:39 UTC (rev 7011)
@@ -0,0 +1,6 @@
+#Import variable
+Import('env sharedObjs')
+
+sources = Split('Holonome3Sw_Position2d.cc')
+
+sharedObjs.append(env.SharedObject(sources))
Added: code/gazebo/trunk/worlds/models/wizbot.model
===================================================================
--- code/gazebo/trunk/worlds/models/wizbot.model
(rev 0)
+++ code/gazebo/trunk/worlds/models/wizbot.model 2008-09-09 14:25:39 UTC
(rev 7011)
@@ -0,0 +1,234 @@
+<?xml version="1.0"?>
+
+<!-- Generic WizBot Model -->
+<model:physical
+ name="default_wizbot_model"
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+ >
+
+ <xyz>0 0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <canonicalBody>chassis_body</canonicalBody>
+
+ <body:cylinder name="chassis_body">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <geom:cylinder name="chassis_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.140 0.2</size>
+ <mass>2</mass>
+ <visual>
+ <size>0.280 0.280 0.2</size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/RustyBarrel</material>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+
+ <body:cylinder name="wheel0">
+ <xyz>0.175 0 -0.0725</xyz>
+ <rpy>0 90 0</rpy>
+
+ <geom:cylinder name="wheel0_geom">
+ <size>0.075 0.05</size>
+ <mass>0.237</mass>
+
+ <visual>
+ <rpy>-90 0 0</rpy>
+ <size>0.125 0.05 0.125</size>
+ <mesh>Pioneer2dx/tire.mesh</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+
+ <visual>
+ <rpy>-90 0 0</rpy>
+ <size>0.073 0.05 0.073</size>
+ <mesh>Pioneer2at/wheel.mesh</mesh>
+ <material>Gazebo/Gold</material>
+ </visual>
+
+ <visual>
+ <rpy>0 0 0</rpy>
+ <xyz>0 0 -0.015</xyz>
+ <size>0.04 0.04 0.08</size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+
+ <surface>
+ <type>0</type>
+ <mu1>1.7</mu1>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ <surface>
+ <type>1</type>
+ <mu1>1.7</mu1>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ <surface>
+ <type>2</type>
+ <mu1>0.01</mu1>
+ <mu2>1.7</mu2>
+ <mu1Dir>0 0 1</mu1Dir>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ </geom:cylinder>
+ </body:cylinder>
+
+ <body:cylinder name="wheel1">
+ <xyz>-0.0875 0.151554445662 -0.0725</xyz>
+ <rpy>0 90 120</rpy>
+
+ <geom:cylinder name="wheel1_geom">
+ <size>0.075 0.05</size>
+ <mass>0.237</mass>
+
+ <visual>
+ <rpy>-90 0 0</rpy>
+ <size>0.125 0.05 0.125</size>
+ <mesh>Pioneer2dx/tire.mesh</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+
+ <visual>
+ <rpy>-90 0 0</rpy>
+ <size>0.073 0.05 0.073 </size>
+ <mesh>Pioneer2at/wheel.mesh</mesh>
+ <material>Gazebo/Gold</material>
+ </visual>
+
+ <visual>
+ <rpy>0 0 0</rpy>
+ <xyz>0 0 -0.015</xyz>
+ <size>0.04 0.04 0.08 </size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+
+ <surface>
+ <type>0</type>
+ <mu1>1.7</mu1>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ <surface>
+ <type>1</type>
+ <mu1>1.7</mu1>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ <surface>
+ <type>2</type>
+ <mu1>0.01</mu1>
+ <mu2>1.7</mu2>
+ <mu1Dir>0 0 1</mu1Dir>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ </geom:cylinder>
+ </body:cylinder>
+
+ <body:cylinder name="wheel2">
+ <xyz>-0.0875 -0.151554445662 -0.0725</xyz>
+ <rpy>0 90 240</rpy>
+
+ <geom:cylinder name="wheel2_geom">
+ <size>0.075 0.05</size>
+ <mass>0.237</mass>
+
+ <visual>
+ <rpy>-90 0 0</rpy>
+ <size>0.125 0.05 0.125</size>
+ <mesh>Pioneer2dx/tire.mesh</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+
+ <visual>
+ <rpy>-90 0 0</rpy>
+ <size>0.073 0.05 0.073 </size>
+ <mesh>Pioneer2at/wheel.mesh</mesh>
+ <material>Gazebo/Gold</material>
+ </visual>
+
+ <visual>
+ <rpy>0 0 0</rpy>
+ <xyz>0 0 -0.015</xyz>
+ <size>0.04 0.04 0.08 </size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+
+ <surface>
+ <type>0</type>
+ <mu1>1.7</mu1>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ <surface>
+ <type>1</type>
+ <mu1>1.7</mu1>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ <surface>
+ <type>2</type>
+ <mu1>0.01</mu1>
+ <mu2>1.7</mu2>
+ <mu1Dir>0 0 1</mu1Dir>
+ <bounce>0.1</bounce>
+ <bounceVel>0.04</bounceVel>
+ </surface>
+
+ </geom:cylinder>
+ </body:cylinder>
+
+
+ <joint:hinge name="wheel0_hinge">
+ <body1>wheel0</body1>
+ <body2>chassis_body</body2>
+ <anchor>wheel0</anchor>
+ <anchorOffset>-0.04 0 0</anchorOffset>
+ <axis>1 0 0 </axis>
+ <erp>0.8</erp>
+ <cfm>10e-5</cfm>
+ </joint:hinge>
+
+ <joint:hinge name="wheel1_hinge">
+ <body1>wheel1</body1>
+ <body2>chassis_body</body2>
+ <anchor>wheel1</anchor>
+ <anchorOffset>0.02 -0.034641016 0</anchorOffset>
+ <axis>-0.5 0.866025404 0</axis>
+ <erp>0.8</erp>
+ <cfm>10e-5</cfm>
+ </joint:hinge>
+
+ <joint:hinge name="wheel2_hinge">
+ <body1>wheel2</body1>
+ <body2>chassis_body</body2>
+ <anchor>wheel2</anchor>
+ <anchorOffset>0.02 0.034641016 0</anchorOffset>
+ <axis>-0.5 -0.866025404 0</axis>
+ <erp>0.8</erp>
+ <cfm>10e-5</cfm>
+ </joint:hinge>
+
+</model:physical>
Added: code/gazebo/trunk/worlds/wizbot.world
===================================================================
--- code/gazebo/trunk/worlds/wizbot.world (rev 0)
+++ code/gazebo/trunk/worlds/wizbot.world 2008-09-09 14:25:39 UTC (rev
7011)
@@ -0,0 +1,175 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; >
+
+ <verbosity>5</verbosity>
+
+ <physics:ode>
+ <stepTime>0.03</stepTime>
+ <gravity>0 0 -9.81</gravity>
+ <cfm>0.008</cfm>
+ <erp>0.2</erp>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/GrassFloor</material>
+ <surface>
+ <mu1>10</mu1>
+ </surface>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!-- Main Camera -->
+ <model:physical name="cam1_model">
+ <xyz>-2 0 2</xyz>
+ <rpy>0 25 0</rpy>
+ <static>true</static>
+ <body:empty name="cam1_body">
+ <sensor:camera name="cam1_sensor">
+ <imageSize>640 480</imageSize>
+ <hfov>60</hfov>
+ <nearClip>0.1</nearClip>
+ <farClip>100</farClip>
+ <saveFrames>false</saveFrames>
+ <saveFramePath>frames</saveFramePath>
+ <controller:generic_camera name="controller1">
+ <interface:camera name="camera_iface_0"/>
+ </controller:generic_camera>
+ </sensor:camera>
+ </body:empty>
+ </model:physical>
+
+ <model:physical name="cylinder1_model">
+ <xyz>1 1 0.5</xyz>
+ <rpy>0 0 0</rpy>
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <size>0.5 1</size>
+ <mass>1</mass>
+ <visual>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/RustyBarrel</material>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+ </model:physical>
+
+
+ <model:physical name="pioneer2dx_model1">
+ <xyz>1 0 0.145</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <controller:differential_position2d name="controller1">
+ <leftJoint>left_wheel_hinge</leftJoint>
+ <rightJoint>right_wheel_hinge</rightJoint>
+ <wheelSeparation>0.34</wheelSeparation>
+ <wheelDiameter>0.15</wheelDiameter>
+ <torque>5</torque>
+ <interface:position name="position_iface_1"/>
+ </controller:differential_position2d>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <model:physical name="wizbot_model1">
+ <xyz>0 0 0.1</xyz>
+ <rpy>0 0 0</rpy>
+
+ <controller:holonome3sw_position2d name="controller1">
+
+ <wheels>
+ <radius>0.075</radius>
+ <distance>0.175</distance>
+ <torque>2</torque>
+ <swedish0>
+ <joint>wheel0_hinge</joint>
+ <alpha>0</alpha>
+ </swedish0>
+ <swedish1>
+ <joint>wheel1_hinge</joint>
+ <alpha>120</alpha>
+ </swedish1>
+ <swedish2>
+ <joint>wheel2_hinge</joint>
+ <alpha>240</alpha>
+ </swedish2>
+ </wheels>
+
+ <interface:position name="position_iface_0"/>
+
+ </controller:holonome3sw_position2d>
+
+ <include embedded="true">
+ <xi:include href="models/wizbot.model" />
+ </include>
+
+ </model:physical>
+
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.6 -0.4</direction>
+ <diffuseColor>1.0 1.0 1.0</diffuseColor>
+ <specularColor>0.2 0.2 0.2</specularColor>
+ <attenuation>1000 1.0 0.0 0</attenuation>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
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