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[Personalrobots-commit] SF.net SVN: personalrobots:[4766] pkg/trunk
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From: <hsu...@us...> - 2008-09-29 17:50:54
|
Revision: 4766
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4766&view=rev
Author: hsujohnhsu
Date: 2008-09-29 17:50:28 +0000 (Mon, 29 Sep 2008)
Log Message:
-----------
* renamed 2dnav-gazebo demo to 2dnav-gazebo-simple.xml
* switched Willow office map to using Gazebo built-in extrusion.
Modified Paths:
--------------
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world
pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world
Added Paths:
-----------
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless.xml
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
Removed Paths:
-------------
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml
Deleted: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml 2008-09-29 17:48:22 UTC (rev 4765)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -1,12 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
- <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Deleted: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml 2008-09-29 17:48:22 UTC (rev 4765)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -1,18 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
- <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Deleted: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-29 17:48:22 UTC (rev 4765)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -1,18 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
- <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
-
- <!-- for visualization -->
- <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
-
- <!-- for manual control -->
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
- </group>
-</launch>
-
Copied: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-fake_localization.xml (from rev 4763, pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-fake_localization.xml)
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-fake_localization.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,12 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ </group>
+</launch>
+
Copied: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless-fake_localization.xml (from rev 4763, pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless-fake_localization.xml)
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless-fake_localization.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,18 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="fake_localization" type="fake_localization" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+ </group>
+</launch>
+
Copied: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless.xml (from rev 4763, pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-headless.xml)
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple-headless.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,18 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_headless.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+ </group>
+</launch>
+
Copied: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple.xml (from rev 4763, pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml)
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-simple.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,22 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+ <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ </group>
+
+ <!-- Test for publication of 'tilt_scan' topic. -->
+ <test test-name="hztest_test_amcl1" pkg="rostest" type="hztest" name="amcl_test">
+ <param name="topic" value="localizedpose" />
+ <param name="hz" value="5.0" />
+ <param name="hzerror" value="3.0" />
+ <param name="test_duration" value="5.0" />
+ <param name="check_intervals" value="false" />
+ </test>
+
+</launch>
+
Added: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless.xml (rev 0)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg-headless.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,18 @@
+<launch>
+ <master auto="start"/>
+ <group name="wg">
+ <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators_wg_headless.xml"/>
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" output="screen" />
+ <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" />
+ <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
+ <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <node pkg="pr2_gui" type="pr2_gui" respawn="true" output="screen" />
+
+ <!-- for manual control -->
+ <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
+ <!--node pkg="teleop_arm_keyboard" type="teleop_arm_keyboard" respawn="false" output="screen" /-->
+ </group>
+</launch>
+
Deleted: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml 2008-09-29 17:48:22 UTC (rev 4765)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml 2008-09-29 17:50:28 UTC (rev 4766)
@@ -1,22 +0,0 @@
-<launch>
- <master auto="start"/>
- <group name="wg">
- <include file="$(find gazebo_robot_description)/pr2_gazebo_actuators.xml"/>
- <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
- <node pkg="amcl_player" type="amcl_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="wavefront_player" type="wavefront_player" args="scan:=base_scan" respawn="false" output="screen" />
- <node pkg="nav_view" type="nav_view" respawn="false" output="screen" />
- <!--node pkg="teleop_base_keyboard" type="teleop_base_keyboard" respawn="false" output="screen" /-->
- </group>
-
- <!-- Test for publication of 'tilt_scan' topic. -->
- <test test-name="hztest_test_amcl1" pkg="rostest" type="hztest" name="amcl_test">
- <param name="topic" value="localizedpose" />
- <param name="hz" value="5.0" />
- <param name="hzerror" value="3.0" />
- <param name="test_duration" value="5.0" />
- <param name="check_intervals" value="false" />
- </test>
-
-</launch>
-
Added: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h (rev 0)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef GAZEBO_BATTERY_H
+#define GAZEBO_BATTERY_H
+
+#include <vector>
+#include <map>
+#include <gazebo/Controller.hh>
+#include <gazebo/Entity.hh>
+#include <gazebo/Model.hh>
+#include "tinyxml/tinyxml.h"
+
+
+namespace gazebo
+{
+class XMLConfigNode;
+
+/// @addtogroup gazebo_dynamic_plugins Gazebo ROS Dynamic Plugins
+/// @{
+/** \defgroup gazebo_battery GazeboBattery class
+
+ \brief GazeboBattery Plugin
+
+ This plugin simulates battery usage.
+ GazeboBattery requires model as its parent.
+
+ \verbatim
+ <model:physical name="ray_model">
+ <!-- GazeboBattery -->
+ <controller:gazebo_battery name="gazebo_battery" plugin="libgazebo_battery.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:audio name="gazebo_battery_dummy_iface" />
+ </controller:gazebo_battery>
+ </model:phyiscal>
+ \endverbatim
+
+\{
+
+
+*/
+
+/**
+ * \brief Battery simulation
+ * \li starts a ROS node if none exists
+ * .
+ *
+**/
+
+
+class GazeboBattery : public gazebo::Controller
+{
+public:
+ GazeboBattery(Entity *parent);
+ virtual ~GazeboBattery();
+
+protected:
+ // Inherited from gazebo::Controller
+ virtual void LoadChild(XMLConfigNode *node);
+ virtual void InitChild();
+ virtual void UpdateChild();
+ virtual void FiniChild();
+
+private:
+
+ Model *parent_model_;
+
+ TiXmlDocument config_;
+
+};
+
+/** \} */
+/// @}
+
+}
+
+#endif
+
Added: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp (rev 0)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp 2008-09-29 17:50:28 UTC (rev 4766)
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <gazebo_plugin/gazebo_battery.h>
+#include <fstream>
+#include <iostream>
+#include <math.h>
+#include <unistd.h>
+#include <set>
+#include <stl_utils/stl_utils.h>
+#include <gazebo/Global.hh>
+#include <gazebo/XMLConfig.hh>
+#include <gazebo/Model.hh>
+#include <gazebo/HingeJoint.hh>
+#include <gazebo/SliderJoint.hh>
+#include <gazebo/Simulator.hh>
+#include <gazebo/gazebo.h>
+#include <gazebo/GazeboError.hh>
+#include <gazebo/ControllerFactory.hh>
+#include <urdf/parser.h>
+#include <map>
+
+namespace gazebo {
+
+GZ_REGISTER_DYNAMIC_CONTROLLER("gazebo_battery", GazeboBattery);
+
+
+} // namespace gazebo
+
+
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world 2008-09-29 17:48:22 UTC (rev 4765)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg.world 2008-09-29 17:50:28 UTC (rev 4766)
@@ -68,15 +68,17 @@
</body:plane>
</model:physical>
+<!--
<model:physical name="walls">
- <include embedded="false">
- <xi:include href="tests/willow-walls.model" />
- </include>
+ <include embedded="false">
+ <xi:include href="tests/willow-walls.model" />
+ </include>
</model:physical>
-<!--
+-->
<model:physical name="willow_map">
<xyz>-25.65 25.65 1.0</xyz>
<rpy>180 0 0</rpy>
+ <static>true</static>
<body:map name="willow_map_body">
<geom:map name="willow_map_geom">
<image>willowMap.png</image>
@@ -89,7 +91,6 @@
</geom:map>
</body:map>
</model:physical>
--->
<model:physical name="robot_model1">
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world 2008-09-29 17:48:22 UTC (rev 4765)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/robot_wg_headless.world 2008-09-29 17:50:28 UTC (rev 4766)
@@ -68,28 +68,29 @@
</body:plane>
</model:physical>
+<!--
<model:physical name="walls">
- <include embedded="false">
- <xi:include href="tests/willow-walls.model" />
- </include>
+ <include embedded="false">
+ <xi:include href="tests/willow-walls.model" />
+ </include>
</model:physical>
-<!--
- <model:physical name="map">
- <xyz>-25.65 25.65 1.0</xyz>
- <rpy>180 0 0</rpy>
- <body:map name="map_body">
- <geom:map name="map_geom">
- <image>willowMap.png</image>
- <threshold>200</threshold>
- <granularity>2</granularity>
- <negative>false</negative>
- <scale>0.1</scale>
- <offset>0 0 0</offset>
- <material>Gazebo/Rocky</material>
- </geom:map>
- </body:map>
- </model:physical>
-->
+ <model:physical name="willow_map">
+ <xyz>-25.65 25.65 1.0</xyz>
+ <rpy>180 0 0</rpy>
+ <static>true</static>
+ <body:map name="willow_map_body">
+ <geom:map name="willow_map_geom">
+ <image>willowMap.png</image>
+ <threshold>200</threshold>
+ <granularity>2</granularity>
+ <negative>false</negative>
+ <scale>0.1</scale>
+ <offset>0 0 0</offset>
+ <material>Gazebo/Rocky</material>
+ </geom:map>
+ </body:map>
+ </model:physical>
<model:physical name="robot_model1">
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