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update ros

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HiepLM
2026-01-07 09:28:55 +07:00
parent 7cea6bb120
commit ec6d5746e3
58 changed files with 22752 additions and 3773 deletions
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11
Controllers/Packages/amr_startup/sdf/maze/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>maze</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Martin Günther</name>
<email>martin.guenther@dfki.de</email>
</author>
<description></description>
</model>

345
Controllers/Packages/amr_startup/sdf/maze/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='maze'>
<pose frame=''>-0.078283 0.098984 0 0 -0 0</pose>
<link name='Wall_0'>
<collision name='Wall_0_Collision'>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_0_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.030536 9.925 0 0 -0 0</pose>
</link>
<link name='Wall_1'>
<collision name='Wall_1_Collision'>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_1_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>9.95554 0 0 0 0 -1.5708</pose>
</link>
<link name='Wall_2'>
<collision name='Wall_2_Collision'>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_2_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.030536 -9.925 0 0 -0 3.14159</pose>
</link>
<link name='Wall_24'>
<collision name='Wall_24_Collision'>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_24_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>5.35089 3.21906 0 0 -0 3.14159</pose>
</link>
<link name='Wall_25'>
<collision name='Wall_25_Collision'>
<geometry>
<box>
<size>5.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_25_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>4.67589 5.76906 0 0 -0 1.5708</pose>
</link>
<link name='Wall_27'>
<collision name='Wall_27_Collision'>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_27_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>7.10914 4.73454 0 0 0 -1.5708</pose>
</link>
<link name='Wall_28'>
<collision name='Wall_28_Collision'>
<geometry>
<box>
<size>3 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_28_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>8.53414 2.05954 0 0 -0 0</pose>
</link>
<link name='Wall_3'>
<collision name='Wall_3_Collision'>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_3_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-9.89446 0 0 0 -0 1.5708</pose>
</link>
<link name='Wall_30'>
<collision name='Wall_30_Collision'>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_30_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-4.35914 -2.82889 0 0 0 -1.5708</pose>
</link>
<link name='Wall_31'>
<collision name='Wall_31_Collision'>
<geometry>
<box>
<size>5.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_31_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-7.15914 -5.50389 0 0 -0 3.14159</pose>
</link>
<link name='Wall_5'>
<collision name='Wall_5_Collision'>
<geometry>
<box>
<size>16 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_5_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>16 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.89911 1.86906 0 0 -0 0</pose>
</link>
<link name='Wall_6'>
<collision name='Wall_6_Collision'>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_6_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>6.02589 2.54406 0 0 -0 1.5708</pose>
</link>
<link name='Wall_8'>
<collision name='Wall_8_Collision'>
<geometry>
<box>
<size>0.15 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_8_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.15 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>6.02589 3.21906 0 0 -0 0</pose>
</link>
<static>1</static>
</model>
</sdf>