git commit -m "first commit"
This commit is contained in:
13
simulators/dynamic_logistics_warehouse_h/CMakeLists.txt
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13
simulators/dynamic_logistics_warehouse_h/CMakeLists.txt
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@@ -0,0 +1,13 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(dynamic_logistics_warehouse)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
gazebo_ros
|
||||
)
|
||||
|
||||
catkin_package()
|
||||
|
||||
install(DIRECTORY launch models worlds maps rviz
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
|
||||
339
simulators/dynamic_logistics_warehouse_h/LICENSE
Executable file
339
simulators/dynamic_logistics_warehouse_h/LICENSE
Executable file
@@ -0,0 +1,339 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 2, June 1991
|
||||
|
||||
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
|
||||
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|
||||
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||||
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84
simulators/dynamic_logistics_warehouse_h/README.md
Executable file
84
simulators/dynamic_logistics_warehouse_h/README.md
Executable file
@@ -0,0 +1,84 @@
|
||||
|
||||
# Dynamic_logistics_Warehouse
|
||||
|
||||
Gazebo simulation of dynamics environment in warehouses. An extensive model of AWS-robomaker-small-warehouse.
|
||||
|
||||
### Specifications:
|
||||
* 9 Actors following different waypoints to perform trajectory path.
|
||||
* 5 Light sources
|
||||
* Shelves
|
||||
* PalletJack
|
||||
* Desks
|
||||
* Trashcan
|
||||
* Cluttering
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<launch>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Building and Launching the Gazebo World with your ROS Applications
|
||||
|
||||
* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**:
|
||||
|
||||
|
||||
|
||||
* Change the directory to your ROS workspace and run `rosws update`
|
||||
|
||||
* Add the following include to the ROS launch file you are using:
|
||||
|
||||
```xml
|
||||
|
||||
<!-- Launch World -->
|
||||
<include file="$(find dynamic_logistics_warehouse)/launch/logistics_warehouse.launch"/>
|
||||
...
|
||||
</launch>
|
||||
```
|
||||
|
||||
* Build your application using `colcon`
|
||||
|
||||
```bash
|
||||
rosws update
|
||||
rosdep install --from-paths . --ignore-src -r -y
|
||||
colcon build
|
||||
```
|
||||
|
||||
## Example: Running this world directly in Gazebo without a ROS application
|
||||
|
||||
To open this world in Gazebo, change the directory to your ROS workspace root folder and run:
|
||||
|
||||
```bash
|
||||
cd dynamic-logistics-warehouse
|
||||
export GAZEBO_MODEL_PATH=`pwd`/models
|
||||
gazebo worlds/warehouse.world
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Example: Running this world directly using ROS without a simulated robot
|
||||
|
||||
To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.**
|
||||
|
||||
```bash
|
||||
# build for ROS
|
||||
rosdep install --from-paths . --ignore-src -r -y
|
||||
colcon build
|
||||
|
||||
# run in ROS
|
||||
source install/setup.sh
|
||||
roslaunch dynamic_logistics_warehouse logistics_warehouse.launch
|
||||
```
|
||||
### You can buy me a coffee via:
|
||||
<a href="https://www.buymeacoffee.com/beraru" target="_blank"><img src="https://cdn.buymeacoffee.com/buttons/v2/default-blue.png" alt="Buy Me A Coffee" style="height: 60px !important;width: 217px !important;" ></a>
|
||||
BIN
simulators/dynamic_logistics_warehouse_h/docs/images/gzweb_aws_warehouse.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/docs/images/gzweb_aws_warehouse.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_boxes.png
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_boxes.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_buckets.png
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simulators/dynamic_logistics_warehouse_h/docs/images/models_buckets.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_ceiling_lamp.png
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simulators/dynamic_logistics_warehouse_h/docs/images/models_ceiling_lamp.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_desk.png
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_desk.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_lift.png
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_lift.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_shelves.png
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simulators/dynamic_logistics_warehouse_h/docs/images/models_shelves.png
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|
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_trashcan.png
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BIN
simulators/dynamic_logistics_warehouse_h/docs/images/models_trashcan.png
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|
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|
After Width: | Height: | Size: 31 KiB |
BIN
simulators/dynamic_logistics_warehouse_h/docs/images/small_warehouse_gazebo.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/docs/images/small_warehouse_gazebo.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 1.3 MiB |
16
simulators/dynamic_logistics_warehouse_h/launch/logistics_warehouse.launch
Executable file
16
simulators/dynamic_logistics_warehouse_h/launch/logistics_warehouse.launch
Executable file
@@ -0,0 +1,16 @@
|
||||
<launch>
|
||||
<!-- Always set GUI to false for AWS RoboMaker Simulation
|
||||
Use gui:=true on roslaunch command-line to run with a gui.
|
||||
-->
|
||||
<arg name="gui" default="true"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find dynamic_logistics_warehouse)/worlds/warehouse.world"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="use_sim_time" default="true"/>
|
||||
<arg name="gui" default="$(arg gui)"/>
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
</include>
|
||||
</launch>
|
||||
5
simulators/dynamic_logistics_warehouse_h/maps/002/map.pgm
Executable file
5
simulators/dynamic_logistics_warehouse_h/maps/002/map.pgm
Executable file
File diff suppressed because one or more lines are too long
7
simulators/dynamic_logistics_warehouse_h/maps/002/map.yaml
Executable file
7
simulators/dynamic_logistics_warehouse_h/maps/002/map.yaml
Executable file
@@ -0,0 +1,7 @@
|
||||
image: map.pgm
|
||||
resolution: 0.020000
|
||||
origin: [-10.000000, -20.240000, 0.000000]
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negate: 0
|
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occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
5
simulators/dynamic_logistics_warehouse_h/maps/005/map.pgm
Executable file
5
simulators/dynamic_logistics_warehouse_h/maps/005/map.pgm
Executable file
File diff suppressed because one or more lines are too long
8
simulators/dynamic_logistics_warehouse_h/maps/005/map.yaml
Executable file
8
simulators/dynamic_logistics_warehouse_h/maps/005/map.yaml
Executable file
@@ -0,0 +1,8 @@
|
||||
image: map_rotated.png
|
||||
resolution: 0.050000
|
||||
origin: [-7.000, -10.500000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
# -3.071 3.583
|
||||
BIN
simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.pgm
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.pgm
Executable file
Binary file not shown.
BIN
simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 21 KiB |
@@ -0,0 +1,7 @@
|
||||
image: critical_zones.png
|
||||
resolution: 0.050000
|
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origin: [-51.224998, -51.224998, 0.000000]
|
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negate: 0
|
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occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 21 KiB |
@@ -0,0 +1,7 @@
|
||||
image: direction_zones.png
|
||||
resolution: 0.050000
|
||||
origin: [-51.224998, -51.224998, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 21 KiB |
7
simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.yaml
Executable file
7
simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.yaml
Executable file
@@ -0,0 +1,7 @@
|
||||
image: map_empty.png
|
||||
resolution: 0.050000
|
||||
origin: [-51.224998, -51.224998, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
image: preferrred_zones.png
|
||||
resolution: 0.050000
|
||||
origin: [-51.224998, -51.224998, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferrred_zones.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferrred_zones.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 26 KiB |
@@ -0,0 +1,7 @@
|
||||
image: unpreferrred_zones.png
|
||||
resolution: 0.050000
|
||||
origin: [-51.224998, -51.224998, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferrred_zones.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferrred_zones.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 22 KiB |
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 31 KiB |
@@ -0,0 +1,7 @@
|
||||
image: virtual_walls.png
|
||||
resolution: 0.050000
|
||||
origin: [-51.224998, -51.224998, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
5
simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.pgm
Executable file
5
simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.pgm
Executable file
File diff suppressed because one or more lines are too long
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.png
Executable file
BIN
simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 42 KiB |
7
simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.yaml
Executable file
7
simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.yaml
Executable file
@@ -0,0 +1,7 @@
|
||||
image: warehouse.png
|
||||
resolution: 0.050000
|
||||
origin: [-51.224998, -51.224998, 0.000000]
|
||||
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|
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occupied_thresh: 0.65
|
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|
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|
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Binary file not shown.
|
After Width: | Height: | Size: 207 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 171 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 335 KiB |
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|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2019-03-18T11:45:58Z</created><keywords></keywords><modified>2019-03-18T11:45:58Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
|
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|
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<geometry id="aws_robomaker_warehouse_ClutteringA_01_collision-lib" name="aws_robomaker_warehouse_ClutteringA_01_collisionMesh">
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<mesh>
|
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<technique_common>
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<technique_common>
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<accessor source="#aws_robomaker_warehouse_ShelfE_01_collision-UV0-array" count="96" stride="2">
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<param name="S" type="float"/>
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<param name="T" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<vertices id="aws_robomaker_warehouse_ShelfE_01_collision-VERTEX">
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<input semantic="POSITION" source="#aws_robomaker_warehouse_ShelfE_01_collision-POSITION"/>
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</vertices>
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<triangles count="48"><input semantic="VERTEX" offset="0" source="#aws_robomaker_warehouse_ShelfE_01_collision-VERTEX"/><input semantic="NORMAL" offset="1" source="#aws_robomaker_warehouse_ShelfE_01_collision-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#aws_robomaker_warehouse_ShelfE_01_collision-UV0"/><p> 2 0 2 0 1 0 3 2 3 3 3 3 0 4 0 1 5 1 7 6 7 5 7 5 4 8 4 4 9 4 6 10 6 7 11 7 5 12 11 1 13 9 0 14 8 0 15 8 4 16 10 5 17 11 7 18 15 3 19 13 1 20 12 1 21 12 5 22 14 7 23 15 2 24 17 7 25 18 6 26 19 7 27 18 2 28 17 3 29 16 0 30 21 6 31 22 4 32 23 6 33 22 0 34 21 2 35 20 10 36 26 8 37 24 11 38 27 11 39 27 8 40 24 9 41 25 15 42 31 13 43 29 12 44 28 12 45 28 14 46 30 15 47 31 12 48 34 9 49 33 8 50 32 9 51 33 12 52 34 13 53 35 13 54 38 11 55 37 9 56 36 11 57 37 13 58 38 15 59 39 15 60 42 14 61 43 11 62 40 10 63 41 11 64 40 14 65 43 14 66 46 12 67 47 10 68 44 8 69 45 10 70 44 12 71 47 19 72 51 16 73 48 18 74 50 18 75 50 16 76 48 17 77 49 22 78 54 23 79 55 20 80 52 20 81 52 21 82 53 22 83 54 20 84 57 17 85 59 16 86 56 17 87 59 20 88 57 23 89 58 23 90 61 18 91 63 17 92 60 18 93 63 23 94 61 22 95 62 22 96 65 21 97 66 18 98 64 19 99 67 18 100 64 21 101 66 21 102 69 20 103 70 19 104 68 16 105 71 19 106 68 20 107 70 26 108 74 24 109 72 27 110 75 27 111 75 24 112 72 25 113 73 31 114 79 29 115 77 28 116 76 28 117 76 30 118 78 31 119 79 28 120 82 25 121 81 24 122 80 25 123 81 28 124 82 29 125 83 29 126 86 27 127 85 25 128 84 27 129 85 29 130 86 31 131 87 31 132 90 30 133 91 27 134 88 26 135 89 27 136 88 30 137 91 30 138 94 28 139 95 26 140 92 24 141 93 26 142 92 28 143 95</p></triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_visual_scenes>
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<visual_scene id="aws_robomaker_warehouse_ShelfE_01_collision" name="aws_robomaker_warehouse_ShelfE_01_collision">
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<node name="aws_robomaker_warehouse_ShelfE_01_collision" id="aws_robomaker_warehouse_ShelfE_01_collision" layer="zhenghe_collution" sid="aws_robomaker_warehouse_ShelfE_01_collision"><matrix sid="matrix">-0.000000 -0.000000 -1.000000 0.000000 -1.000000 0.000000 0.000000 -1.072197 0.000000 1.000000 -0.000000 131.071121 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#aws_robomaker_warehouse_ShelfE_01_collision-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
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<extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
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</visual_scene>
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</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#aws_robomaker_warehouse_ShelfE_01_collision"></instance_visual_scene>
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</scene>
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</COLLADA>
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
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||||
<name>aws_robomaker_warehouse_ShelfE_01</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
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<author>
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||||
<name></name>
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||||
<email></email>
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||||
</author>
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||||
<description></description>
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||||
</model>
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@@ -0,0 +1,46 @@
|
||||
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="aws_robomaker_warehouse_ShelfE_01">
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<link name="link">
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<inertial>
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<mass>30</mass>
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<inertia>
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<ixx>907.144</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>104.950</iyy>
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<iyz>0</iyz>
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<izz>824.248</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.2</mu>
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<mu2>0.2</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE</uri>
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||||
</mesh>
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</geometry>
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<meta> <layer> 1 </layer></meta>
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</visual>
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</link>
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<static>1</static>
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</model>
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</sdf>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 16 KiB |
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user