diff --git a/.catkin_workspace b/.catkin_workspace
new file mode 100644
index 0000000000000000000000000000000000000000..52fd97e7ea4bd421af3f7dacb539d241bcee6583
--- /dev/null
+++ b/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..ef5e8767442185827e79a2589059e12029361224
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+build
+devel
+
diff --git a/fre_matchfield/README.md b/fre_matchfield/README.md
deleted file mode 100755
index 699d9b03349a604a0e1eca01021a13c7529a045a..0000000000000000000000000000000000000000
--- a/fre_matchfield/README.md
+++ /dev/null
@@ -1,6 +0,0 @@
-1. Clone in your home directory.
-2. Place this line in your bashrc: "export GAZEBO_MODEL_PATH=~/<path_to_this_directory>/sub_models:${GAZEBO_MODEL_PATH}"
-3. Open a new terminal and start an empty world using gazebo ros(e.g.: "roslaunch gazebo_ros empty_world.launch")
-4. Run 'create_task1.sh' or 'create_task2.sh' to spawn your world.
-5. spawn your robot in the world
-
diff --git a/fre_matchfield/create_long_row.sh b/fre_matchfield/create_long_row.sh
deleted file mode 100755
index 2b4cad63be5b8d3a8ea07ebe861b2fb1dfbe506d..0000000000000000000000000000000000000000
--- a/fre_matchfield/create_long_row.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-# add new ground plane
-rosrun gazebo_ros spawn_model -file sub_models/my_ground_plane/model.sdf -sdf -x 5 -y 5 -model real_soil
-
-cd src
-
-
-
-# create maize field
-python plant_factory.py --obj_in_row 100 --nr_of_rows 2 --obj_dist 0.15 --row_width_var 0.05 --row_dir_var 0.05
-
-
diff --git a/fre_matchfield/create_screen_recording.md b/fre_matchfield/create_screen_recording.md
deleted file mode 100755
index d7ecd68f12ace05de3d2bc4ebf8f50a35fb49b82..0000000000000000000000000000000000000000
--- a/fre_matchfield/create_screen_recording.md
+++ /dev/null
@@ -1,8 +0,0 @@
-
-# create recording
-ffmpeg -video_size 1920x1080 -framerate 7 -f x11grab -i :0.0+0,0 output.mp4
-
-
-# speed up the recording
-ffmpeg -i output.mp4 -filter:v "setpts=0.2*PTS" output_ffmpegx5.mp4
-
diff --git a/fre_matchfield/create_task1.sh b/fre_matchfield/create_task1.sh
deleted file mode 100755
index 012694e30dd1f65eea3ac12c511b3811d2cc1268..0000000000000000000000000000000000000000
--- a/fre_matchfield/create_task1.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-# add new ground plane
-rosrun gazebo_ros spawn_model -file sub_models/my_ground_plane/model.sdf -sdf -x 5 -y 5 -model real_soil
-
-cd src
-
-# spawn pebbles
-python random_field.py --nr_of_rows 3 --obj_in_row 75 --obj_dist 0.1 --random_color --rand_placement --models pebble.urdf --base_color 0.2 0.2 0.2 --row_width_var 0.375 --row_dir_var 0.5 --y0 3.375 --x0 -1.5
-
-
-# create maize field
-python plant_factory.py --obj_in_row 30 --nr_of_rows 8 --obj_dist 0.15 --row_width_var 0.07 --row_dir_var 0.05 --amplitude 1 --row_shape sine
-
diff --git a/fre_matchfield/create_task2.sh b/fre_matchfield/create_task2.sh
deleted file mode 100755
index 73e7d77c2bba3e58d5c8625172a45df2e7d01cff..0000000000000000000000000000000000000000
--- a/fre_matchfield/create_task2.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-# add new ground plane
-rosrun gazebo_ros spawn_model -file sub_models/my_ground_plane/model.sdf -sdf -x 5 -y 5 -model real_soil
-
-cd src
-
-# spawn pebbles
-python random_field.py --nr_of_rows 3 --obj_in_row 75 --obj_dist 0.1 --random_color --rand_placement --models pebble.urdf --base_color 0.2 0.2 0.2 --row_width_var 0.375 --row_dir_var 0.5 --y0 3.375 --x0 -1.5
-
-
-# create maize field
-python plant_factory.py --obj_in_row 30 --nr_of_rows 8 --obj_dist 0.15 --row_width_var 0.07 --row_dir_var 0.05 --row_holes 3 4 5 6 7
-
-
diff --git a/fre_matchfield/create_task3.sh b/fre_matchfield/create_task3.sh
deleted file mode 100755
index 2f26a59efdfdc7d24c9b761a6a0eef889d2b654d..0000000000000000000000000000000000000000
--- a/fre_matchfield/create_task3.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-# add new ground plane
-rosrun gazebo_ros spawn_model -file sub_models/my_ground_plane/model.sdf -sdf -x 5 -y 5 -model real_soil
-
-# 8 balls
-
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_01 -x 2.2 -y 0.7
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_02 -x 3.5 -y 1.5
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_03 -x 1 -y 1.5
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_04 -x 2.8 -y 2.9
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_05 -x 0.5 -y 3.5
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_06 -x 3.6 -y 4.4
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_07 -x 2.1 -y 4.6
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_08 -x 1.3 -y 5.2
-
-cd src
-
-# spawn pebbles
-python random_field.py --nr_of_rows 5 --obj_in_row 19 --obj_dist 0.4 --random_color --rand_placement --models pebble.urdf --base_color 0.2 0.2 0.2 --row_width_var 0.375 --row_dir_var 0.5 --y0 1.875 --x0 -1.5
-
-
-# create maize field
-python plant_factory.py --obj_in_row 30 --nr_of_rows 8 --obj_dist 0.15 --row_width_var 0.03 --row_dir_var 0.05 --amplitude 0.35 --row_shape sine
-
-
-
diff --git a/fre_matchfield/create_task4.sh b/fre_matchfield/create_task4.sh
deleted file mode 100755
index 49db8f85459c174a33dea0f50b8bc3b0e57935c5..0000000000000000000000000000000000000000
--- a/fre_matchfield/create_task4.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-# add new ground plane
-rosrun gazebo_ros spawn_model -file sub_models/my_ground_plane/model.sdf -sdf -x 5 -y 5 -model real_soil
-
-# 8 balls
-
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_01 -x 2.2 -y 0.0
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_02 -x 3.7 -y 0.8
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_03 -x 1.0 -y 0.9
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_04 -x 2.8 -y 2.2
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_05 -x 0.5 -y 3.5
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_06 -x 3.6 -y 4.5
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_07 -x 2.1 -y 3.8
-rosrun gazebo_ros spawn_model -file sub_models/pink_ball/model.sdf -sdf -model pink_ball_08 -x 1.3 -y 4.5
-
-cd src
-
-# spawn pebbles
-python random_field.py --nr_of_rows 5 --obj_in_row 19 --obj_dist 0.4 --random_color --rand_placement --models pebble.urdf --base_color 0.2 0.2 0.2 --row_width_var 0.375 --row_dir_var 0.5 --y0 1.875 --x0 -1.5
-
-
-# create maize field
-python plant_factory.py --obj_in_row 30 --nr_of_rows 8 --obj_dist 0.15 --row_width_var 0.03 --row_dir_var 0.05 --amplitude -0.35 --row_shape sine
-
-
-
diff --git a/fre_matchfield/src/plant_factory.py b/fre_matchfield/src/plant_factory.py
deleted file mode 100755
index 2e36476ddb491bd602de562d657a0a7494542d16..0000000000000000000000000000000000000000
--- a/fre_matchfield/src/plant_factory.py
+++ /dev/null
@@ -1,331 +0,0 @@
-#! /usr/bin/env python
-# This creats urdf plants
-# see --help for more info
-#
-# Author:
-# author: Thijs Ruigrok
-# email: thijs.ruigrok@wur.nl
-
-
-# import tf
-# from gazebo_msgs.srv import SpawnModel, DeleteModel
-# from geometry_msgs.msg import Pose, Point, Quaternion
-from random import random, randint
-# import os
-# import re
-# import argparse
-# import sys
-import math
-
-class Plant(object):
- def __init__(self, plant_nr):
- # init colors
- self.base_color = [0.4, 0.9, 0.6]
- self.base_ambient = 0.8
- self.rand_ambient = 0.3
- self.base_diffuse = 0.8
- self.rand_diffuse = 0.4
- self.base_specular = 0.4
- self.rand_specular = 1.0
-
- self.ambient = self.scale_color(self.base_ambient, self.rand_ambient)
- self.diffuse = self.scale_color(self.base_diffuse, self.rand_diffuse)
- self.specular = self.scale_color(self.base_specular, self.rand_specular)
-
- # init kinematics
- self.branch_length = 0.2
- self.rand_branch = 0.1
-
- # create stem
- self.cont = ''
- self.stem_name = "cylinder_%03d" %plant_nr
- self.create_cylinder(self.stem_name)
- self.add_color(self.stem_name)
-
- # create leafs
- leafs = 2
- for leaf_nr in range(leafs):
- leaf_name = "leaf_%03d_%02d" %(plant_nr, leaf_nr)
- self.create_leaf(leaf_name)
- self.add_color(leaf_name)
- self.create_joint(self.stem_name, leaf_name)
-
-
- def create_cylinder(self, name):
- # params
- mass = 1
- r = 0.03
- l = 0.7
-
-
- #link name
- self.cont += '\t<link name="%s"> \n' %name
-
- # inertia
- self.cont += '\t\t<inertial> \n'
- self.cont += '\t\t\t<mass value="%f"/> \n' % mass
-
- ixx = (mass/12)*(3*r*r + l*l)
- iyy = ixx
- izz = (mass/2)*r*r
-
- self.cont += '\t\t\t<inertia ixx="%f" ixy="0.0" ixz="0.0" iyy="%f" iyz="0.0" izz="%f" /> \n' % (ixx, iyy, izz)
- self.cont += '\t\t\t<origin xyz="0 0 0"/> \n'
- self.cont += '\t\t</inertial> \n'
-
- # visual
- self.cont += '\t\t<visual> \n'
- self.cont += '\t\t\t<geometry> \n'
- self.cont += '\t\t\t\t<cylinder length="%f" radius="%f"/> \n' % (l, r)
- self.cont += '\t\t\t</geometry> \n'
- self.cont += '\t\t</visual> \n'
-
- # collision
- self.cont += '\t\t<collision> \n'
- self.cont += '\t\t\t<geometry> \n'
- self.cont += '\t\t\t\t<cylinder length="%f" radius="%f"/> \n' % (l, r)
- self.cont += '\t\t\t</geometry> \n'
- self.cont += '\t\t</collision> \n'
-
- # link end
- self.cont += '\t</link> \n \n'
-
-
- def create_leaf(self, name):
-
- #link name
- self.cont += '\t<link name="%s"> \n' %name
-
- # inertia
- self.cont += '\t\t<inertial> \n'
- self.cont += '\t\t\t<mass value="0.01" /> \n'
- self.cont += '\t\t\t<inertia ixx="0.000075" ixy="0.0" ixz="0.0" iyy="0.0000084" iyz="0.0" izz="0.000083" /> \n'
- self.cont += '\t\t\t<origin rpy="0 0 0" xyz="0 0 -0.8"/> \n'
- self.cont += '\t\t</inertial> \n'
-
- # visual
- self.cont += '\t\t<visual> \n'
- self.cont += '\t\t\t<origin rpy="0 0 0" xyz="0 0 -0.8"/> \n'
- self.cont += '\t\t\t<geometry> \n'
- self.cont += '\t\t\t\t<box size="0.01 0.05 0.3" /> \n'
- self.cont += '\t\t\t</geometry> \n'
- self.cont += '\t\t</visual> \n'
-
- # collision
- self.cont += '\t\t<collision> \n'
- self.cont += '\t\t\t<origin rpy="0 0 0" xyz="0 0 -0.8"/> \n'
- self.cont += '\t\t\t<geometry> \n'
- self.cont += '\t\t\t\t<box size="0.01 0.05 0.3" /> \n'
- self.cont += '\t\t\t</geometry> \n'
- self.cont += '\t\t</collision> \n'
-
- # link end
- self.cont += '\t</link> \n \n'
-
-
- def create_joint(self, link1, link2):
-
- # use a dummy link for creating multiple dofs
- dummy_name = "dummy_%s" % link2
- self.create_dummy(dummy_name)
-
- # calculate position of the leaf
- leaf_angle = 2*random()*math.pi - math.pi
- cur_branch_length = self.branch_length + random() * self.rand_branch * 2 - self.rand_branch
- x = math.cos(leaf_angle) * cur_branch_length
- y = math.sin(leaf_angle) * cur_branch_length
-
- # dof 1
- joint_name = "%s_to_%s" % (link1, dummy_name)
- self.cont += '\t<joint name="%s" type="revolute"> \n' %joint_name
- self.cont += '\t\t<parent link="%s" />\n' %link1
- self.cont += '\t\t<child link="%s" />\n' %dummy_name
-
- self.cont += '\t\t<origin xyz="%f %f 0.7" rpy="0 0 %f" />\n' % (x, y, leaf_angle + math.pi/2)
- self.cont += '\t\t<axis xyz="0 1 0" /> \n'
- self.cont += '\t\t<limit upper="99999" lower="-99999" effort="9999" velocity="9999" />\n'
- self.cont += '\t\t<dynamics damping="0.001" friction="0.003"/> \n'
- self.cont += '\t</joint> \n \n'
-
-
- # dof 2
- joint_name = "%s_to_%s" % (dummy_name, link2)
- self.cont += '\t<joint name="%s" type="revolute"> \n' %joint_name
- self.cont += '\t\t<parent link="%s" />\n' %dummy_name
- self.cont += '\t\t<child link="%s" />\n' %link2
-
-
- self.cont += '\t\t<origin xyz="0 0 0" rpy="0 0 0" />\n'
- self.cont += '\t\t<axis xyz="1 0 0" /> \n'
- self.cont += '\t\t<limit upper="99999" lower="-99999" effort="9999" velocity="9999" />\n'
- self.cont += '\t\t<dynamics damping="0.001" friction="0.003"/> \n'
- self.cont += '\t</joint> \n \n'
-
-
- def create_dummy(self, name):
- # creates a dummy link for makin multiple dof joints
-
- #link name
- self.cont += '\t<link name="%s"> \n' %name
-
- # inertia
- self.cont += '\t\t<inertial> \n'
- self.cont += '\t\t\t<mass value="0.01" /> \n'
- self.cont += '\t\t\t<inertia ixx="0.000075" ixy="0.0" ixz="0.0" iyy="0.0000084" iyz="0.0" izz="0.000083" /> \n'
- self.cont += '\t\t\t<origin rpy="0 0 0" xyz="0 0 0"/> \n'
- self.cont += '\t\t</inertial> \n'
-
- # link end
- self.cont += '\t</link> \n \n'
-
-
- def add_color(self, link_name):
- self.cont += '\t<gazebo reference="%s">\n' %link_name
- self.cont += '\t\t<visual>\n'
- self.cont += '\t\t\t<material>\n'
- self.cont += '\t\t\t\t<ambient>%f %f %f 1.0</ambient>\n' % tuple(self.ambient)
- self.cont += '\t\t\t\t<diffuse>%f %f %f 1.0</diffuse>\n' % tuple(self.diffuse)
- self.cont += '\t\t\t\t<specular>%f %f %f 1.0</specular>\n' % tuple(self.specular)
- self.cont += '\t\t\t\t<emissive>0.0 0.0 0.0 0.0</emissive>\n'
- self.cont += '\t\t\t</material>\n'
- self.cont += '\t\t</visual>\n'
- self.cont += '\t</gazebo>\n \n'
-
-
- def scale_color(self, base_val, at_rand):
- # Scale atribute values for different visual properties
-
- # compute disturbance
- at_scale = base_val + random() * at_rand * 2 - at_rand
-
- # scale original value to the disturbance scale
- at_val = [color_val * at_scale for color_val in self.base_color]
-
- # clip between 0 and 1
- at_val = [max(min(x, 1.0), 0.0) for x in at_val]
-
- return at_val
-
-
-class CropRow(object):
- def __init__(self, row_nr, opt):
- self.row_name = "crop_row_%03d" % row_nr
-
- # init row obj
- self.cont = ''
- self.create_header(self.row_name)
- plant0 = Plant(0)
- self.cont += plant0.cont
-
- # init row hole params
- if row_nr in opt.row_holes:
- create_hole = True
- else:
- create_hole = False
- self.hole_size = 0
- self.hole_loc = randint(opt.hole_elm_from_end, opt.obj_in_row - opt.hole_elm_from_end - opt.hole_size)
-
- # sin params
- self.row_length = (opt.obj_in_row-1) * opt.obj_dist
-
- # create more plants
- for plant_nr in range(1,opt.obj_in_row):
- x_base = plant_nr * opt.obj_dist
-
- # noise in the spawning location of the object
- x = x_base + (2 * random() -1) * opt.row_dir_var
- y = (2 * random() -1) * opt.row_width_var + opt.y0
-
- if opt.row_shape == "sine":
- cur_dist = (plant_nr -1) * opt.obj_dist
- rel_dist = cur_dist/self.row_length
- y_pert = math.sin(rel_dist*math.pi) * opt.amplitude
- y += y_pert
-
- # create a hole if needed
- if create_hole and plant_nr >=self.hole_loc and self.hole_size <= opt.hole_size:
- self.hole_size += 1
-
- else: # plant plants
- new_plant = Plant(plant_nr)
- self.cont += new_plant.cont
- self.join_plants(plant0.stem_name, new_plant.stem_name, x, y)
-
- # create the end of the row object
- self.create_end()
-
- def create_header(self, name='my_name'):
- self.cont += '<?xml version="1.0"?> \n'
- self.cont += '<robot name="%s"> \n \n' %name
-
- def join_plants(self, link1, link2, x, y):
- # joint the plants to the first plant using a floating joint
- joint_name = "%s_to_%s" % (link1, link2)
- # change the joint type to allow plants to fall over, or to be fixed ot the rest of the row.
- self.cont += '\t<joint name="%s" type="floating"> \n' %joint_name
- # self.cont += '\t<joint name="%s" type="fixed"> \n' %joint_name
- self.cont += '\t\t<parent link="%s" />\n' %link1
- self.cont += '\t\t<child link="%s" />\n' %link2
-
- self.cont += '\t\t<origin xyz="%f %f 0" rpy="0 0 0" />\n' % (x, y)
- self.cont += '\t\t<axis xyz="0 1 0" /> \n'
- self.cont += '\t\t<limit upper="3.14" lower="-3.14" effort="9999" velocity="9999" />\n'
- self.cont += '\t\t<dynamics damping="0.001" friction="0.003"/> \n'
- self.cont += '\t</joint> \n \n'
-
-
- def create_end(self):
- self.cont += '</robot> \n'
-
-
-if __name__ =="__main__":
- # remove the ros arguments from the argument list
- import argparse
-
- parser = argparse.ArgumentParser()
-
- # row parameters
- parser.add_argument('--obj_in_row', type=int, default=20, help='number of object rows to spawn')
- parser.add_argument('--obj_dist', type=float, default=0.15, help='')
- parser.add_argument('--row_width_var', type=float, default=0.07, help='')
- parser.add_argument('--row_dir_var', type=float, default=0.05, help='')
-
- # hole params
- parser.add_argument('--row_holes', nargs='*', default=-999, type=int, help='rows with holes')
- parser.add_argument('--hole_elm_from_end', type=int, default=2, help='min plants at the end of the row')
- parser.add_argument('--hole_size', type=int, default=4, help='number of missing plants in a hole')
-
- # curve params
- parser.add_argument('--amplitude', type=float, default=1, help='amplitude of the sine row')
- parser.add_argument('--row_shape', type=str, default='straight', help='shape of row, sine or straight')
-
- # field parameters
- parser.add_argument('--x0', type=float, default=0, help='')
- parser.add_argument('--y0', type=float, default=0, help='')
- parser.add_argument('--nr_of_rows', type=int, default=6, help='number of rows')
- parser.add_argument('--row_width', type=float, default=0.75, help='')
-
- opt = parser.parse_args()
- if type(opt.row_holes) == type(0):
- opt.row_holes = [opt.row_holes]
- print(opt)
-
- import rospy
- from gazebo_msgs.srv import SpawnModel, DeleteModel
- from geometry_msgs.msg import Pose, Point, Quaternion
- # initialize service handlers
- rospy.wait_for_service("/gazebo/spawn_urdf_model")
- spawn_model = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel)
- delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
-
- line_count = 0
-
- for row_nr in range(opt.nr_of_rows):
- y = opt.row_width * row_nr + opt.y0
-
- row = CropRow(row_nr, opt)
- line_count += row.cont.count('\n')
- # spawn model
- spawn_model(row.row_name, row.cont, "/row_object", Pose(position= Point(opt.x0,y,0),orientation=Quaternion(0,0,0,0)),"world")
-
- print("%d lines of urdf created" % line_count)
diff --git a/fre_matchfield/src/random_field.py b/fre_matchfield/src/random_field.py
deleted file mode 100755
index 33ebc58e41983b3204d01a03f208e57e578fc272..0000000000000000000000000000000000000000
--- a/fre_matchfield/src/random_field.py
+++ /dev/null
@@ -1,175 +0,0 @@
-#! /usr/bin/env python
-# This node spawns a field with randoms disturbances in the objects
-# see --help for more info
-#
-# Author:
-# author: Thijs Ruigrok
-# email: thijs.ruigrok@wur.nl
-import rospy
-import tf
-from gazebo_msgs.srv import SpawnModel, DeleteModel
-from geometry_msgs.msg import Pose, Point, Quaternion
-from random import random, randint
-import os
-import re
-import argparse
-import sys
-import math
-
-def spawn_field(opt):
-
-
- script_dir = os.path.dirname(__file__) #<-- absolute dir the script is in
-
- # read allt he model xml files
- model_list = []
- for file_name in opt.models:
- model_path = os.path.join(script_dir, '../sub_models/', file_name)
- model_list.append(open(model_path,'r').read())
-
- # initialize service handlers
- rospy.wait_for_service("/gazebo/spawn_urdf_model")
- spawn_model = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel)
- delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
-
- # spawning function
- for row_nr in range(opt.nr_of_rows):
- y_base = row_nr * opt.row_width + opt.y0
- for plant_nr in range(opt.obj_in_row):
- x_base = plant_nr * opt.obj_dist + opt.x0
-
- # select random model form the list
- model_nr = randint(0, len(model_list)-1)
- model = model_list[model_nr]
- file_name = opt.models[model_nr]
-
- model_name = file_name + "_" + str(row_nr) + "_" + str(plant_nr)
-
- # delete model if already exists
- if opt.delete_models:
- delete_model(model_name)
-
-
- if opt.rand_placement:
- # chance for a model to not be spawned
- spawn_prob = random()
-
- # noise in the spawning location of the object
- x = x_base + (2 * random() -1) * opt.row_dir_var
- y = y_base + (2 * random() -1) * opt.row_width_var
-
- angle = random() * 2 * math.pi
- orient = tf.transformations.quaternion_from_euler(0, 0, angle)
- else:
- x = x_base
- y = y_base
- spawn_prob = 2 # spawn all models
-
- orient = tf.transformations.quaternion_from_euler(0, 0, 0)
-
- if spawn_prob > opt.missing_prob:
- # print("spawning: " + model_name)
-
- # apply color transformations
- model = scale_color(model, 'ambient', opt.base_color, opt.base_ambient, opt.rand_ambient)
- model = scale_color(model, 'diffuse', opt.base_color, opt.base_diffuse, opt.rand_diffuse)
- model = scale_color(model, 'specular', opt.base_color, opt.base_specular, opt.rand_specular)
-
- if opt.random_size:
- if opt.models == 'sphere.urdf' or opt.models == 'pebble.urdf':
- model = scale_sphere(model, opt.base_rad, opt.rand_rad)
- else:
- print('no scaling function availeble from model')
-
-
- # spawn model
- spawn_model(model_name, model, "/row_object", Pose(position= Point(x,y,0),orientation=Quaternion(orient[0],orient[1],orient[2],orient[3])),"world")
-
- print("succesfully spawned " + str(opt.nr_of_rows) + " rows, with " + str(opt.obj_in_row) + " objects in each row")
-
-
-def scale_sphere(model, base_rad, rand_rad):
- # model: urdf model in string format
- # base_rad: base radius
- # at_rand: random scaling for the radius
-
- rad = base_rad + random() * rand_rad * 2 - rand_rad
- sphere_str = '<sphere radius=' + str(rad) + '/>'
- model = re.sub('<sphere.*/>', sphere_str, model)
-
- return model
-
-
-def scale_color(model, at_name, base_color, base_val, at_rand):
- # model: urdf model in string format containgin the field for the specified atribute
- # at_name: string of the atribute name you want to change (e.g.) 'ambient' for the ambient reflectance
- # base_color: base value for this atribute (assumes 3 values)
- # base_val: base ratio of the base_color for this atribute
- # at_rand: random scaling for the base_val
-
- # compute disturbance
- at_scale = base_val + random() * at_rand * 2 - at_rand
-
- # scale original value to the disturbance scale
- at_val = [color_val * at_scale for color_val in base_color]
-
- # clip between 0 and 1
- at_val = [max(min(x, 1.0), 0.0) for x in at_val]
-
- # apply new value to the model string
- ambient_string = '<' + at_name +'> ' + str(at_val[0]) + ' ' + str(at_val[1]) + ' ' + str(at_val[2]) + ' 1.0 </' + at_name + '>'
- model = re.sub('<' + at_name + '>.*</' + at_name +'>', ambient_string, model)
-
- return model
-
-
-if __name__ == "__main__":
-
- # remove the ros arguments from the argument list
- sys.argv = rospy.myargv(argv=sys.argv)
-
- rospy.init_node('spawn_random_field', anonymous=True)
-
- parser = argparse.ArgumentParser()
- parser.add_argument('--models', default='sphere.urdf', nargs='+', help='file of the urdf models to spawn')
- parser.add_argument('--nr_of_rows', type=int, default=5, help='number of object rows to spawn')
- parser.add_argument('--obj_in_row', type=int, default=15, help='number of objects in one (crop) row')
- parser.add_argument('--row_width', type=float, default=0.75, help='distance between the rows')
- parser.add_argument('--obj_dist', type=float, default=0.3, help='distance within the row')
-
- parser.add_argument('--rand_placement', action='store_true', help='add random disturbances to the placement of the objects')
- parser.add_argument('--missing_prob', type=float, default=0.2, help='probability a row object is missing in the row')
- parser.add_argument('--row_dir_var', type=float, default=0.1, help='variation in the spawn location in the row direction')
- parser.add_argument('--row_width_var', type=float, default=0.05, help='variation in the spawn location in the width of the row direction')
- parser.add_argument('--y0', type=float, default=999, help='y location of object 0')
- parser.add_argument('--x0', type=float, default=0, help='x location of object 0')
- parser.add_argument('--delete_models', action='store_true', help='delete row objects that already exist')
-
- parser.add_argument('--random_color', action='store_true', help='create random colors')
- parser.add_argument('--base_color', type=float, default=[1.0, 0.4627450980392157, 0.09803921568627451], nargs=3, help='rgb values of the color of the object')
- parser.add_argument('--base_ambient', type=float, default=0.4, help='base ratio for ambient reflection')
- parser.add_argument('--rand_ambient', type=float, default=0.3, help='disturbance in the ambient reflection')
- parser.add_argument('--base_diffuse', type=float, default=0.7, help='base ratio for diffuse reflection')
- parser.add_argument('--rand_diffuse', type=float, default=0.4, help='disturbance in the diffuse reflection')
- parser.add_argument('--base_specular', type=float, default=0.4, help='base ratio for specular reflection')
- parser.add_argument('--rand_specular', type=float, default=1.0, help='disturbance on specular reflection')
-
- parser.add_argument('--random_size', action='store_true', help='rescale the size of the models')
- parser.add_argument('--base_rad', type=float, default=0.075, help='base radius of the sphere')
- parser.add_argument('--rand_rad', type=float, default=0.02, help='disturbance in radius of the sphere')
-
- opt = parser.parse_args()
-
- if opt.y0 == 999:
- opt.y0 = -opt.row_width / 2 # y location of object 0
-
- if not type(opt.models) == type([]):
- opt.models = [opt.models]
-
- if not opt.random_color: # remove color disturbance if color disturbance is disabled
- opt.rand_ambient = 0
- opt.rand_diffuse = 0
- opt.rand_specular = 0
-
- print(opt)
- spawn_field(opt)
\ No newline at end of file
diff --git a/fre_matchfield/sub_models/box.urdf b/fre_matchfield/sub_models/box.urdf
deleted file mode 100755
index a463c88fb5882f489d1dec6a1d28d352f86b82d3..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/box.urdf
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-<robot name="simple_box">
-
-
- <link name="my_box">
- <inertial>
- <origin xyz="0 0 0"/>
- <mass value="0.01" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
- </inertial>
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <box size="0.1 0.1 0.2" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <box size="0.1 0.1 0.2" />
- </geometry>
- </collision>
- </link>
-
-
- <gazebo reference="my_box">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-</robot>
diff --git a/fre_matchfield/sub_models/box_with_picture/box_with_texture.urdf b/fre_matchfield/sub_models/box_with_picture/box_with_texture.urdf
deleted file mode 100755
index 08b8b0b524868d11baf4d0c362ad32d032df607d..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/box_with_picture/box_with_texture.urdf
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-<robot name="box_with_picture">
-
- <link name="my_box">
- <inertial>
- <origin xyz="0 0 0"/>
- <mass value="0.01" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
- </inertial>
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <box size="0.1 0.1 0.2" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <box size="0.1 0.1 0.2" />
- </geometry>
- </collision>
- </link>
-
- <gazebo reference="my_box">
- <visual>
- <material>
- <script>
- <uri>model://box_with_picture/materials/scripts</uri>
- <uri>model://box_with_picture/materials/textures</uri>
- <name>sofaMat/Diffuse</name>
- </script>
- </material>
- </visual>
- </gazebo>
-
-</robot>
diff --git a/fre_matchfield/sub_models/box_with_picture/materials/scripts/example.material b/fre_matchfield/sub_models/box_with_picture/materials/scripts/example.material
deleted file mode 100755
index 8c4eaba0b9541de455ee20cb248889358d1e07bc..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/box_with_picture/materials/scripts/example.material
+++ /dev/null
@@ -1,14 +0,0 @@
-material sofaMat/Diffuse
-{
- receive_shadows off
- technique
- {
- pass
- {
- texture_unit
- {
- texture sofa1.png
- }
- }
- }
-}
diff --git a/fre_matchfield/sub_models/box_with_picture/materials/textures/sofa1.png b/fre_matchfield/sub_models/box_with_picture/materials/textures/sofa1.png
deleted file mode 100755
index c16abb2ceca3694138e7097f2b42f6a58853a5af..0000000000000000000000000000000000000000
Binary files a/fre_matchfield/sub_models/box_with_picture/materials/textures/sofa1.png and /dev/null differ
diff --git a/fre_matchfield/sub_models/cylinder.urdf b/fre_matchfield/sub_models/cylinder.urdf
deleted file mode 100755
index 4963251da143e863e7cd76e1a5df497b1c8280fc..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/cylinder.urdf
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0"?>
-<robot name="simple_box">
- <link name="my_cylinder">
- <inertial>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0004106" ixy="0.0" ixz="0.0" iyy="0.0004106" iyz="0.0" izz="0.0000045" />
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <cylinder length="0.7" radius="0.03"/>
- </geometry>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <cylinder length="0.7" radius="0.03"/>
- </geometry>
- </collision>
-
- </link>
- <gazebo reference="my_cylinder">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-</robot>
-
-
diff --git a/fre_matchfield/sub_models/cylinder_with_leafs.urdf b/fre_matchfield/sub_models/cylinder_with_leafs.urdf
deleted file mode 100755
index 9f14fdd0e6e77233f6f5cebb73d39a728cdcc43e..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/cylinder_with_leafs.urdf
+++ /dev/null
@@ -1,121 +0,0 @@
-<?xml version="1.0"?>
-<robot name="cylinder_with_leafs">
-
-
- <link name="cylinder">
- <static>true</static>
- <inertial>
- <!-- <mass value="1"/> -->
- <!-- <inertia ixx="0.04106" ixy="0.0" ixz="0.0" iyy="0.04106" iyz="0.0" izz="0.00045" /> -->
- <!-- the inertia is super high, to make the object unmovable -->
- <mass value="999"/>
- <inertia ixx="999" ixy="0.0" ixz="0.0" iyy="999" iyz="0.0" izz="999" />
- <origin xyz="0 0 0"/>
- </inertial>
- <visual>
- <geometry>
- <cylinder length="0.7" radius="0.03"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.7" radius="0.03"/>
- </geometry>
- </collision>
- </link>
-
- <link name="leaf1">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <mass value="0.01" />
- <inertia ixx="0.000075" ixy="0.0" ixz="0.0" iyy="0.0000084" iyz="0.0" izz="0.000083" />
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </collision>
- </link>
-
- <link name="leaf2">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <mass value="0.01" />
- <inertia ixx="0.000075" ixy="0.0" ixz="0.0" iyy="0.0000084" iyz="0.0" izz="0.000083" />
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </collision>
- </link>
-
- <joint name="cylinder_to_leaf1" type="revolute">
- <parent link="cylinder" />
- <child link="leaf1" />
- <origin xyz="0 0.2 0.7" />
- <axis xyz="0 1 0" />
- <limit upper="3.14" lower="-3.14" effort="9999" velocity="9999" />
- <dynamics damping="0.001" friction="0.003"/>
- </joint>
-
- <joint name="cylinder_to_leaf2" type="revolute">
- <parent link="cylinder" />
- <child link="leaf2" />
- <origin xyz="0 -0.2 0.7" />
- <axis xyz="0 1 0" />
- <limit upper="3.14" lower="-3.14" effort="9999" velocity="9999" />
- <dynamics damping="0.001" friction="0.003"/>
- </joint>
-
-
- <gazebo reference="cylinder">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
- <gazebo reference="leaf1">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
- <gazebo reference="leaf2">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
-</robot>
-
-
diff --git a/fre_matchfield/sub_models/cylinders_with_leafs.urdf b/fre_matchfield/sub_models/cylinders_with_leafs.urdf
deleted file mode 100755
index bdec0a15d202dabe974ff5acf2a56038db27eb00..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/cylinders_with_leafs.urdf
+++ /dev/null
@@ -1,121 +0,0 @@
-<?xml version="1.0"?>
-<robot name="cylinder_with_leafs">
-
-
- <link name="cylinder">
- <static>true</static>
- <inertial>
- <!-- <mass value="1"/> -->
- <!-- <inertia ixx="0.04106" ixy="0.0" ixz="0.0" iyy="0.04106" iyz="0.0" izz="0.00045" /> -->
- <!-- the inertia is super high, to make the object unmovable -->
- <mass value="999"/>
- <inertia ixx="999" ixy="0.0" ixz="0.0" iyy="999" iyz="0.0" izz="999" />
- <origin xyz="0 0 0"/>
- </inertial>
- <visual>
- <geometry>
- <cylinder length="0.7" radius="0.03"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.7" radius="0.03"/>
- </geometry>
- </collision>
- </link>
-
- <link name="leaf1">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <mass value="0.01" />
- <inertia ixx="0.000075" ixy="0.0" ixz="0.0" iyy="0.0000084" iyz="0.0" izz="0.000083" />
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </collision>
- </link>
-
- <link name="leaf2">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <mass value="0.01" />
- <inertia ixx="0.000075" ixy="0.0" ixz="0.0" iyy="0.0000084" iyz="0.0" izz="0.000083" />
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.8"/>
- <geometry>
- <box size="0.01 0.05 0.3" />
- </geometry>
- </collision>
- </link>
-
- <joint name="cylinder_to_leaf1" type="revolute">
- <parent link="cylinder" />
- <child link="leaf1" />
- <origin xyz="0 0.2 0.7" />
- <axis xyz="0 1 0" />
- <limit upper="3.14" lower="-3.14" effort="9999" velocity="9999" />
- <dynamics damping="0.001" friction="0.003"/>
- </joint>
-
- <joint name="cylinder_to_leaf2" type="revolute">
- <parent link="cylinder" />
- <child link="leaf2" />
- <origin xyz="0 -0.2 0.7" />
- <axis xyz="1 0 0" />
- <limit upper="3.14" lower="-3.14" effort="9999" velocity="9999" />
- <dynamics damping="0.001" friction="0.003"/>
- </joint>
-
-
- <gazebo reference="cylinder">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
- <gazebo reference="leaf1">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
- <gazebo reference="leaf2">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
-</robot>
-
-
diff --git a/fre_matchfield/sub_models/golf_ball/golf_ball.urdf b/fre_matchfield/sub_models/golf_ball/golf_ball.urdf
deleted file mode 100755
index f77fc9dcba8d1b215ab972c71e40572ab31a9009..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/golf_ball/golf_ball.urdf
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<robot name="golfball">
-
- <link name="my_sphere">
- <inertial>
- <origin xyz="0 0 0"/>
- <mass value="999" />
-
- <inertia ixx="999" ixy="0.0" ixz="0.0" iyy="999" iyz="0.0" izz="999" />
- </inertial>
-
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <sphere radius="0.025"/>
- </geometry>
- </visual>
-
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <sphere radius="0.025"/>
- </geometry>
- </collision>
- </link>
-
- <gazebo reference="my_sphere">
- <visual>
- <material>
- <script>
- <uri>model://golf_ball/materials/scripts</uri>
- <uri>model://golf_ball/materials/textures</uri>
- <name>golfball/Diffuse</name>
- </script>
- </material>
- </visual>
- </gazebo>
-
-</robot>
diff --git a/fre_matchfield/sub_models/golf_ball/materials/scripts/example.material b/fre_matchfield/sub_models/golf_ball/materials/scripts/example.material
deleted file mode 100755
index 8a6c747c8f7890905654bd4588ad6cda4eed69ae..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/golf_ball/materials/scripts/example.material
+++ /dev/null
@@ -1,14 +0,0 @@
-material golfball/Diffuse
-{
- receive_shadows off
- technique
- {
- pass
- {
- texture_unit
- {
- texture golfball.png
- }
- }
- }
-}
diff --git a/fre_matchfield/sub_models/golf_ball/materials/textures/golfball.png b/fre_matchfield/sub_models/golf_ball/materials/textures/golfball.png
deleted file mode 100755
index db6902bfea6df47be5a0391851d2bfcd521338f3..0000000000000000000000000000000000000000
Binary files a/fre_matchfield/sub_models/golf_ball/materials/textures/golfball.png and /dev/null differ
diff --git a/fre_matchfield/sub_models/golf_ball/materials/textures/golfball1.png b/fre_matchfield/sub_models/golf_ball/materials/textures/golfball1.png
deleted file mode 100755
index d6109b141a76d6b3e720d152de228add96e8be20..0000000000000000000000000000000000000000
Binary files a/fre_matchfield/sub_models/golf_ball/materials/textures/golfball1.png and /dev/null differ
diff --git a/fre_matchfield/sub_models/how to add textures b/fre_matchfield/sub_models/how to add textures
deleted file mode 100755
index 510fb8c0170275079b6ce23349f5fcd0b4ee7eff..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/how to add textures
+++ /dev/null
@@ -1,8 +0,0 @@
-Add groundplane
-https://answers.gazebosim.org//question/4761/how-to-build-a-world-with-real-image-as-ground-plane/
-
-use textures, eg textures from
-https://opengameart.org/content/arid-ground-textures
-
-Apply textures to SDF see
-https://www.theconstructsim.com/gazebo-5-minutes-006-use-image-file-texture-gazebo-model-2/
diff --git a/fre_matchfield/sub_models/my_ground_plane/materials/scripts/my_ground_plane.material b/fre_matchfield/sub_models/my_ground_plane/materials/scripts/my_ground_plane.material
deleted file mode 100755
index cc2313bc0eaa8fce7da5d0a7acb72f582ba318be..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/my_ground_plane/materials/scripts/my_ground_plane.material
+++ /dev/null
@@ -1,18 +0,0 @@
- material MyGroundPlane/Image
- {
- technique
- {
- pass
- {
- ambient 0.5 0.5 0.5 1.0
- diffuse 1.0 1.0 1.0 1.0
- specular 0.0 0.0 0.0 1.0 0.5
-
- texture_unit
- {
- texture soil.jpg
- filtering trilinear
- }
- }
- }
- }
diff --git a/fre_matchfield/sub_models/my_ground_plane/materials/textures/soil.jpg b/fre_matchfield/sub_models/my_ground_plane/materials/textures/soil.jpg
deleted file mode 100755
index 4fbc94c9bc01a09b9db71312429c770c4b200e9a..0000000000000000000000000000000000000000
Binary files a/fre_matchfield/sub_models/my_ground_plane/materials/textures/soil.jpg and /dev/null differ
diff --git a/fre_matchfield/sub_models/my_ground_plane/model.config b/fre_matchfield/sub_models/my_ground_plane/model.config
deleted file mode 100755
index 6ec19ce69ed63d6efa6e6cb696db2dbe5634bd9d..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/my_ground_plane/model.config
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<model>
- <name>My Ground Plane</name>
- <version>1.0</version>
- <sdf version="1.6">model.sdf</sdf>
-
- <description>
- groundplane.
- </description>
-</model>
diff --git a/fre_matchfield/sub_models/my_ground_plane/model.sdf b/fre_matchfield/sub_models/my_ground_plane/model.sdf
deleted file mode 100755
index 9fc269cf627d455b2b0923db66519eff397348fc..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/my_ground_plane/model.sdf
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.4">
-<model name="my_ground_plane">
- <static>true</static>
- <link name="link">
- <collision name="collision">
- <geometry>
- <plane>
- <normal>0 0 1</normal>
- <size>100 100</size>
- </plane>
- </geometry>
- <surface>
- <friction>
- <ode>
- <mu>100</mu>
- <mu2>50</mu2>
- </ode>
- </friction>
- </surface>
- </collision>
- <visual name="visual">
- <cast_shadows>false</cast_shadows>
- <geometry>
- <plane>
- <normal>0 0 1</normal>
- <size>20 20</size>
- </plane>
- </geometry>
- <material>
- <script>
- <uri>model://my_ground_plane/materials/scripts</uri>
- <uri>model://my_ground_plane/materials/textures</uri>
- <name>MyGroundPlane/Image</name>
- </script>
- </material>
- </visual>
- </link>
- </model>
-</sdf>
diff --git a/fre_matchfield/sub_models/pebble.urdf b/fre_matchfield/sub_models/pebble.urdf
deleted file mode 100755
index d5d27b29df38408790dba6ad0a8b5fb98750394a..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/pebble.urdf
+++ /dev/null
@@ -1,42 +0,0 @@
-<?xml version="1.0"?>
-<robot name="simple_box">
- <link name="my_sphere">
- <inertial>
- <origin xyz="0 0 0"/>
- <mass value="99" />
- <!-- the inertia is super high, to make the object unmovable -->
- <inertia ixx="999" ixy="0.0" ixz="0.0" iyy="999" iyz="0.0" izz="999" />
- </inertial>
-
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <sphere radius=0.025/>
- </geometry>
- </visual>
-
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <sphere radius=0.0125/>
- </geometry>
- </collision>
-
- </link>
- <gazebo reference="my_sphere">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-
- <!-- make the entire model static
- <gazebo>
- <static>true</static>
- </gazebo>
- -->
-</robot>
diff --git a/fre_matchfield/sub_models/pink_ball/model.config b/fre_matchfield/sub_models/pink_ball/model.config
deleted file mode 100755
index 19dd9eac7cdfa826a6de4c12eea814bf1b5595ce..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/pink_ball/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
- <name>pink_ball</name>
- <version>0.1.0</version>
- <author>
- <name>Jetze</name>
- <email>jetze.vanheelsum@wur.nl</email>
- </author>
- <sdf>model.sdf</sdf>
- <description>
- spawn pink ball for mapping and detection of task 3
- </description>
-</model>
\ No newline at end of file
diff --git a/fre_matchfield/sub_models/pink_ball/model.sdf b/fre_matchfield/sub_models/pink_ball/model.sdf
deleted file mode 100755
index 1a92c13b0bf3e42b82e11d9f43bf05f59e5e1a71..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/pink_ball/model.sdf
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
- <model name="maize">
- <static>false</static>
- <link name="link">
- <inertial>
- <pose>0 0 0 0 0 0</pose>
- <mass>0.050</mass>
- <inertia>
- <ixx>1.25e-5</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>1.25e-5</iyy>
- <iyz>0.0</iyz>
- <izz>1.25e-5</izz>
- </inertia>
- </inertial>
- <collision name="collision">
- <pose>0 0 0 0 0 0</pose>
- <geometry>
- <sphere>
- <radius>0.025</radius>
- </sphere>
- </geometry>
- </collision>
- <visual name="visual">
- <pose>0 0 0 0 0 0</pose>
- <geometry>
- <sphere>
- <radius>0.025</radius>
- </sphere>
- </geometry>
- <material>
- <ambient>1 0 0.5 1</ambient>
- <diffuse>1 0 0.5 1</diffuse>
- <specular>1 1 1 1</specular>
- </material>
- </visual>
- </link>
- </model>
-</sdf>
diff --git a/fre_matchfield/sub_models/sphere.urdf b/fre_matchfield/sub_models/sphere.urdf
deleted file mode 100755
index 893bd52e7cef14831a8550123f0167b4d91ce844..0000000000000000000000000000000000000000
--- a/fre_matchfield/sub_models/sphere.urdf
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-<robot name="simple_box">
- <link name="my_sphere">
- <inertial>
- <origin xyz="0 0 0"/>
- <mass value="0.01" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
- </inertial>
-
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <sphere radius=0.075/>
- </geometry>
- </visual>
-
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <sphere radius=0.075/>
- </geometry>
- </collision>
-
- </link>
- <gazebo reference="my_sphere">
- <visual>
- <material>
- <ambient>0.0 0.0 0.0 1.0</ambient>
- <diffuse>0.0 0.0 0.0 1.0</diffuse>
- <specular>0.0 0.0 0.0 1.0</specular>
- <emissive>0.0 0.0 0.0 0.0</emissive>
- </material>
- </visual>
- </gazebo>
-</robot>
diff --git a/install_requirements.sh b/install_requirements.sh
index c3bab04ea9d43c8bcdc27aa695e67a1c830c9955..ca87c6ea11d60c22aa953ab684f378c247525317 100755
--- a/install_requirements.sh
+++ b/install_requirements.sh
@@ -11,18 +11,21 @@ echo "Please wait while your working environment is setup"
# install git and configure git
apt-get -y install git
-git clone https://git.wur.nl/ruigr004/fre_virtual_event.git
+# git clone https://git.wur.nl/ruigr004/fre_virtual_event.git
# install ROS melodic
# =======================================
# your computer must accept packages from ros
sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-#apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
apt-get update
+
# install ros melodic
apt-get -y install ros-melodic-desktop-full
+# install the jackal software
+sudo apt-get -y install ros-melodic-jackal-simulator ros-melodic-jackal-desktop ros-melodic-jackal-navigation
+
apt-get update
apt-get -y upgrade
@@ -30,7 +33,7 @@ apt-get -y upgrade
grep -q -F "source /opt/ros/melodic/setup.bash" ~/.bashrc || echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
# add gazebo model path to the bashrc
-grep -q -F "export GAZEBO_MODEL_PATH=~/fre_virtual_event/simple_world/:$GAZEBO_MODEL_PATH" ~/.bashrc || echo "export GAZEBO_MODEL_PATH=~/fre_virtual_event/simple_world/:$GAZEBO_MODEL_PATH" >> ~/.bashrc
+grep -q -F "export GAZEBO_MODEL_PATH=~/fre_virtual_event/simple_world/:\$GAZEBO_MODEL_PATH" ~/.bashrc || echo "export GAZEBO_MODEL_PATH=~/fre_virtual_event/simple_world/:\$GAZEBO_MODEL_PATH" >> ~/.bashrc
# update the current terminal with the newly added settings
source ~/.bashrc
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 120000
index 0000000000000000000000000000000000000000..66dd650aca8bc895ebfd0001a46559de60baee2c
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/src/simple_world/CMakeLists.txt b/src/simple_world/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cdd699e4bd28a920224ae096c745e5610c254a3f
--- /dev/null
+++ b/src/simple_world/CMakeLists.txt
@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(simple_world)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES simple_world
+# CATKIN_DEPENDS other_catkin_pkg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/simple_world.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/simple_world_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_world.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/src/simple_world/launch/mais_world.launch b/src/simple_world/launch/mais_world.launch
new file mode 100644
index 0000000000000000000000000000000000000000..1ba81457d5e6ac0e6d8e5091d05dfb817cfd59b2
--- /dev/null
+++ b/src/simple_world/launch/mais_world.launch
@@ -0,0 +1,12 @@
+<?xml version='1.0'?>
+<launch>
+<!-- Launch Gazebo with the specified world -->
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <!-- <arg name="world_name" value="~/fre_virtual_event/simple_world/simple_world.world"/> -->
+ <arg name="use_sim_time" value="true"/>
+ <arg name="gui" value="true"/>
+ <arg name="paused" value="false"/>
+ <arg name="headless" value="false"/>
+ <arg name="recording" value="false"/>
+ </include>
+</launch>
diff --git a/src/simple_world/launch/simple_world.launch b/src/simple_world/launch/simple_world.launch
new file mode 100644
index 0000000000000000000000000000000000000000..9c6fb7af569f2de289e29b5a37d302e4f44e0f3a
--- /dev/null
+++ b/src/simple_world/launch/simple_world.launch
@@ -0,0 +1,40 @@
+<?xml version='1.0'?>
+<launch>
+ <arg name="use_sim_time" default="true" />
+ <arg name="gui" default="true" />
+ <arg name="headless" default="false" />
+ <arg name="world_name" default="~/fre_virtual_event/simple_world/simple_world.world" />
+
+ <!-- Short-term hack to support the original front_laser:=true argument for spawning
+ the simulator. This will be removed in favour of using the config:=x arg instead. -->
+ <arg name="front_laser" default="false" />
+ <arg name="default_config" value="front_laser" if="$(arg front_laser)" />
+ <arg name="default_config" value="base" unless="$(arg front_laser)" />
+ <!-- end of hack -->
+
+ <!-- Configuration of Jackal which you would like to simulate.
+ See jackal_description for details. -->
+ <arg name="config" default="$(arg default_config)" />
+
+ <!-- Optionally enable teleop for the simulation -->
+ <arg name="joystick" default="true" />
+
+ <!-- Launch Gazebo with the specified world -->
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="debug" value="0" />
+ <arg name="gui" value="$(arg gui)" />
+ <arg name="use_sim_time" value="$(arg use_sim_time)" />
+ <arg name="headless" value="$(arg headless)" />
+ <arg name="world_name" value="$(arg world_name)" />
+ </include>
+
+ <!-- Spawn Jackal -->
+ <include file="$(find jackal_gazebo)/launch/spawn_jackal.launch">
+ <arg name="x" value="-0.75" />
+ <arg name="y" value="0.35" />
+ <arg name="z" value="1.0" />
+ <arg name="yaw" value="0" />
+ <arg name="config" value="$(arg config)" />
+ <arg name="joystick" value="$(arg joystick)" />
+ </include>
+</launch>
diff --git a/simple_world/maize_cylinder/model.config b/src/simple_world/maize_cylinder/model.config
similarity index 86%
rename from simple_world/maize_cylinder/model.config
rename to src/simple_world/maize_cylinder/model.config
index c2783d44427786d1d43564cdb00553490c8f699d..e3af232e9f24e89e0342a8f289ef497e03816a00 100644
--- a/simple_world/maize_cylinder/model.config
+++ b/src/simple_world/maize_cylinder/model.config
@@ -3,7 +3,7 @@
<model>
<name>maize_cylinder</name>
<version>1.0</version>
- <sdf version="1.5">model.sdf</sdf>
+ <sdf version="1.6">model.sdf</sdf>
<author>
<name>Thijs Ruigrok</name>
diff --git a/simple_world/maize_cylinder/model.sdf b/src/simple_world/maize_cylinder/model.sdf
similarity index 98%
rename from simple_world/maize_cylinder/model.sdf
rename to src/simple_world/maize_cylinder/model.sdf
index 323055b13b03cf023f33a41900ff60759ca8c461..73b145408a64609f48fda1470437a5d9b76c99c8 100644
--- a/simple_world/maize_cylinder/model.sdf
+++ b/src/simple_world/maize_cylinder/model.sdf
@@ -1,5 +1,5 @@
<?xml version='1.0'?>
-<sdf version="1.5">
+<sdf version="1.6">
<model name="maize_cylinder">
<pose>0 0 0.5 0 0 0</pose>
<static>true</static>
diff --git a/src/simple_world/package.xml b/src/simple_world/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..28e41be4c25c47f48863de6929d9debe4c338b96
--- /dev/null
+++ b/src/simple_world/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>simple_world</name>
+ <version>0.0.0</version>
+ <description>The simple_world package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fre@todo.todo">fre</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/simple_world</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/simple_world/simple_world.world b/src/simple_world/simple_world.world
similarity index 97%
rename from simple_world/simple_world.world
rename to src/simple_world/simple_world.world
index eb3ea6e3d89e6e3856efa2a3be158ee216537d32..81cfd6ad510da17c3a5f19d0cda82546034b6f4f 100644
--- a/simple_world/simple_world.world
+++ b/src/simple_world/simple_world.world
@@ -1,5 +1,5 @@
<?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.6">
<world name="default">
<!-- A global light source -->