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Feature/izs campus: added 3d map #181

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cfa23d9
added izs-campus gazebo map based on 2d grid projection
ipa-fog Mar 5, 2021
192a562
Merge branch 'kinetic_dev' of https://github.com/ipa320/cob_simulatio…
ipa-fog Mar 5, 2021
f85f341
added stl model and urdf
ipa-fog Mar 5, 2021
24b6c11
indentation fix
ipa-fog Mar 5, 2021
49ff21d
removed not needed files
ipa-fog Mar 5, 2021
e233cf5
reduced map size
ipa-fog Mar 17, 2021
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Binary file added cob_gazebo_worlds/Media/models/izs-campus/meshes/map.stl
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4 changes: 2 additions & 2 deletions cob_gazebo_worlds/launch/izs-campus.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,10 @@
<arg name="publish_world_state" value="true"/>

<!-- spawn environment -->
<!--include file="$(find cob_gazebo_worlds)/launch/world_urdf.xml">
<include file="$(find cob_gazebo_worlds)/launch/world_urdf.xml">
<arg name="robot_env" value="$(arg robot_env)"/>
<arg name="publish_world_state" value="$(arg publish_world_state)"/>
</include-->
</include>


</launch>
50 changes: 50 additions & 0 deletions cob_gazebo_worlds/urdf/izs-campus/izs-campus.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
name="izs-campus">

<xacro:include filename="$(find cob_gazebo_worlds)/urdf/common.xacro" />
<xacro:include filename="$(find cob_gazebo_worlds)/urdf/materials.urdf.xacro" />

<xacro:macro name="izs-campus" params="name">

<gazebo>
<plugin name="environment_gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>world</robotNamespace>
<robotParam>/world_description</robotParam>
</plugin>
</gazebo>

<link name="world"/>

<link name="projected_map">
<xacro:box_inertial x="0.0" y="0.0" z="0.0" mass="5.0">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:box_inertial>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh filename="package://cob_gazebo_worlds/Media/models/izs-campus/meshes/map.stl" />
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh filename="package://cob_gazebo_worlds/Media/models/izs-campus/meshes/map.stl" />
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the mesh file still has 0 Byte (empty file)

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Very strange, in my repo its not empty (8.9MB). I can also view it here: https://github.com/ipa-fog/cob_simulation/blob/feature/izs-campus/cob_gazebo_worlds/Media/models/izs-campus/meshes/map.stl

Can you access this file as well?

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yes, I can see it there...but honestly, 8.9MB is waaay to large anyway....it will kill gazebo...

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as it is a big binary file it should at least be tracked via git-lfs and not be included in the git history to not blow up the repo size. Please check that is not in the history (added and remove) before merging

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I reduced the size to 6MB. However, git-lfs is not working because I can't push lfs assets to a public fork unless the original repo already has LFS objects. Therefore, feel free to close this PR.

</geometry>
</visual>
</link>

<joint name="joint_maps" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<parent link="world" />
<child link="projected_map" />
</joint>

<gazebo>
<static>true</static>
</gazebo>

</xacro:macro>
<xacro:izs-campus name="izs-campus" />
</robot>