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Restructure worlds #8

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Merged
leander-dsouza merged 2 commits into from
May 15, 2025
Merged

Restructure worlds #8

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60faa16
Added initial camera pose and renamed world files extension.
leander-dsouza May 15, 2025
4f8f948
Removed legacy world files.
leander-dsouza May 15, 2025
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2 changes: 1 addition & 1 deletion launch/description/spawn_robot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ def generate_launch_description():
use_sim_time = True
gui = False

world_name = 'mapping.world'
world_name = 'mapping.sdf'
camera_enabled = True
two_d_lidar_enabled = True
rviz_enabled = False
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2 changes: 1 addition & 1 deletion launch/main.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ def generate_launch_description():

use_sim_time = True

world_name = 'empty.world'
world_name = 'empty.sdf'
camera_enabled = False
two_d_lidar_enabled = False
rviz_enabled = False
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277 changes: 277 additions & 0 deletions worlds/empty.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,277 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">

<!-- A global light source -->
<include>
<uri>model://sun</uri>
<pose>0 0 0 0 0 0</pose>
</include>

<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
<pose>0 0 0 0 0 0</pose>
</include>

<scene>
<sky>
<clouds>
<speed>50</speed>
</clouds>
</sky>
<ambient>0 0 0 1.0</ambient>
<shadows>0</shadows>
</scene>


<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-3.5 -0.15 12.5 0 1.25 0</camera_pose>
<camera_clip>
<near>0.25</near>
<far>25000</far>
</camera_clip>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>

<!-- Screenshot -->
<plugin filename="Screenshot" name="Screenshot">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">50</property>
<property key="width" type="double">50</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>

<!-- Video recorder -->
<plugin filename="VideoRecorder" name="VideoRecorder">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">300</property>
<property key="y" type="double">50</property>
<property key="width" type="double">50</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<record_video>
<use_sim_time>true</use_sim_time>
<lockstep>false</lockstep>
<bitrate>4000000</bitrate>
</record_video>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

<!-- View angle -->
<plugin filename="ViewAngle" name="View angle">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

</gui>


</world>
</sdf>
28 changes: 0 additions & 28 deletions worlds/empty.world
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