Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

More actor components and follow plugin #157

Merged
merged 3 commits into from
Jun 5, 2020
Merged

More actor components and follow plugin #157

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
5c7fae3
More actor components and follow plugin
chapulina May 22, 2020
71466ee
PR feedback
chapulina Jun 5, 2020
e9588c2
Merge branch 'master' into follow_actor
chapulina Jun 5, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
364 changes: 364 additions & 0 deletions examples/worlds/follow_actor.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,364 @@
<?xml version="1.0" ?>
<!--
Follow actor plugin demo.

There are 4 actors, each following a diffetent box.
Two actors use a walking animation, and two use a running animation.
Two actors are slow (1 m/s) and two actors are fast (4 m/s).

Move the boxes with the transform controls tool to see the actors follow them.
-->
<sdf version="1.6">
<world name="actors">
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-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>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-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="width">121</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>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/actors/control</service>
<stats_topic>/world/actors/stats</stats_topic>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-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>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/actors/stats</topic>

</plugin>

<!-- Transform Control -->
<plugin filename="TransformControl" name="Transform Control">
<ignition-gui>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">263</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">#03a9f4</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>
<plugin filename="ComponentInspector" name="Component inspector">
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0.0 0.0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0.0 0.0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="red_box">
<pose>1 -2 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="green_box">
<pose>1 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="blue_box">
<pose>1 2 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
</model>

<model name="yellow_box">
<pose>1 4 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
</material>
</visual>
</link>
</model>

<include>
<name>walker_slow_red</name>
<!-- Root node pose (torso) -->
<pose>0 -2 1.0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Walking actor</uri>
<plugin filename="libignition-gazebo-follow-actor-system.so"
name="ignition::gazebo::systems::FollowActor">
<target>red_box</target>
<min_distance>1.0</min_distance>
<max_distance>8.0</max_distance>
<velocity>1</velocity>
<animation_x_vel>4.58837</animation_x_vel>
</plugin>
</include>

<include>
<name>walker_fast_green</name>
<pose>0 0 1.0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Walking actor</uri>
<plugin filename="libignition-gazebo-follow-actor-system.so"
name="ignition::gazebo::systems::FollowActor">
<target>green_box</target>
<min_distance>1.0</min_distance>
<max_distance>8.0</max_distance>
<velocity>4</velocity>
<animation_x_vel>4.58837</animation_x_vel>
</plugin>
</include>

<include>
<name>runner_slow_blue</name>
<pose>0 2 1.0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor</uri>
<plugin filename="libignition-gazebo-follow-actor-system.so"
name="ignition::gazebo::systems::FollowActor">
<target>blue_box</target>
<min_distance>1.0</min_distance>
<max_distance>8.0</max_distance>
<velocity>1</velocity>
<animation>run</animation>
<animation_x_vel>1.5</animation_x_vel>
</plugin>
</include>

<include>
<name>runner_fast_yellow</name>
<pose>0 4 1.0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor</uri>
<plugin filename="libignition-gazebo-follow-actor-system.so"
name="ignition::gazebo::systems::FollowActor">
<target>yellow_box</target>
<min_distance>1.0</min_distance>
<max_distance>8.0</max_distance>
<velocity>4</velocity>
<animation>run</animation>
<animation_x_vel>1.5</animation_x_vel>
</plugin>
</include>
</world>
</sdf>
Loading