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models/pspb_2025/models/gates/meshes/figure.dae 0 → 100644
View file @ 8edee966
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a</authoring_tool>
</contributor>
<created>2025-07-23T21:24:27</created>
<modified>2025-07-23T21:24:27</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
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<library_effects>
<effect id="Material_002-effect">
<profile_COMMON>
<newparam sid="red_triangle_png-surface">
<surface type="2D">
<init_from>red_triangle_png</init_from>
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<newparam sid="red_triangle_png-sampler">
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<source>red_triangle_png-surface</source>
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<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
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<diffuse>
<texture texture="red_triangle_png-sampler" texcoord="UVMap"/>
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<float sid="ior">1.5</float>
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</profile_COMMON>
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<material id="Material_002-material" name="Material.002">
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<mesh>
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<technique_common>
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<source id="Plane-mesh-normals">
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<technique_common>
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</bind_material>
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</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
models/pspb_2025/models/gates/meshes/gate.dae 0 → 100644
View file @ 8edee966
source diff could not be displayed: it is too large. Options to address this: view the blob.
models/smtu_pool/materials/scripts/sport_pool.material 0 → 100644
View file @ 8edee966
material sport_pool
{
receive_shadows on
technique
{
pass
{
lighting on
scene_blend off
depth_write on
depth_check on
cull_hardware none
cull_software none
texture_unit
{
texture sport_pool_texture.png
}
}
}
}
models/smtu_pool/meshes/pool.dae 0 → 100644
View file @ 8edee966
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 4.5.0 commit date:2025-07-14, commit time:17:45, hash:8cb6b388974a</authoring_tool>
</contributor>
<created>2025-07-18T20:50:54</created>
<modified>2025-07-18T20:50:54</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
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<library_effects>
<effect id="Black_procedural_scratched_plastic-effect">
<profile_COMMON>
<technique sid="common">
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<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0.8 0.8 0.8 1</color>
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<reflectivity>
<float sid="specular">0.5</float>
</reflectivity>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images/>
<library_materials>
<material id="Black_procedural_scratched_plastic-material" name="Black procedural scratched plastic">
<instance_effect url="#Black_procedural_scratched_plastic-effect"/>
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<technique_common>
<accessor source="#Бассейн-mesh-map-0-array" count="2358" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Бассейн-mesh-vertices">
<input semantic="POSITION" source="#Бассейн-mesh-positions"/>
</vertices>
<triangles material="Black_procedural_scratched_plastic-material" count="786">
<input semantic="VERTEX" source="#Бассейн-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Бассейн-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Бассейн-mesh-map-0" offset="2" set="0"/>
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487 1462 245 487 1463 244 488 1464 245 488 1465 243 488 1466 242 489 1467 243 489 1468 241 489 1469 240 490 1470 241 490 1471 239 490 1472 238 491 1473 239 491 1474 237 491 1475 236 492 1476 237 492 1477 235 492 1478 234 493 1479 235 493 1480 233 493 1481 232 494 1482 233 494 1483 309 494 1484 232 495 1485 309 495 1486 230 495 1487 229 496 1488 230 496 1489 228 496 1490 227 497 1491 228 497 1492 226 497 1493 225 498 1494 226 498 1495 224 498 1496 223 499 1497 224 499 1498 222 499 1499 221 500 1500 222 500 1501 310 500 1502 221 501 1503 310 501 1504 219 501 1505 218 502 1506 219 502 1507 311 502 1508 218 503 1509 311 503 1510 17 503 1511 19 504 1512 13 504 1513 312 504 1514 220 505 1515 312 505 1516 313 505 1517 220 506 1518 313 506 1519 314 506 1520 221 507 1521 314 507 1522 315 507 1523 225 508 1524 315 508 1525 316 508 1526 227 509 1527 316 509 1528 317 509 1529 227 510 1530 317 510 1531 318 510 1532 229 511 1533 318 511 1534 319 511 1535 231 512 1536 319 512 1537 320 512 1538 234 513 1539 320 513 1540 321 513 1541 236 514 1542 321 514 1543 322 514 1544 238 515 1545 322 515 1546 323 515 1547 238 516 1548 323 516 1549 324 516 1550 240 517 1551 324 517 1552 325 517 1553 244 518 1554 325 518 1555 326 518 1556 244 519 1557 326 519 1558 327 519 1559 248 520 1560 327 520 1561 328 520 1562 249 521 1563 328 521 1564 329 521 1565 251 522 1566 329 522 1567 330 522 1568 253 523 1569 330 523 1570 331 523 1571 253 524 1572 331 524 1573 332 524 1574 256 525 1575 332 525 1576 333 525 1577 258 526 1578 333 526 1579 334 526 1580 260 527 1581 334 527 1582 335 527 1583 260 528 1584 335 528 1585 336 528 1586 264 529 1587 336 529 1588 337 529 1589 266 530 1590 337 530 1591 338 530 1592 268 531 1593 338 531 1594 339 531 1595 270 532 1596 339 532 1597 340 532 1598 272 533 1599 340 533 1600 341 533 1601 272 534 1602 341 534 1603 342 534 1604 276 535 1605 342 535 1606 343 535 1607 276 536 1608 343 536 1609 344 536 1610 280 537 1611 344 537 1612 345 537 1613 281 538 1614 345 538 1615 346 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667 2001 336 667 2002 335 667 2003 381 668 2004 335 668 2005 334 668 2006 380 669 2007 334 669 2008 333 669 2009 380 670 2010 333 670 2011 332 670 2012 378 671 2013 332 671 2014 331 671 2015 377 672 2016 331 672 2017 330 672 2018 376 673 2019 330 673 2020 329 673 2021 376 674 2022 329 674 2023 328 674 2024 374 675 2025 328 675 2026 327 675 2027 373 676 2028 327 676 2029 326 676 2030 372 677 2031 326 677 2032 325 677 2033 371 678 2034 325 678 2035 324 678 2036 370 679 2037 324 679 2038 323 679 2039 369 680 2040 323 680 2041 322 680 2042 368 681 2043 322 681 2044 321 681 2045 367 682 2046 321 682 2047 320 682 2048 367 683 2049 320 683 2050 319 683 2051 365 684 2052 319 684 2053 318 684 2054 364 685 2055 318 685 2056 317 685 2057 363 686 2058 317 686 2059 316 686 2060 362 687 2061 316 687 2062 315 687 2063 361 688 2064 315 688 2065 314 688 2066 361 689 2067 314 689 2068 313 689 2069 359 690 2070 313 690 2071 312 690 2072 359 691 2073 312 691 2074 13 691 2075 15 692 2076 17 692 2077 311 692 2078 360 693 2079 311 693 2080 219 693 2081 360 694 2082 219 694 2083 310 694 2084 362 695 2085 310 695 2086 222 695 2087 363 696 2088 222 696 2089 224 696 2090 364 697 2091 224 697 2092 226 697 2093 365 698 2094 226 698 2095 228 698 2096 365 699 2097 228 699 2098 230 699 2099 367 700 2100 230 700 2101 309 700 2102 368 701 2103 309 701 2104 233 701 2105 369 702 2106 233 702 2107 235 702 2108 370 703 2109 235 703 2110 237 703 2111 371 704 2112 237 704 2113 239 704 2114 372 705 2115 239 705 2116 241 705 2117 373 706 2118 241 706 2119 243 706 2120 373 707 2121 243 707 2122 245 707 2123 375 708 2124 245 708 2125 247 708 2126 376 709 2127 247 709 2128 308 709 2129 377 710 2130 308 710 2131 250 710 2132 377 711 2133 250 711 2134 252 711 2135 378 712 2136 252 712 2137 254 712 2138 380 713 2139 254 713 2140 307 713 2141 381 714 2142 307 714 2143 257 714 2144 382 715 2145 257 715 2146 259 715 2147 383 716 2148 259 716 2149 261 716 2150 384 717 2151 261 717 2152 263 717 2153 385 718 2154 263 718 2155 265 718 2156 386 719 2157 265 719 2158 267 719 2159 386 720 2160 267 720 2161 269 720 2162 387 721 2163 269 721 2164 271 721 2165 389 722 2166 271 722 2167 273 722 2168 390 723 2169 273 723 2170 275 723 2171 390 724 2172 275 724 2173 277 724 2174 392 725 2175 277 725 2176 279 725 2177 393 726 2178 279 726 2179 306 726 2180 394 727 2181 306 727 2182 282 727 2183 395 728 2184 282 728 2185 284 728 2186 395 729 2187 284 729 2188 286 729 2189 396 730 2190 286 730 2191 289 730 2192 397 731 2193 289 731 2194 305 731 2195 399 732 2196 305 732 2197 291 732 2198 399 733 2199 291 733 2200 293 733 2201 400 734 2202 293 734 2203 304 734 2204 402 735 2205 304 735 2206 296 735 2207 403 736 2208 296 736 2209 298 736 2210 404 737 2211 298 737 2212 303 737 2213 20 738 2214 303 738 2215 301 738 2216 303 739 2217 20 739 2218 404 739 2219 298 740 2220 404 740 2221 403 740 2222 296 741 2223 403 741 2224 402 741 2225 304 742 2226 402 742 2227 401 742 2228 304 743 2229 401 743 2230 400 743 2231 293 744 2232 400 744 2233 399 744 2234 305 745 2235 399 745 2236 398 745 2237 305 746 2238 398 746 2239 397 746 2240 289 747 2241 397 747 2242 396 747 2243 286 748 2244 396 748 2245 395 748 2246 282 749 2247 395 749 2248 394 749 2249 306 750 2250 394 750 2251 393 750 2252 279 751 2253 393 751 2254 392 751 2255 277 752 2256 392 752 2257 391 752 2258 277 753 2259 391 753 2260 390 753 2261 273 754 2262 390 754 2263 389 754 2264 271 755 2265 389 755 2266 388 755 2267 271 756 2268 388 756 2269 387 756 2270 269 757 2271 387 757 2272 386 757 2273 265 758 2274 386 758 2275 385 758 2276 263 759 2277 385 759 2278 384 759 2279 261 760 2280 384 760 2281 383 760 2282 259 761 2283 383 761 2284 382 761 2285 257 762 2286 382 762 2287 381 762 2288 307 763 2289 381 763 2290 380 763 2291 254 764 2292 380 764 2293 379 764 2294 254 765 2295 379 765 2296 378 765 2297 252 766 2298 378 766 2299 377 766 2300 308 767 2301 377 767 2302 376 767 2303 247 768 2304 376 768 2305 375 768 2306 245 769 2307 375 769 2308 374 769 2309 245 770 2310 374 770 2311 373 770 2312 241 771 2313 373 771 2314 372 771 2315 239 772 2316 372 772 2317 371 772 2318 237 773 2319 371 773 2320 370 773 2321 235 774 2322 370 774 2323 369 774 2324 233 775 2325 369 775 2326 368 775 2327 309 776 2328 368 776 2329 367 776 2330 230 777 2331 367 777 2332 366 777 2333 230 778 2334 366 778 2335 365 778 2336 226 779 2337 365 779 2338 364 779 2339 224 780 2340 364 780 2341 363 780 2342 222 781 2343 363 781 2344 362 781 2345 310 782 2346 362 782 2347 361 782 2348 310 783 2349 361 783 2350 360 783 2351 311 784 2352 360 784 2353 359 784 2354 311 785 2355 359 785 2356 15 785 2357</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Бассейн" name="Бассейн" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Бассейн-mesh" name="Бассейн">
<bind_material>
<technique_common>
<instance_material symbol="Black_procedural_scratched_plastic-material" target="#Black_procedural_scratched_plastic-material">
<bind_vertex_input semantic="automap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
models/smtu_pool/meshes/sport_pool_home.dae 0 → 100644
View file @ 8edee966
source diff could not be displayed: it is too large. Options to address this: view the blob.
models/smtu_pool/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<model>
<name>sport_pool</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
</author>
<description>smtu sport poool</description>
</model>
models/smtu_pool/model.sdf 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="smtu_sport_pool">
<static>true</static>
<link name="sport_pool_link">
<visual name="sport_pool_visual">
<cast_shadows>true</cast_shadows>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose>0 10 0 0 0 1.570795</pose>
<geometry>
<mesh>
<uri>model://smtu_pool/meshes/pool.dae</uri> <!-- Путь к модели -->
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://smtu_pool/materials/scripts</uri>
<uri>model://smtu_pool/materials/textures</uri>
<name>sport_pool</name>
</script>
</material>
</visual>
<collision name="bottom">
<!--center of collider -->
<pose>12.5 5 -1.4 0 0 0</pose>
<geometry>
<box>
<size>25.0 10.0 0.001</size>
</box>
</geometry>
</collision>
<collision name="back_wall">
<!--center of collider -->
<pose>0 5 -1.0 0 0 0</pose>
<geometry>
<box>
<size>0.001 10.0 2.0</size>
</box>
</geometry>
</collision>
<collision name="front_wall">
<!--center of collider -->
<pose>25 5 -1.0 0 0 0</pose>
<geometry>
<box>
<size>0.001 10.0 2.0</size>
</box>
</geometry>
</collision>
<collision name="right_wall">
<!--center of collider -->
<pose>12.5 0 -1.0 0 0 0</pose>
<geometry>
<box>
<size>25 0.001 2.0</size>
</box>
</geometry>
</collision>
<collision name="left_wall">
<!--center of collider -->
<pose>12.5 10 -1.0 0 0 0</pose>
<geometry>
<box>
<size>25 0.001 2.0</size>
</box>
</geometry>
</collision>
</link>
<!-- because we use gazebo and plankton -->
<link name="sport_pool_link">
<visual name="sport_pool_visual">
<cast_shadows>true</cast_shadows>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose>0 10 0 0 0 1.570795</pose>
<geometry>
<mesh>
<uri>model://smtu_pool/meshes/pool.dae</uri> <!-- Путь к модели -->
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<diffuse>0.32 0.83 1 1</diffuse>
</material>
</visual>
</link>
<link name="sport_pool_home_link">
<visual name="sport_pool_home_visual">
<cast_shadows>true</cast_shadows>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose> 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://smtu_pool/meshes/sport_pool_home.dae</uri> <!-- Путь к модели -->
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="water_link">
<visual name="water_surface">
<cast_shadows>true</cast_shadows>
<pose>12.5 5 -0.7 0 0 0</pose>
<geometry>
<box>
<size>25 10 1.4</size>
</box>
</geometry>
<material>
<rendering_order>1</rendering_order>
<script>
<uri>file://media/materials/scripts/waves.material</uri>
<name>UUVSimulator/StaticWater</name>
</script>
<rendering_order>0</rendering_order>
</material>
</visual>
</link>
</model>
</sdf>
worlds/empty_pool.world
View file @ 8edee966
......@@ -31,27 +31,43 @@
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-200 -200 100 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0 0 0 1</specular>
<direction>-0.3 -0.3 -1</direction>
<cast_shadows>true</cast_shadows>
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_6">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-100 50 200 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0 0 0 1</specular>
<direction>-0.3 -0.3 -1</direction>
<cast_shadows>true</cast_shadows>
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-150 -130 50 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
<cast_shadows>true</cast_shadows>
</light>
<include>
......@@ -70,7 +86,7 @@
<constant_current>
<topic>current_velocity</topic>
<velocity>
<mean>0</mean>
<mean>5</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
......@@ -78,7 +94,7 @@
</velocity>
<horizontal_angle>
<mean>0</mean>
<mean>3.141592653589793238</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
......@@ -101,7 +117,12 @@
<camera name='user_camera'>
<pose frame=''>-300 -300 20 0 0 0.5</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
<projection_type>fps</projection_type>
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>10.0</max_dist>
</track_visual>
</camera>
</gui>
</world>
......
worlds/empty_pool_4m.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.01 0.01 0.01 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>1</shadows>
</scene>
<!-- Origin of the world on the Trondheim fjord, Norway -->
<spherical_coordinates>
<latitude_deg>63.4520171</latitude_deg>
<longitude_deg>10.3844778</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>0 -60 200 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0 0 0 1</specular>
<direction>-0.3 -0.3 -1</direction>
<cast_shadows>true</cast_shadows>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-120 60 200 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0 0 0 1</specular>
<direction>-0.3 -0.3 -1</direction>
<cast_shadows>true</cast_shadows>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-120 0 100 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>0.5 0.5 -1</direction>
<cast_shadows>true</cast_shadows>
</light>
<include>
<uri>model://pool_model_4m</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-300 -300 20 0 0 0.5</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
worlds/pool_4m_with_buoys.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<shadows>1</shadows>
</scene>
<!-- Origin of the world on the Trondheim fjord, Norway -->
<spherical_coordinates>
<latitude_deg>63.4520171</latitude_deg>
<longitude_deg>10.3844778</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>0 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<include>
<uri>model://pool_model_4m</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<include>
<uri>model://buoys_for_pool_4m</uri>
<pose>-6.75 1.7 0 0 0 0</pose>
</include>
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-30.0 -30.0 3.0 0 0 0.6</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
worlds/pspb_2025_example.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>true</shadows>
<background>0.1 0.1 0.1 1</background>
</scene>
<!-- Origin of SPb -->
<spherical_coordinates>
<latitude_deg>59.9343</latitude_deg>
<longitude_deg>30.3351</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_10">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_20">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
-->
<light type="directional" name="sun_diffuse_30">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_40">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<light type="directional" name="sun_diffuse_50">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>22 5 2 0 0 0</pose>
<direction>0 -1 0</direction>
</light>
<light type="directional" name="sun_diffuse_200">
<pose>0.5 9.5 2 0 0 0</pose>
<direction>1 0.3 0</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<!-- pool model -->
<include>
<uri>model://smtu_pool</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- other model example -->
<include>
<uri>model://pspb_2025/environment/example</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- namespace-->
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<!-- current speed -->
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<!-- current angle -->
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose frame=''>22 27 14 0 0.57 -1.918</pose>
<!-- orbit/fps -->
<view_controller>fps</view_controller>
<projection_type>perspective</projection_type>
<!-- привязка камеры к визуальному объекту -->
<!--
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>1000.0</max_dist>
</track_visual>
-->
<!-- сохранять ли состояние камеры между запусками -->
</camera>
</gui>
</world>
</sdf>
worlds/pspb_2025_green.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>true</shadows>
<background>0.1 0.1 0.1 1</background>
</scene>
<!-- Origin of SPb -->
<spherical_coordinates>
<latitude_deg>59.9343</latitude_deg>
<longitude_deg>30.3351</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_10">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_20">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
-->
<light type="directional" name="sun_diffuse_30">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_40">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<light type="directional" name="sun_diffuse_50">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>22 5 2 0 0 0</pose>
<direction>0 -1 0</direction>
</light>
<light type="directional" name="sun_diffuse_200">
<pose>0.5 9.5 2 0 0 0</pose>
<direction>1 0.3 0</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<!-- pool model -->
<include>
<uri>model://smtu_pool</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- other model example -->
<include>
<uri>model://pspb_2025/environment/green_square</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- namespace-->
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<!-- current speed -->
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<!-- current angle -->
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose frame=''>22 27 14 0 0.57 -1.918</pose>
<!-- orbit/fps -->
<view_controller>fps</view_controller>
<projection_type>perspective</projection_type>
<!-- привязка камеры к визуальному объекту -->
<!--
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>1000.0</max_dist>
</track_visual>
-->
<!-- сохранять ли состояние камеры между запусками -->
</camera>
</gui>
</world>
</sdf>
worlds/pspb_2025_red.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>true</shadows>
<background>0.1 0.1 0.1 1</background>
</scene>
<!-- Origin of SPb -->
<spherical_coordinates>
<latitude_deg>59.9343</latitude_deg>
<longitude_deg>30.3351</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_10">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_20">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
-->
<light type="directional" name="sun_diffuse_30">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_40">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<light type="directional" name="sun_diffuse_50">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>22 5 2 0 0 0</pose>
<direction>0 -1 0</direction>
</light>
<light type="directional" name="sun_diffuse_200">
<pose>0.5 9.5 2 0 0 0</pose>
<direction>1 0.3 0</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<!-- pool model -->
<include>
<uri>model://smtu_pool</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- other model example -->
<include>
<uri>model://pspb_2025/environment/red_triangle</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- namespace-->
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<!-- current speed -->
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<!-- current angle -->
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose frame=''>22 27 14 0 0.57 -1.918</pose>
<!-- orbit/fps -->
<view_controller>fps</view_controller>
<projection_type>perspective</projection_type>
<!-- привязка камеры к визуальному объекту -->
<!--
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>1000.0</max_dist>
</track_visual>
-->
<!-- сохранять ли состояние камеры между запусками -->
</camera>
</gui>
</world>
</sdf>
worlds/pspb_2025_test.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>true</shadows>
<background>0.1 0.1 0.1 1</background>
</scene>
<!-- Origin of SPb -->
<spherical_coordinates>
<latitude_deg>59.9343</latitude_deg>
<longitude_deg>30.3351</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_10">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_20">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
-->
<light type="directional" name="sun_diffuse_30">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_40">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<light type="directional" name="sun_diffuse_50">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>22 5 2 0 0 0</pose>
<direction>0 -1 0</direction>
</light>
<light type="directional" name="sun_diffuse_200">
<pose>0.5 9.5 2 0 0 0</pose>
<direction>1 0.3 0</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<!-- pool model -->
<include>
<uri>model://smtu_pool</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- other model example -->
<include>
<uri>model://pspb_2025/environment/test</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- namespace-->
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<!-- current speed -->
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<!-- current angle -->
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose frame=''>22 27 14 0 0.57 -1.918</pose>
<!-- orbit/fps -->
<view_controller>fps</view_controller>
<projection_type>perspective</projection_type>
<!-- привязка камеры к визуальному объекту -->
<!--
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>1000.0</max_dist>
</track_visual>
-->
<!-- сохранять ли состояние камеры между запусками -->
</camera>
</gui>
</world>
</sdf>
worlds/pspb_2025_yellow.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>true</shadows>
<background>0.1 0.1 0.1 1</background>
</scene>
<!-- Origin of SPb -->
<spherical_coordinates>
<latitude_deg>59.9343</latitude_deg>
<longitude_deg>30.3351</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_10">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_20">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
-->
<light type="directional" name="sun_diffuse_30">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_40">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<light type="directional" name="sun_diffuse_50">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>22 5 2 0 0 0</pose>
<direction>0 -1 0</direction>
</light>
<light type="directional" name="sun_diffuse_200">
<pose>0.5 9.5 2 0 0 0</pose>
<direction>1 0.3 0</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<!-- pool model -->
<include>
<uri>model://smtu_pool</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- other model example -->
<include>
<uri>model://pspb_2025/environment/yellow_circle</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- namespace-->
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<!-- current speed -->
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<!-- current angle -->
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose frame=''>22 27 14 0 0.57 -1.918</pose>
<!-- orbit/fps -->
<view_controller>fps</view_controller>
<projection_type>perspective</projection_type>
<!-- привязка камеры к визуальному объекту -->
<!--
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>1000.0</max_dist>
</track_visual>
-->
<!-- сохранять ли состояние камеры между запусками -->
</camera>
</gui>
</world>
</sdf>
worlds/smtu_pool.world 0 → 100644
View file @ 8edee966
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="pool">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<scene>
<ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<shadows>true</shadows>
<background>0.1 0.1 0.1 1</background>
</scene>
<!-- Origin of SPb -->
<spherical_coordinates>
<latitude_deg>59.9343</latitude_deg>
<longitude_deg>30.3351</longitude_deg>
</spherical_coordinates>
<!-- Global light source -->
<light type="directional" name="sun_diffuse_1">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_2">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_3">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_5">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_10">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_20">
<pose>-8 -0 10 0 0 0</pose>
<direction>0.5 -0.5 -1</direction>
</light>
-->
<light type="directional" name="sun_diffuse_30">
<pose>-8 -0 10 0 0 0</pose>
<direction>-0.5 0.5 -1</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_40">
<pose>7 0 10 0 0 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<light type="directional" name="sun_diffuse_50">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>-0.5 -0.5 -1</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>22 5 2 0 0 0</pose>
<direction>0 -1 0</direction>
</light>
<light type="directional" name="sun_diffuse_100">
<pose>0.5 9.5 2 0 0 0</pose>
<direction>1 0.3 0</direction>
</light>
<!-- <light type="directional" name="sun_diffuse_7">
<pose>10 0 10 0 0 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_8">
<pose>-9 5 10 0 1.531698 0</pose>
<direction>0.5 0.5 0</direction>
</light>
<light type="directional" name="sun_diffuse_4">
<pose>-9 -5 10 0 1.531698 0</pose>
<direction>0.5 0.5 -1</direction>
</light> -->
<!-- pool model -->
<include>
<uri>model://smtu_pool</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- other model example -->
<!-- <include>
<uri>model://pspb_2025</uri>
<pose>0 0 0 0 0 0</pose>
</include> -->
<!-- namespace-->
<plugin name="gazebo_ros" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
</plugin>
<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<!-- current speed -->
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>
<horizontal_angle>
<!-- current angle -->
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>
<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>
</plugin>
<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
<gui fullscreen='0'>
<camera name='user_camera'>
<!-- x y z roll pitch yaw (m/rad) 1.570795 3.14159 -->
<pose frame=''>-1.3 -14 16 0 0.642 1.018</pose>
<!-- orbit/fps -->
<view_controller>fps</view_controller>
<projection_type>perspective</projection_type>
<!-- привязка камеры к визуальному объекту -->
<!--
<track_visual>
<name>ws02::ws02/base_link</name>
<min_dist>1.0</min_dist>
<max_dist>1000.0</max_dist>
</track_visual>
-->
<!-- сохранять ли состояние камеры между запусками -->
</camera>
</gui>
</world>
</sdf>