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README.md
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...@@ -14,4 +14,9 @@ ros2 launch smtupool empty_pool.launch ...@@ -14,4 +14,9 @@ ros2 launch smtupool empty_pool.launch
Run with objects: Run with objects:
```bash ```bash
ros2 launch smtupool pool_with_objects.launch ros2 launch smtupool pool_with_objects.launch
```
Run pool 4m with buoys:
```bash
ros2 launch smtupool pool_4m_with_buoys.launch
``` ```
\ No newline at end of file
config/empty_pool_4m.yaml 0 → 100644
View file @ 8edee966
publish_world_models:
ros__parameters:
meshes:
seafloor:
plane: [0.25, 0.10, 0.1]
pose:
position: [0.0, 0.0, -4.0]
north:
plane: [0.1, 0.10, 10.0]
pose:
position: [0.125, 0.0, -5.0]
south:
plane: [0.1, 0.10, 10.0]
pose:
position: [-0.125, 0.0, -5.0]
west:
plane: [0.25, 0.1, 10.0]
pose:
position: [0., -0.5, -5.0]
east:
plane: [0.25, 0.1, 10.0]
pose:
position: [0., 0.5, -5.0]
launch/empty_pool_4m.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/empty_pool_4m.world"/>
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool_4m.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/pool_4m_with_buoys.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/pool_4m_with_buoys.world"/>
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool_4m.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/pspb_2025_example.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/pspb_2025_example.world"/> <!-- HERE -->
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/pspb_2025_green.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/pspb_2025_green.world"/> <!-- HERE -->
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/pspb_2025_red.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/pspb_2025_red.world"/> <!-- HERE -->
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/pspb_2025_test.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/pspb_2025_test.world"/> <!-- HERE -->
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/pspb_2025_yellow.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/pspb_2025_yellow.world"/> <!-- HERE -->
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
launch/smtu_pool.launch 0 → 100644
View file @ 8edee966
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<node name="plankton_global_sim_time"
pkg="plankton_utils"
exec="plankton_global_sim_time"
output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="worlds/smtu_pool.world"/>
<arg name="pause" value="$(var paused)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>
<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node name="publish_world_models"
pkg="uuv_assistants"
exec="publish_world_models.py"
output="screen">
<param from="$(find-pkg-share smtupool)/config/empty_pool.yaml"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
media/materials/scripts/recycle.material 0 → 100644
View file @ 8edee966
material RecycleImage
{
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 ../textures/Recycle.png
filtering trilinear
scale 1 1
}
}
}
}
\ No newline at end of file
media/materials/scripts/trash.material 0 → 100644
View file @ 8edee966
material TrashImage
{
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 ../textures/Trash.png
filtering trilinear
scale 1 1
}
}
}
}
\ No newline at end of file
models/balloon_blue/materials/scripts/balloon.material 0 → 100644
View file @ 8edee966
material balloon_blue
{
technique
{
pass
{
scene_blend alpha_blend
depth_write off
texture_unit
{
texture balloon_blue.png
}
}
}
}
\ No newline at end of file
models/balloon_blue/meshes/balloon.dae 0 → 100644
View file @ 8edee966
source diff could not be displayed: it is too large. Options to address this: view the blob.
models/balloon_blue/model.config 0 → 100644
View file @ 8edee966
<?xml version="1.0"?>
<model>
<name>balloon_blue</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>RobotMania</name>
<email>name@email.address</email>
</author>
<description>
This is an example of a car model.
</description>
</model>