simulator: Add default ArUco map based on "cmit.txt" (#300)

* Add ArUco map model * Add ArUco map into the new .world file and set this world as the default.
2026-05-26 21:19:35 +00:00 · 2021-02-17 14:48:18 +03:00
parent a32dd7dcdd
commit b9395e3d18
104 changed files with 3339 additions and 1 deletions
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -14,7 +14,7 @@
        <!-- Workaround for crashes in VMware -->
        <env name="SVGA_VGPU10" value="0"/>
        <arg name="gui" value="true"/>
-        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
+        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
        <arg name="verbose" value="true"/>
    </include>

--- a/clover_simulation/models/aruco_cmit_txt/aruco_model.sdf
+++ b/clover_simulation/models/aruco_cmit_txt/aruco_model.sdf
--- a/clover_simulation/models/aruco_cmit_txt/materials/scripts/aruco_materials.material
+++ b/clover_simulation/models/aruco_cmit_txt/materials/scripts/aruco_materials.material
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_0.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_0.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_1.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_1.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_10.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_10.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_11.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_11.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_12.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_12.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_13.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_13.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_14.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_14.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_15.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_15.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_16.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_16.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_18.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_18.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_19.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_19.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_2.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_2.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_20.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_20.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_21.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_21.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_22.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_22.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_23.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_23.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_24.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_24.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_25.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_25.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_26.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_26.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_27.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_27.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_28.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_28.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_29.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_29.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_3.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_3.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_30.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_30.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_31.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_31.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_32.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_32.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_33.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_33.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_34.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_34.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_35.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_35.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_36.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_36.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_37.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_37.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_38.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_38.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_39.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_39.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_4.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_4.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_40.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_40.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_41.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_41.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_42.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_42.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_43.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_43.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_44.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_44.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_45.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_45.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_46.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_46.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_47.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_47.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_48.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_48.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_49.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_49.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_5.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_5.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_50.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_50.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_51.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_51.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_52.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_52.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_53.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_53.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_54.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_54.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_55.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_55.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_56.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_56.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_57.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_57.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_58.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_58.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_59.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_59.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_6.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_6.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_60.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_60.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_61.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_61.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_62.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_62.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_63.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_63.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_64.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_64.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_65.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_65.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_66.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_66.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_67.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_67.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_68.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_68.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_69.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_69.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_7.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_7.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_70.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_70.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_71.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_71.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_72.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_72.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_73.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_73.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_74.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_74.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_75.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_75.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_76.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_76.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_77.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_77.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_78.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_78.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_79.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_79.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_8.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_8.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_80.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_80.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_81.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_81.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_82.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_83.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_84.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_85.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_86.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_87.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_88.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_88.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_89.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_9.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_90.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_91.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_92.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_93.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_93.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_94.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_94.png
--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_95.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_96.png
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--- a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_97.png
+++ b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_97.png
--- a/Show More
+++ b/Show More