From b9395e3d185769e47d7bd085b4b7cc93e8d8c2c4 Mon Sep 17 00:00:00 2001 From: timkondratiev <39171113+timkondratiev@users.noreply.github.com> Date: Wed, 17 Feb 2021 14:48:18 +0300 Subject: [PATCH] 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. --- clover_simulation/launch/simulator.launch | 2 +- .../models/aruco_cmit_txt/aruco_model.sdf | 1693 +++++++++++++++++ .../scripts/aruco_materials.material | 1584 +++++++++++++++ .../materials/textures/aruco_marker_2_0.png | Bin 0 -> 94 bytes .../materials/textures/aruco_marker_2_1.png | Bin 0 -> 93 bytes .../materials/textures/aruco_marker_2_10.png | Bin 0 -> 94 bytes .../materials/textures/aruco_marker_2_11.png | Bin 0 -> 94 bytes .../materials/textures/aruco_marker_2_12.png | Bin 0 -> 93 bytes .../materials/textures/aruco_marker_2_13.png | Bin 0 -> 93 bytes .../materials/textures/aruco_marker_2_14.png | Bin 0 -> 94 bytes 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.../materials/textures/aruco_marker_2_98.png | Bin 0 -> 94 bytes .../materials/textures/aruco_marker_2_99.png | Bin 0 -> 93 bytes .../models/aruco_cmit_txt/model.config | 14 + .../resources/worlds/clover_aruco.world | 47 + 104 files changed, 3339 insertions(+), 1 deletion(-) create mode 100644 clover_simulation/models/aruco_cmit_txt/aruco_model.sdf create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/scripts/aruco_materials.material create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_0.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_1.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_10.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_11.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_12.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_13.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_14.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_15.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_16.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_18.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_19.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_2.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_20.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_21.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_22.png create mode 100644 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clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_96.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_97.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_98.png create mode 100644 clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_99.png create mode 100644 clover_simulation/models/aruco_cmit_txt/model.config create mode 100644 clover_simulation/resources/worlds/clover_aruco.world diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch index dc6d74a0..cbb12953 100644 --- a/clover_simulation/launch/simulator.launch +++ b/clover_simulation/launch/simulator.launch @@ -14,7 +14,7 @@ - + diff --git a/clover_simulation/models/aruco_cmit_txt/aruco_model.sdf b/clover_simulation/models/aruco_cmit_txt/aruco_model.sdf new file mode 100644 index 00000000..60b2216c --- /dev/null +++ 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