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simulation: add several separate aruco markers models

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This commit is contained in:
Oleg Kalachev
2021-10-08 16:35:12 +03:00
parent 4aef1e616c
commit fc5960586b
12 changed files with 156 additions and 0 deletions
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24
clover_simulation/models/aruco_100/marker_100.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.5">
<model name="aruco_100">
<static>true</static>
<link name="marker_100_link">
<pose>0 0 1e-3 0 0 1.5707963267948966</pose>
<visual name="visual_marker_100">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>0.22 0.22 1e-3</size>
</box>
</geometry>
<material>
<script>
<uri>model://aruco_100/materials/scripts</uri>
<uri>model://aruco_100/materials/textures</uri>
<name>aruco/marker_100</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

15
clover_simulation/models/aruco_100/materials/scripts/aruco_100.material Normal file
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material aruco/marker_100
{
technique
{
pass
{
texture_unit
{
texture aruco_marker_100.png
filtering none
scale 1.0 1.0
}
}
}
}

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clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png Normal file
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13
clover_simulation/models/aruco_100/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>ArUco Marker 100</name>
<version>1.0</version>
<sdf version="1.5">marker_100.sdf</sdf>
<author>
<name>Marker Generator script</name>
<email>marker@generator.sh</email>
</author>
<description>
ArUco marker #100
</description>
</model>

24
clover_simulation/models/aruco_101/marker_101.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.5">
<model name="aruco_101">
<static>true</static>
<link name="marker_101_link">
<pose>0 0 1e-3 0 0 1.5707963267948966</pose>
<visual name="visual_marker_101">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>0.44 0.44 1e-3</size>
</box>
</geometry>
<material>
<script>
<uri>model://aruco_101/materials/scripts</uri>
<uri>model://aruco_101/materials/textures</uri>
<name>aruco/marker_101</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

15
clover_simulation/models/aruco_101/materials/scripts/aruco_101.material Normal file
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material aruco/marker_101
{
technique
{
pass
{
texture_unit
{
texture aruco_marker_101.png
filtering none
scale 1.0 1.0
}
}
}
}

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13
clover_simulation/models/aruco_101/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>ArUco Marker 101</name>
<version>1.0</version>
<sdf version="1.5">marker_101.sdf</sdf>
<author>
<name>Marker Generator script</name>
<email>marker@generator.sh</email>
</author>
<description>
ArUco marker #101
</description>
</model>

24
clover_simulation/models/aruco_102/marker_102.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.5">
<model name="aruco_102">
<static>true</static>
<link name="marker_102_link">
<pose>0 0 1e-3 0 0 1.5707963267948966</pose>
<visual name="visual_marker_102">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>0.44 0.44 1e-3</size>
</box>
</geometry>
<material>
<script>
<uri>model://aruco_102/materials/scripts</uri>
<uri>model://aruco_102/materials/textures</uri>
<name>aruco/marker_102</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

15
clover_simulation/models/aruco_102/materials/scripts/aruco_102.material Normal file
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material aruco/marker_102
{
technique
{
pass
{
texture_unit
{
texture aruco_marker_102.png
filtering none
scale 1.0 1.0
}
}
}
}

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clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png Normal file
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clover_simulation/models/aruco_102/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>ArUco Marker 102</name>
<version>1.0</version>
<sdf version="1.5">marker_102.sdf</sdf>
<author>
<name>Marker Generator script</name>
<email>marker@generator.sh</email>
</author>
<description>
ArUco marker #102
</description>
</model>