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feat: chapt6

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This commit is contained in:
Mzebra
2023-12-14 22:37:46 +08:00
commit 7340e1e035
221 changed files with 60210 additions and 0 deletions
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2745
chapt6/chapt6_ws/src/fishbot_description/world/custom_room.world Normal file
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chapt6/chapt6_ws/src/fishbot_description/world/room/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>room</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

297
chapt6/chapt6_ws/src/fishbot_description/world/room/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.7'>
<model name='room'>
<pose>-0.972666 -0.903877 0 0 -0 0</pose>
<link name='Wall_66'>
<collision name='Wall_66_Collision'>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_66_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>0.013921 5.50955 0 0 -0 0</pose>
</link>
<link name='Wall_67'>
<collision name='Wall_67_Collision'>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_67_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>9.43892 -0.040455 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_68'>
<collision name='Wall_68_Collision'>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_68_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>0.013921 -5.59046 0 0 -0 3.14159</pose>
</link>
<link name='Wall_69'>
<collision name='Wall_69_Collision'>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_69_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-9.41108 -0.040455 0 0 -0 1.5708</pose>
</link>
<link name='Wall_71'>
<collision name='Wall_71_Collision'>
<geometry>
<box>
<size>4.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_71_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-1.11769 3.29046 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_72'>
<collision name='Wall_72_Collision'>
<geometry>
<box>
<size>6.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_72_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-4.41769 0.990456 0 0 -0 3.14159</pose>
</link>
<link name='Wall_79'>
<collision name='Wall_79_Collision'>
<geometry>
<box>
<size>3.47722 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_79_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.47722 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>0.391784 -3.86799 0 0 -0 1.5708</pose>
</link>
<link name='Wall_80'>
<collision name='Wall_80_Collision'>
<geometry>
<box>
<size>7.5 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_80_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>7.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>4.06678 -2.24484 0 0 -0 0</pose>
</link>
<link name='Wall_85'>
<collision name='Wall_85_Collision'>
<geometry>
<box>
<size>6.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_85_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-6.38892 -1.80969 0 0 -0 0</pose>
</link>
<link name='Wall_86'>
<collision name='Wall_86_Collision'>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_86_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-3.33892 -3.10969 0 0 -0 -1.5708</pose>
</link>
<static>1</static>
</model>
</sdf>