add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,38 @@
+# Dynamic Obstacle
+
+Dynamic Obstacle. 30x30x30 cm box.
+
+Updates its velocity direction and amount every 3 seconds. Max velocity is 0.5. 
+
+## How to Configure a Dynamic Obstacle
+
+dynamic_obstacle/model.sdf
+
+      <plugin name="random" filename="libRandomVelocityPlugin.so">
+      
+        -- Name of the link in this model that receives the velocity
+        <link>link</link>
+        
+        -- Initial velocity that is applied to the link
+        <initial_velocity>0 0.05 0</initial_velocity>
+        
+        -- Scaling factor that is used to compute a new velocity
+        <velocity_factor>0.5</velocity_factor>
+        
+        -- Time delay between new velocities
+        <update_period>3</update_period>
+        
+        -- X velocity treshold values
+        <min_x>-0.5</min_x>
+        <max_x>0.5</max_x>
+        
+        -- Y velocity treshold values
+        <min_y>-0.5</min_y>
+        <max_y>0.5</max_y>
+        
+        -- Z velocity treshold values
+        <min_z>-10</min_z>
+        <max_z>-5</max_z>
+        
+      </plugin>
+
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>DynamicObstacle</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Husnu Melih Erdogan</name>
+    <email>h.meliherdogan@gmail.com</email>
+  </author>
+
+  <description>
+    Randomly moving obstacle.
+  </description>
+</model>
@@ -0,0 +1,71 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+    <model name="DynamicObstacle">
+      <pose>0 0 0.15 0 0 0</pose>
+      <link name="link">
+	<gravity>1</gravity>
+        <inertial>
+          <pose>0 0 0 0 0 0</pose>
+	  <inertia>
+	    <ixx>0.17</ixx>
+            <ixy>0.00</ixy>
+            <ixz>0.00</ixz>
+            <iyy>0.17</iyy>
+            <iyz>0.00</iyz>
+            <izz>0.17</izz>
+          </inertia>
+          <mass>10</mass>
+        </inertial>
+        <kinematic>false</kinematic>
+        <collision name="collision">
+          <max_contacts>10</max_contacts>
+          <geometry>
+            <box>
+              <size>0.3 0.3 0.3</size>
+            </box>
+          </geometry>
+	  <surface>
+            <friction>
+              <ode>
+                <mu>0.0</mu>
+                <mu2>0.0</mu2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0.0</restitution_coefficient>
+              <threshold>100000</threshold>
+            </bounce>
+	  <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kd>1</kd>
+	      <kp>2147483647</kp>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.0</min_depth>
+            </ode>
+          </contact>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.3 0.3 0.3</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+      <plugin name="random" filename="libRandomVelocityPlugin.so">
+        <link>link</link>
+        <initial_velocity>0 0.05 0</initial_velocity>
+        <velocity_factor>0.5</velocity_factor>
+        <update_period>3</update_period>
+        <min_x>-0.5</min_x>
+        <max_x>0.5</max_x>
+        <min_y>-0.5</min_y>
+        <max_y>0.5</max_y>
+        <min_z>-10</min_z>
+        <max_z>-5</max_z>
+      </plugin>
+    </model>
+</sdf>