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Added retroreflectivity to cones

This commit is contained in:
wittenator 2023-11-01 15:53:18 +01:00
parent dc3831d32f
commit 1a1a93d8bb
2 changed files with 177 additions and 0 deletions
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3
src/dcaiti_control/worlds/generate_track_world.py
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@ -181,6 +181,9 @@ if __name__ == "__main__":
<geometry>
<mesh><uri>model://assets/{cone_type}.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>

174
src/dcaiti_control/worlds/generated_worlds/AU2_skidpad.sdf
View File

@ -93,6 +93,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -124,6 +127,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -155,6 +161,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -186,6 +195,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -217,6 +229,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -248,6 +263,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -279,6 +297,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -310,6 +331,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -341,6 +365,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -372,6 +399,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -403,6 +433,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -434,6 +467,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -465,6 +501,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -496,6 +535,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -527,6 +569,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -558,6 +603,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -589,6 +637,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -620,6 +671,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -651,6 +705,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -682,6 +739,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -713,6 +773,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -744,6 +807,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -775,6 +841,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -806,6 +875,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -837,6 +909,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -868,6 +943,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -899,6 +977,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -930,6 +1011,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -961,6 +1045,9 @@
<geometry>
<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -992,6 +1079,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1023,6 +1113,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1054,6 +1147,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1085,6 +1181,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1116,6 +1215,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1147,6 +1249,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1178,6 +1283,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1209,6 +1317,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1240,6 +1351,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1271,6 +1385,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1302,6 +1419,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1333,6 +1453,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1364,6 +1487,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1395,6 +1521,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1426,6 +1555,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1457,6 +1589,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1488,6 +1623,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1519,6 +1657,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1550,6 +1691,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1581,6 +1725,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1612,6 +1759,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1643,6 +1793,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1674,6 +1827,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1705,6 +1861,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1736,6 +1895,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1767,6 +1929,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1798,6 +1963,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1829,6 +1997,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>
@ -1860,6 +2031,9 @@
<geometry>
<mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
</geometry>
<laser_retro>
255
</laser_retro>
</visual>
<sensor name='sensor_contact' type='contact'>
<contact>