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Restore world_source.world #106

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Nov 5, 2014
Merged

Restore world_source.world #106

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8a2a492
restore world_source.world
mmurooka Nov 4, 2014
f154ac2
not generate special world file for each robot.
mmurooka Nov 4, 2014
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39 changes: 12 additions & 27 deletions hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l
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Original file line number Diff line number Diff line change
Expand Up @@ -94,38 +94,23 @@
(generate-room-models (format nil "room~a" name)))
(return-from generate-room-models))
;; check the model is derived from the room class
(let* ((robot-list (list "SampleRobot" "HRP2JSK" "HRP2JSKNT" "HRP2JSKNTS"))
(world-file-path-list)
(room (funcall (read-from-string name))))
(let* ((world-file-path-list)
(room (funcall (read-from-string name))))
(unless (derivedp room scene)
(warn "[ERROR] room (~a) is not room the model.~%" name)
(return-from generate-room-models))

;; generate the world file
(dolist (robot-name robot-list)
(let* ((room-name (string-downcase (send room :name)))
(package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))
(world-src-file-path (format nil "~a/worlds/world_source.world" package-dir-path))
(world-new-file-path (format nil "~a/worlds/~a_~a.world" package-dir-path robot-name room-name)))
(unix:system (format nil "rm -rf ~a" world-new-file-path))
(unix:system (format nil "cp ~a ~a" world-src-file-path world-new-file-path))
(unix:system (format nil "sed -i -e \"s@ <!-- A robot -->@ <!-- A robot -->\\n <include>\\n <uri>model://~a</uri>\\n <pose>1.0 0 0.73 0 0 0</pose>\\n </include>@g\" ~a" robot-name world-new-file-path))
(push world-new-file-path world-file-path-list)))

(let* ((room-name (string-downcase (send room :name)))
(package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))
(world-src-file-path (format nil "~a/worlds/world_source.world" package-dir-path))
(world-new-file-path (format nil "~a/worlds/~a.world" package-dir-path room-name)))
(unix:system (format nil "rm -rf ~a" world-new-file-path))
(unix:system (format nil "cp ~a ~a" world-src-file-path world-new-file-path))
(push world-new-file-path world-file-path-list))
;; convert models
(eus2urdf-room-for-gazebo room
:make-static t :make-fixed t :world-file-path-list world-file-path-list)
;; generate the launch file
(dolist (robot-name robot-list)
(let* ((room-name (string-downcase (send room :name)))
(package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))
(launch-src-file-path (format nil "~a/launch/gazebo_launch_source.launch" package-dir-path))
(launch-new-file-path (format nil "~a/launch/gazebo_~a_no_controllers_in_~a.launch" package-dir-path (string-downcase robot-name) room-name)))
(unix:system (format nil "rm -rf ~a" launch-new-file-path))
(unix:system (format nil "cp ~a ~a" launch-src-file-path launch-new-file-path))
(unix:system (format nil "sed -i -e \"s@__world_name__@~a_~a.world@g\" ~a" robot-name room-name launch-new-file-path))
(unix:system (format nil "sed -i -e \"s@__robot_name__@~a@g\" ~a" (string-downcase robot-name) launch-new-file-path))
(warning-message 2 "You can start simulation with following command:~%roslaunch hrpsys_gazebo_tutorials gazebo_~a_no_controllers_in_~a.launch~%" (string-downcase robot-name) room-name))))
)
(eus2urdf-room-for-gazebo room
:make-static t :make-fixed t :world-file-path-list world-file-path-list)
))
(warn "(generate-room-models \"room73b2\")~%")

35 changes: 35 additions & 0 deletions hrpsys_gazebo_tutorials/worlds/world_source.world
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Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@
<?xml version="1.0" ?>
<!-- This is a source file of world. -->
<!-- Do not edit this file. -->
<sdf version="1.4">
<world name="default">
<physics type="ode">
<gravity>0 0 -9.81</gravity>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.4</sor>
</solver>
<constraints>
<cfm>0.0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.001</max_step_size>
</physics>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- A robot -->
<!-- Objects -->
</world>
</sdf>