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j-hermanj-herman
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Merge pull request #207 from Field-Robotics-Lab/jessica/new_heightmap
Heightmap demo
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‎examples/dave_demo_launch/launch/dave_new_environment.launch‎

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<?xml version="1.0"?>
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<launch>
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<arg name="gui" default="true"/>
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<arg name="paused" default="false"/>
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<arg name="world_name" default="$(find dave_worlds)/worlds/dave_new_bathy_example.world"/>
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<arg name="namespace" default="rexrov"/>
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<arg name="set_timeout" default="false"/>
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<arg name="timeout" default="0.0"/>
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<arg name="velocity_control" default="true"/>
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<arg name="joy_id" default="0"/>
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<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world_name)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="verbose" value="false"/>
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</include>
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<!-- use ned frame north east down -->
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<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>
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<!-- timeout -->
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<group if="$(arg set_timeout)">
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<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
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<arg name="timeout" value="$(arg timeout)"/>
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</include>
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</group>
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<!-- rexrov robot with oberon7 arm -->
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<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
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<arg name="namespace" value="rexrov"/>
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<arg name="x" value="4"/>
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<arg name="y" value="4"/>
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<arg name="z" value="-93"/>
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<arg name="yaw" value="-1.8"/>
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</include>
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<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
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<include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
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<arg name="uuv_name" value="$(arg namespace)" />
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<arg name="model_name" value="rexrov" />
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<arg name="joy_id" value="$(arg joy_id)"/>
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</include>
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<!-- joystick control for rexrov and oberon7, no velocity control-->
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<include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
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<arg name="model_name" value="rexrov"/>
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<arg name="joy_id" value="$(arg joy_id)"/>
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</include>
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<!-- joint control for oberon7 -->
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<include file="$(find oberon7_control)/launch/joint_control.launch">
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<arg name="uuv_name" value="$(arg namespace)"/>
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</include>
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</launch>

‎models/dave_worlds/media/Santorini_heightmap.tif‎

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‎models/dave_worlds/worlds/dave_new_bathy_example.world‎

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<?xml version="1.0" ?>
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<!--Portions of this world were originally created for the UUV Simulator project:
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Copyright (c) 2016 The UUV Simulator Authors.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<!-- Modified for different Gazebo GUI camera angle -->
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<sdf version="1.4">
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<world name="oceans_waves">
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<physics name="default_physics" default="true" type="ode">
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>500</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.01 0.01 0.01 1.0</ambient>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<shadows>1</shadows>
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</scene>
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<!-- Origin placed somewhere in the middle of the North Sea -->
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<spherical_coordinates>
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<latitude_deg>56.71897669633431</latitude_deg>
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<longitude_deg>3.515625</longitude_deg>
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</spherical_coordinates>
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<!-- Global light source -->
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<light type="directional" name="sun1">
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<pose>50 0 150 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<direction>0.3 0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- Global light source -->
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<light type="directional" name="sun_diffuse">
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<pose>-50 0 -150 0 0 0</pose>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0 0 0 1</specular>
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<direction>-0.3 -0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_1">
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<pose>-100 500 -20 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>1 1 1 1</specular>
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<direction>-1 -1 0</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_2">
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<pose>-150 -130 50 0 0 0</pose>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<direction>0.5 0.5 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- Virtual NED frame -->
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<include>
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<uri>model://ned_frame</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<!-- Sea surface, extracted from UUV Simulator ocean model -->
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<model name="ocean">
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<static>true</static>
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<link name="ocean_link">
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<visual name="ocean_surface">
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<pose>0 0 0 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<mesh>
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<uri>file://Media/models/sea_surface_1000m_x_1000m.dae</uri>
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<scale>4 4 4</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://Media/materials/scripts/waves.material</uri>
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<name>UUVSimulator/SimpleWaves</name>
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</script>
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</material>
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</visual>
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<visual name="ocean_below">
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<pose>0 0 0 3.14 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<mesh>
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<uri>file://Media/models/sea_surface_1000m_x_1000m.dae</uri>
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<scale>4 4 4</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://Media/materials/scripts/water.material</uri>
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<name>UUVSimulator/StaticWater</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<!-- Heightmap -->
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<model name="heightmap">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<heightmap>
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<uri>file://Santorini_heightmap.tif</uri>
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<!-- Scale for original size of terrain segment -->
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<size>8090 6000 141</size>
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<pos>0 0 1400</pos>
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</heightmap>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<heightmap>
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<texture> <!-- Add sample texture for visualization -->
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<diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
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<normal>file://media/materials/textures/flat_normal.png</normal>
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<size>1</size>
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</texture>
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<uri>file://Santorini_heightmap.tif</uri>
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<size>8090 6000 141</size>
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<pos>0 0 1400</pos>
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</heightmap>
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</geometry>
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</visual>
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</link>
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</model>
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<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
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<namespace>hydrodynamics</namespace>
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<constant_current>
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<topic>current_velocity</topic>
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<velocity>
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<mean>0</mean>
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<min>0</min>
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<max>5</max>
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<mu>0.0</mu>
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<noiseAmp>0.0</noiseAmp>
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</velocity>
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<horizontal_angle>
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<mean>0</mean>
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<min>-3.141592653589793238</min>
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<max>3.141592653589793238</max>
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<mu>0.0</mu>
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<noiseAmp>0.0</noiseAmp>
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</horizontal_angle>
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<vertical_angle>
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<mean>0</mean>
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<min>-3.141592653589793238</min>
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<max>3.141592653589793238</max>
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<mu>0.0</mu>
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<noiseAmp>0.0</noiseAmp>
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</vertical_angle>
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</constant_current>
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</plugin>
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<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>9.0 -3.0 -87.0 0.0 0.7 2.2</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>

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