diff --git a/.gitignore b/.gitignore index b3d0a43b..7f21de73 100644 --- a/.gitignore +++ b/.gitignore @@ -33,4 +33,8 @@ *.out *.app -subt_ign/worlds/cave_circuit_practice_02.dat +# Other +cave_circuit_practice_02.dat +cave_circuit_03.dat +cave_circuit_07.dat +cave_circuit_08.dat diff --git a/docker/cloudsim_sim/Dockerfile b/docker/cloudsim_sim/Dockerfile index 4a9b5f80..9b11571a 100644 --- a/docker/cloudsim_sim/Dockerfile +++ b/docker/cloudsim_sim/Dockerfile @@ -108,7 +108,7 @@ WORKDIR /home/$USERNAME RUN rosdep update # Download the public models -RUN ign fuel download -v 4 -j 8 -u "https://fuel.ignitionrobotics.org/OpenRobotics/collections/SubT Tech Repo" +RUN ign fuel download -v 4 -j 8 --type model -u "https://fuel.ignitionrobotics.org/OpenRobotics/collections/SubT Tech Repo" # Download niosh models, set 1. COPY download_niosh_1.sh ./ @@ -126,7 +126,7 @@ RUN ./download_niosh_3.sh # docker is run RUN mkdir -p subt_ws/src \ && cd subt_ws/src \ - && git clone https://github.com/osrf/subt -b distance_segfault + && git clone https://github.com/osrf/subt -b cave_circuit_compeition_worlds WORKDIR /home/$USERNAME/subt_ws diff --git a/subt_ign/CMakeLists.txt b/subt_ign/CMakeLists.txt index 465186c2..4b9c4b04 100644 --- a/subt_ign/CMakeLists.txt +++ b/subt_ign/CMakeLists.txt @@ -214,7 +214,7 @@ target_link_libraries( add_executable(validate_visibility_table src/validate_visibility_table.cc) target_link_libraries(validate_visibility_table - PRIVATE + PRIVATE Visibility ) install(TARGETS validate_visibility_table @@ -446,6 +446,39 @@ add_custom_command(TARGET unzip_dat PRE_BUILD COMMENT "Unpacking cave_circuit_practice_02.dat.zip" VERBATIM) +# Unzip the cave_circuit_03.dat.zip file +add_custom_command(TARGET unzip_dat PRE_BUILD + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/03 + COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_03.dat.zip + DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/03/cave_circuit_03.dat.zip +COMMENT "Unpacking cave_circuit_03.dat.zip" +VERBATIM) + +# Unzip the cave_circuit_04.dat.zip file +add_custom_command(TARGET unzip_dat PRE_BUILD + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/04 + COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_04.dat.zip + DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/04/cave_circuit_04.dat.zip +COMMENT "Unpacking cave_circuit_04.dat.zip" +VERBATIM) + +# Unzip the cave_circuit_07.dat.zip file +add_custom_command(TARGET unzip_dat PRE_BUILD + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/07/ + COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_07.dat.zip + DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/07/cave_circuit_07.dat.zip + BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/07/cave_circuit_07.dat +COMMENT "Unpacking cave_circuit_07.dat.zip" +VERBATIM) + +# Unzip the cave_circuit_08.dat.zip file +add_custom_command(TARGET unzip_dat PRE_BUILD + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/08 + COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_08.dat.zip + DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/08/cave_circuit_08.dat.zip +COMMENT "Unpacking cave_circuit_08.dat.zip" +VERBATIM) + install(PROGRAMS scripts/subt_docker.bash scripts/subt_docker_list.bash diff --git a/subt_ign/src/ConnectionHelper.cc b/subt_ign/src/ConnectionHelper.cc index 865280c4..e749433f 100644 --- a/subt_ign/src/ConnectionHelper.cc +++ b/subt_ign/src/ConnectionHelper.cc @@ -137,7 +137,19 @@ std::map> {"Cave U Turn Elevation Lights Type A", {{-50.0, -25.0, 0.0}, {0.0, -25.0, 25.0}}}, {"Cave Vertical Shaft Straight Bottom Lights Type A", {{0.0, 0.0, 10.0}, {0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}}, {"Cave Transition Type A to and from Type B", {{0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}}, - {"Cave Transition Type A to and from Type B Lights", {{0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}} + {"Cave Transition Type A to and from Type B Lights", {{0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}}, + + {"Jenolan Section 01", {{401.144, 13.2017, 63.5658}}}, + {"Jenolan Section 02", {{401.144, 13.2017, 63.5658}, {231.676, 5.12208, 83.5523}}}, + {"Jenolan Section 03", {{231.676, 5.12208, 83.5523}, {193.48, 39.2667, 62.0974}, {173.354, 3.1715, 83.8528}, {175.939, 15.8454, 74.7845}}}, + {"Jenolan Section 04", {{193.48, 39.2667, 62.0974}, {173.354, 3.1715, 83.8528}, {175.939, 15.8454, 74.7845}, {108.945, -.808552, 117.401}, {102.694, -4.59171, 47.6574}}}, + {"Jenolan Section 05", {{43.2806, -4.87545, 130.876}, {108.945, -.808552, 117.401}, {102.694, -4.59171, 47.6574}, {0, 0, 12.5}}}, + {"Jenolan Section 06", {{95.93, 26.3732, 146.106}, {90.7982, -7.84003, 167.789}, {-16.465, 17.3448, 159.529}, {43.2806, -4.87545, 130.876}}}, + {"Jenolan Section 07", {{95.93, 26.3732, 146.106}, {90.7982, -7.84003, 167.789}}}, + {"Jenolan Section 08", {{-82.6196, 39.5982, 140.961}, {-76.3975, 30.5907, 134.982}, {-71.9846, 10.5912, 139.379}, {-16.465, 17.3448, 159.529}}}, + {"Jenolan Section 09", {{-194.72, -9.770950, 132.04}, {-82.6196, 39.5982, 140.961}, {-76.3975, 30.5907, 134.982}, {-71.9846, 10.5912, 139.379}}}, + {"Jenolan Section 10", {{-264.458, 25.7639, 43.2923}, {-241.489, -6.8719, 112.301}, {-194.72, -9.770950, 132.04}}}, + {"Jenolan Section 11", {{-264.458, 25.7639, 43.2923}, {-241.489, -6.8719, 112.301}}} }; std::map @@ -248,7 +260,19 @@ std::map {"Cave U Turn Elevation Lights Type A", subt::ConnectionHelper::TURN}, {"Cave Vertical Shaft Straight Bottom Lights Type A", subt::ConnectionHelper::TURN}, {"Cave Transition Type A to and from Type B", subt::ConnectionHelper::STRAIGHT}, - {"Cave Transition Type A to and from Type B Lights", subt::ConnectionHelper::STRAIGHT} + {"Cave Transition Type A to and from Type B Lights", subt::ConnectionHelper::STRAIGHT}, + + {"Jenolan Section 01", subt::ConnectionHelper::TURN}, + {"Jenolan Section 02", subt::ConnectionHelper::TURN}, + {"Jenolan Section 03", subt::ConnectionHelper::TURN}, + {"Jenolan Section 04", subt::ConnectionHelper::TURN}, + {"Jenolan Section 05", subt::ConnectionHelper::TURN}, + {"Jenolan Section 06", subt::ConnectionHelper::TURN}, + {"Jenolan Section 07", subt::ConnectionHelper::TURN}, + {"Jenolan Section 08", subt::ConnectionHelper::TURN}, + {"Jenolan Section 09", subt::ConnectionHelper::TURN}, + {"Jenolan Section 10", subt::ConnectionHelper::TURN}, + {"Jenolan Section 11", subt::ConnectionHelper::TURN} }; using namespace ignition; diff --git a/subt_ign/src/ConnectionValidatorPrivate.cc b/subt_ign/src/ConnectionValidatorPrivate.cc index daa7e4ce..baaa4f7f 100644 --- a/subt_ign/src/ConnectionValidatorPrivate.cc +++ b/subt_ign/src/ConnectionValidatorPrivate.cc @@ -98,10 +98,6 @@ bool ConnectionValidatorPrivate::LoadSdf(const std::string &_fpath) fuel_tools::ClientConfig config; fuel_tools::FuelClient fuelClient(config); - sdf::setFindCallback([&](const std::string &_uri) { - return fuel_tools::fetchResourceWithClient(_uri, fuelClient); - }); - igndbg << "Parsing [" << _fpath << "]" << std::endl; auto errors = sdfRoot.Load(_fpath); diff --git a/subt_ign/src/world_generator_cave.cc b/subt_ign/src/world_generator_cave.cc index 2de7b072..3662721b 100644 --- a/subt_ign/src/world_generator_cave.cc +++ b/subt_ign/src/world_generator_cave.cc @@ -966,7 +966,7 @@ void WorldGenerator::LoadTiles() fuel_tools::ClientConfig config; auto fuelClient = std::make_unique(config); - std::string baseUri = "https://fuel.ignitionrobotics.org/openrobotics/models"; + std::string baseUri = "https://fuel.ignitionrobotics.org/OpenRobotics/models"; for (const auto &t : tileConnectionPoints) { diff --git a/subt_ign/worlds/cave_circuit/01/cave_circuit_01.dat b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.dat new file mode 100644 index 00000000..5d53ca3a Binary files /dev/null and b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.dat differ diff --git a/subt_ign/worlds/cave_circuit/01/cave_circuit_01.dot b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.dot new file mode 100644 index 00000000..f648a858 --- /dev/null +++ b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.dot @@ -0,0 +1,333 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::Cave 3 Way 01 Lights Type B::tile_1"]; + 2 [label="2::Cave Corner 01 Lights Type B::tile_2"]; + 3 [label="3::Cave Corner 02 Lights Type B::tile_3"]; + 4 [label="4::Cave Straight 02 Lights Type B::tile_4"]; + 5 [label="5::Cave Straight 04 Lights Type B::tile_5"]; + 6 [label="6::Cave Corner 01 Lights Type B::tile_6"]; + 7 [label="7::Cave Corner 02 Lights Type B::tile_7"]; + 8 [label="8::Cave Straight 03 Type B::tile_8"]; + 9 [label="9::Cave Corner 02 Lights Type B::tile_9"]; + 10 [label="10::Cave Elevation Lights Type B::tile_10"]; + 11 [label="11::Cave 3 Way 01 Lights Type B::tile_11"]; + 12 [label="12::Cave Corner 01 Lights Type B::tile_12"]; + 13 [label="13::Cave Straight 05 Lights Type B::tile_13"]; + 14 [label="14::Cave 3 Way 01 Lights Type B::tile_14"]; + 15 [label="15::Cave Straight 05 Lights Type B::tile_15"]; + 16 [label="16::Cave 3 Way 01 Lights Type B::tile_16"]; + 17 [label="17::Cave Straight 03 Type B::tile_17"]; + 18 [label="18::Cave Straight 03 Type B::tile_18"]; + 19 [label="19::Cave Vertical Shaft Lights Type B::tile_19"]; + 20 [label="20::Cave Straight 05 Lights Type B::tile_20"]; + 21 [label="21::Cave Straight 01 Lights Type B::tile_21"]; + 22 [label="22::Cave Corner 02 Lights Type B::tile_22"]; + 23 [label="23::Cave Straight 01 Lights Type B::tile_23"]; + 24 [label="24::Cave Corner 02 Lights Type B::tile_24"]; + 25 [label="25::Cave Corner 02 Lights Type B::tile_25"]; + 26 [label="26::Cave Corner 02 Lights Type B::tile_26"]; + 27 [label="27::Cave Corner 01 Lights Type B::tile_27"]; + 28 [label="28::Cave Straight 03 Type B::tile_28"]; + 29 [label="29::Cave Elevation Lights Type B::tile_29"]; + 30 [label="30::Cave Elevation Lights Type B::tile_30"]; + 31 [label="31::Cave 3 Way 01 Lights Type B::tile_31"]; + 32 [label="32::Cave 3 Way 01 Lights Type B::tile_32"]; + 33 [label="33::Cave Straight 01 Lights Type B::tile_33"]; + 34 [label="34::Cave Straight 02 Lights Type B::tile_34"]; + 35 [label="35::Cave Straight 05 Type B::tile_35"]; + 36 [label="36::Cave Straight 05 Type B::tile_36"]; + 37 [label="37::Cave Straight 05 Type B::tile_37"]; + 38 [label="38::Cave Straight 03 Type B::tile_38"]; + 39 [label="39::Cave 3 Way 01 Lights Type B::tile_39"]; + 40 [label="40::Cave Elevation Lights Type B::tile_40"]; + 41 [label="41::Cave Elevation Lights Type B::tile_41"]; + 42 [label="42::Cave Straight 05 Type B::tile_42"]; + 43 [label="43::Cave Straight 05 Type B::tile_43"]; + 44 [label="44::Cave Corner 01 Lights Type B::tile_44"]; + 45 [label="45::Cave Corner 01 Lights Type B::tile_45"]; + 46 [label="46::Cave Elevation Lights Type B::tile_46"]; + 47 [label="47::Cave Corner 02 Lights Type B::tile_47"]; + 48 [label="48::Cave Vertical Shaft Lights Type B::tile_48"]; + 49 [label="49::Cave 3 Way 01 Lights Type B::tile_49"]; + 50 [label="50::Cave 3 Way 01 Lights Type B::tile_50"]; + 51 [label="51::Cave Straight 03 Type B::tile_51"]; + 52 [label="52::Cave Corner 01 Lights Type B::tile_52"]; + 53 [label="53::Cave Corner 02 Lights Type B::tile_53"]; + 54 [label="54::Cave Corner 02 Lights Type B::tile_54"]; + 55 [label="55::Cave Corner 02 Lights Type B::tile_55"]; + 56 [label="56::Cave Corner 01 Lights Type B::tile_56"]; + 57 [label="57::Cave 3 Way 01 Lights Type B::tile_57"]; + 58 [label="58::Cave Straight 03 Type B::tile_58"]; + 59 [label="59::Cave Straight 05 Type B::tile_59"]; + 60 [label="60::Cave 3 Way 01 Type B::tile_60"]; + 61 [label="61::Cave Corner 01 Lights Type B::tile_61"]; + 62 [label="62::Cave Corner 01 Type B::tile_62"]; + 63 [label="63::Cave Straight 03 Type B::tile_63"]; + 64 [label="64::Cave Straight 01 Type B::tile_64"]; + 65 [label="65::Cave Elevation Type B::tile_65"]; + 66 [label="66::Cave Elevation Type B::tile_66"]; + 67 [label="67::Cave Straight 01 Type B::tile_67"]; + 68 [label="68::Cave Straight 05 Type B::tile_68"]; + 69 [label="69::Cave Straight 03 Type B::tile_69"]; + 70 [label="70::Cave Corner 01 Type B::tile_70"]; + 71 [label="71::Cave Straight 01 Type B::tile_71"]; + 72 [label="72::Cave Corner 02 Type B::tile_72"]; + 73 [label="73::Cave Elevation Type B::tile_73"]; + 74 [label="74::Cave Straight 03 Type B::tile_74"]; + 75 [label="75::Cave 3 Way 01 Type B::tile_75"]; + 76 [label="76::Cave Corner 01 Type B::tile_76"]; + 77 [label="77::Cave Corner 02 Type B::tile_77"]; + 78 [label="78::Cave Straight 01 Type B::tile_78"]; + 79 [label="79::Cave Straight 03 Type B::tile_79"]; + 80 [label="80::Cave Straight 04 Type B::tile_80"]; + 81 [label="81::Cave Straight 05 Type B::tile_81"]; + 82 [label="82::Cave Straight 01 Type B::tile_82"]; + 83 [label="83::Cave Straight 03 Type B::tile_83"]; + 84 [label="84::Cave Corner 01 Type B::tile_84"]; + 85 [label="85::Cave Corner 02 Type B::tile_85"]; + 86 [label="86::Cave Corner 02 Type B::tile_86"]; + 87 [label="87::Cave Corner 01 Type B::tile_87"]; + 88 [label="88::Cave 3 Way 01 Type B::tile_88"]; + 89 [label="89::Cave Elevation Type B::tile_89"]; + 90 [label="90::Cave Straight 01 Type B::tile_90"]; + 91 [label="91::Cave Straight 03 Type B::tile_91"]; + 92 [label="92::Cave Straight 04 Type B::tile_92"]; + 93 [label="93::Cave Corner 01 Type B::tile_93"]; + 94 [label="94::Cave Corner 02 Type B::tile_94"]; + 95 [label="95::Cave Corner 02 Type B::tile_95"]; + 96 [label="96::Cave 3 Way 01 Type B::tile_96"]; + 97 [label="97::Cave 3 Way 01 Type B::tile_97"]; + 98 [label="98::Cave Straight 05 Type B::tile_98"]; + 99 [label="99::Cave 3 Way 01 Type B::tile_99"]; + 100 [label="100::Cave Straight 01 Type B::tile_100"]; + 101 [label="101::Cave Straight 04 Type B::tile_101"]; + 102 [label="102::Cave Corner 01 Type B::tile_102"]; + 103 [label="103::Cave 3 Way 01 Type B::tile_103"]; + 104 [label="104::Cave Elevation Type B::tile_104"]; + 105 [label="105::Cave Elevation Type B::tile_105"]; + 106 [label="106::Cave Corner 01 Type B::tile_106"]; + 107 [label="107::Cave Corner 02 Type B::tile_107"]; + 108 [label="108::Cave Corner 01 Type B::tile_108"]; + 109 [label="109::Cave 3 Way 01 Type B::tile_109"]; + 110 [label="110::Cave Straight 03 Type B::tile_110"]; + 111 [label="111::Cave Straight 05 Type B::tile_111"]; + 112 [label="112::Cave Straight 04 Type B::tile_112"]; + 113 [label="113::Cave Corner 01 Type B::tile_113"]; + 114 [label="114::Cave Straight 01 Type B::tile_114"]; + 115 [label="115::Cave Straight 04 Type B::tile_115"]; + 116 [label="116::Cave Elevation Type B::tile_116"]; + 117 [label="117::Cave Elevation Type B::tile_117"]; + 118 [label="118::Cave Corner 02 Type B::tile_118"]; + 119 [label="119::Cave Straight 05 Type B::tile_119"]; + 120 [label="120::Cave Straight 01 Type B::tile_120"]; + 121 [label="121::Cave 3 Way 01 Type B::tile_121"]; + 122 [label="122::Cave 3 Way 01 Type B::tile_122"]; + 123 [label="123::Cave 3 Way 01 Type B::tile_123"]; + 124 [label="124::Cave Corner 01 Type B::tile_124"]; + 125 [label="125::Cave Corner 02 Type B::tile_125"]; + 126 [label="126::Cave Elevation Type B::tile_126"]; + 127 [label="127::Cave Elevation Type B::tile_127"]; + 128 [label="128::Cave Corner 02 Type B::tile_128"]; + 129 [label="129::Cave Corner 02 Type B::tile_129"]; + 130 [label="130::Cave Corner 01 Type B::tile_130"]; + 131 [label="131::Cave Elevation Type B::tile_131"]; + 132 [label="132::Cave Straight 04 Type B::tile_132"]; + 133 [label="133::Cave Corner 02 Type B::tile_133"]; + 134 [label="134::Cave Corner 01 Type B::tile_134"]; + 135 [label="135::Cave Corner 01 Type B::tile_135"]; + 136 [label="136::Cave Straight 03 Type B::tile_136"]; + 137 [label="137::Cave Straight 05 Type B::tile_137"]; + 138 [label="138::Cave Straight 04 Type B::tile_138"]; + 139 [label="139::Cave 3 Way 01 Type B::tile_139"]; + 140 [label="140::Cave Corner 01 Type B::tile_140"]; + 141 [label="141::Cave Straight 04 Type B::tile_141"]; + 142 [label="142::Cave Corner 02 Type B::tile_142"]; + 143 [label="143::Cave Straight 05 Type B::tile_143"]; + 144 [label="144::Cave 3 Way 01 Type B::tile_144"]; + 145 [label="145::Cave Corner 01 Type B::tile_145"]; + 146 [label="146::Cave Corner 01 Type B::tile_146"]; + 147 [label="147::Cave Corner 02 Type B::tile_147"]; + 148 [label="148::Cave Straight 03 Type B::tile_148"]; + 149 [label="149::Cave Straight 04 Type B::tile_149"]; + 150 [label="150::Cave Straight 04 Type B::tile_150"]; + 151 [label="151::Cave Straight 01 Type B::tile_151"]; + 152 [label="152::Cave Straight 01 Type B::tile_152"]; + 153 [label="153::Cave Straight 03 Type B::tile_153"]; + 154 [label="154::Cave Elevation Type B::tile_154"]; + 155 [label="155::Cave Elevation Type B::tile_155"]; + 156 [label="156::Cave Elevation Type B::tile_156"]; + 157 [label="157::Cave Elevation Type B::tile_157"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 4 [label=1]; + 1 -- 13 [label=3]; + 1 -- 15 [label=3]; + 1 -- 43 [label=3]; + 2 -- 3 [label=6]; + 2 -- 39 [label=6]; + 3 -- 8 [label=3]; + 4 -- 9 [label=3]; + 5 -- 7 [label=3]; + 5 -- 44 [label=3]; + 6 -- 8 [label=3]; + 6 -- 16 [label=6]; + 7 -- 16 [label=6]; + 9 -- 39 [label=6]; + 10 -- 14 [label=3]; + 10 -- 22 [label=3]; + 11 -- 17 [label=3]; + 11 -- 19 [label=3]; + 12 -- 18 [label=3]; + 12 -- 40 [label=3]; + 13 -- 42 [label=1]; + 14 -- 40 [label=3]; + 14 -- 41 [label=3]; + 15 -- 18 [label=1]; + 16 -- 42 [label=3]; + 17 -- 22 [label=3]; + 19 -- 97 [label=3]; + 20 -- 21 [label=1]; + 20 -- 36 [label=1]; + 21 -- 24 [label=3]; + 23 -- 25 [label=3]; + 23 -- 49 [label=3]; + 24 -- 30 [label=3]; + 25 -- 27 [label=6]; + 26 -- 27 [label=6]; + 26 -- 28 [label=3]; + 28 -- 29 [label=1]; + 29 -- 31 [label=3]; + 30 -- 31 [label=3]; + 31 -- 34 [label=3]; + 32 -- 35 [label=3]; + 32 -- 37 [label=3]; + 32 -- 48 [label=3]; + 33 -- 35 [label=1]; + 33 -- 38 [label=1]; + 36 -- 37 [label=1]; + 39 -- 43 [label=3]; + 41 -- 97 [label=3]; + 44 -- 45 [label=6]; + 45 -- 46 [label=3]; + 46 -- 47 [label=3]; + 47 -- 48 [label=3]; + 49 -- 51 [label=3]; + 50 -- 51 [label=3]; + 50 -- 52 [label=6]; + 50 -- 53 [label=6]; + 52 -- 54 [label=6]; + 53 -- 68 [label=3]; + 54 -- 55 [label=6]; + 55 -- 56 [label=6]; + 56 -- 57 [label=6]; + 57 -- 58 [label=3]; + 57 -- 59 [label=3]; + 58 -- 62 [label=3]; + 59 -- 60 [label=3]; + 60 -- 64 [label=3]; + 60 -- 66 [label=3]; + 61 -- 63 [label=3]; + 61 -- 64 [label=3]; + 62 -- 63 [label=3]; + 65 -- 66 [label=1]; + 65 -- 67 [label=1]; + 68 -- 69 [label=1]; + 69 -- 70 [label=3]; + 70 -- 71 [label=3]; + 71 -- 72 [label=3]; + 72 -- 73 [label=3]; + 73 -- 74 [label=1]; + 74 -- 80 [label=1]; + 75 -- 79 [label=3]; + 75 -- 82 [label=3]; + 76 -- 77 [label=6]; + 76 -- 78 [label=3]; + 77 -- 81 [label=3]; + 78 -- 80 [label=1]; + 79 -- 81 [label=1]; + 82 -- 83 [label=1]; + 83 -- 84 [label=3]; + 84 -- 85 [label=6]; + 85 -- 86 [label=6]; + 86 -- 87 [label=6]; + 87 -- 88 [label=6]; + 88 -- 92 [label=3]; + 89 -- 90 [label=1]; + 89 -- 96 [label=3]; + 90 -- 91 [label=1]; + 91 -- 92 [label=1]; + 93 -- 94 [label=6]; + 93 -- 96 [label=6]; + 94 -- 95 [label=6]; + 95 -- 96 [label=6]; + 97 -- 155 [label=3]; + 98 -- 154 [label=1]; + 98 -- 155 [label=1]; + 99 -- 101 [label=3]; + 99 -- 109 [label=6]; + 99 -- 154 [label=3]; + 100 -- 101 [label=1]; + 100 -- 102 [label=3]; + 102 -- 103 [label=6]; + 103 -- 104 [label=3]; + 103 -- 105 [label=3]; + 104 -- 108 [label=3]; + 105 -- 106 [label=3]; + 106 -- 107 [label=6]; + 107 -- 118 [label=6]; + 108 -- 116 [label=3]; + 109 -- 110 [label=3]; + 109 -- 112 [label=3]; + 110 -- 111 [label=1]; + 111 -- 140 [label=3]; + 112 -- 113 [label=3]; + 114 -- 115 [label=1]; + 114 -- 122 [label=3]; + 115 -- 118 [label=3]; + 116 -- 117 [label=1]; + 117 -- 119 [label=1]; + 119 -- 156 [label=1]; + 120 -- 121 [label=3]; + 121 -- 124 [label=6]; + 121 -- 157 [label=3]; + 122 -- 126 [label=3]; + 122 -- 128 [label=6]; + 123 -- 125 [label=6]; + 123 -- 126 [label=3]; + 123 -- 131 [label=3]; + 124 -- 132 [label=3]; + 125 -- 127 [label=3]; + 127 -- 129 [label=3]; + 128 -- 130 [label=6]; + 129 -- 133 [label=6]; + 130 -- 132 [label=3]; + 131 -- 135 [label=3]; + 133 -- 137 [label=3]; + 134 -- 136 [label=3]; + 134 -- 139 [label=6]; + 135 -- 139 [label=6]; + 136 -- 138 [label=1]; + 137 -- 138 [label=1]; + 139 -- 144 [label=6]; + 140 -- 141 [label=3]; + 141 -- 142 [label=3]; + 142 -- 143 [label=3]; + 144 -- 147 [label=6]; + 144 -- 149 [label=3]; + 145 -- 149 [label=3]; + 145 -- 151 [label=3]; + 146 -- 148 [label=3]; + 146 -- 150 [label=3]; + 147 -- 148 [label=3]; + 151 -- 153 [label=1]; + 152 -- 153 [label=1]; + 156 -- 157 [label=1]; +} diff --git a/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf new file mode 100644 index 00000000..9ba1a79e --- /dev/null +++ b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf @@ -0,0 +1,2442 @@ + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + + true + 319.762000 -174.658000 15.567400 0.0 0.0 0.0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_1 + 325.165000 -174.658000 15.5674000 0.159706 -0.338079 -0.697894 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Large Rock Fall + + + + + + + + true + 451.375000 -300.672000 16.456100 0.0 0.0 0.0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_2" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_2 + 450.375000 -299.672000 16.45610 .159706 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00000000..5d56539e Binary files /dev/null and b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.dat differ diff --git a/subt_ign/worlds/cave_circuit/02/cave_circuit_02.dot b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.dot new file mode 100644 index 00000000..c0085b4d --- /dev/null +++ b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.dot @@ -0,0 +1,220 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::Cave 3 Way 01 Lights Type B::tile_1"]; + 2 [label="2::Cave Corner 02 Lights Type B::tile_2"]; + 4 [label="4::Cave Straight 02 Lights Type B::tile_4"]; + 5 [label="5::Cave Straight 04 Type B::tile_5"]; + 7 [label="7::Cave Corner 01 Type B::tile_7"]; + 8 [label="8::Cave 3 Way 01 Type B::tile_8"]; + 10 [label="10::Cave Corner 02 Type B::tile_10"]; + 11 [label="11::Cave Straight 03 Type B::tile_11"]; + 12 [label="12::Cave Elevation Type B::tile_12"]; + 13 [label="13::Cave 3 Way 01 Type B::tile_13"]; + 14 [label="14::Cave Corner 01 Lights Type B::tile_14"]; + 16 [label="16::Cave Corner 02 Type B::tile_16"]; + 18 [label="18::Cave 3 Way 01 Lights Type B::tile_18"]; + 19 [label="19::Cave Straight 05 Lights Type B::tile_19"]; + 20 [label="20::Cave 3 Way 01 Type B::tile_20"]; + 21 [label="21::Cave Straight 03 Type B::tile_21"]; + 23 [label="23::Cave Corner 01 Type B::tile_23"]; + 24 [label="24::Cave Straight 02 Type B::tile_24"]; + 26 [label="26::Cave Elevation Lights Type B::tile_26"]; + 29 [label="29::Cave Straight 03 Type B::tile_29"]; + 30 [label="30::Cave Straight 01 Type B::tile_30"]; + 31 [label="31::Cave Straight 05 Type B::tile_31"]; + 32 [label="32::Cave Straight 01 Type B::tile_32"]; + 38 [label="38::Cave Straight 05 Lights Type B::tile_38"]; + 39 [label="39::Cave Straight 05 Lights Type B::tile_39"]; + 40 [label="40::Cave 3 Way 01 Lights Type B::tile_40"]; + 41 [label="41::Cave Elevation Lights Type B::tile_41"]; + 42 [label="42::Cave Elevation Type B::tile_42"]; + 43 [label="43::Cave Corner 02 Lights Type B::tile_43"]; + 44 [label="44::Cave Straight 05 Lights Type B::tile_44"]; + 45 [label="45::Cave Straight 05 Lights Type B::tile_45"]; + 50 [label="50::Cave Corner 01 Lights Type B::tile_50"]; + 51 [label="51::Cave Corner 01 Type B::tile_51"]; + 52 [label="52::Cave Straight 05 Type B::tile_52"]; + 53 [label="53::Cave Corner 02 Type B::tile_53"]; + 54 [label="54::Cave Corner 01 Type B::tile_54"]; + 55 [label="55::Cave Corner 02 Lights Type B::tile_55"]; + 56 [label="56::Cave 3 Way 01 Lights Type B::tile_56"]; + 57 [label="57::Cave Straight 03 Type B::tile_57"]; + 60 [label="60::Cave Corner 02 Type B::tile_60"]; + 61 [label="61::Cave 3 Way 01 Lights Type B::tile_61"]; + 62 [label="62::Cave 3 Way 01 Lights Type B::tile_62"]; + 63 [label="63::Cave Corner 01 Lights Type B::tile_63"]; + 64 [label="64::Cave Corner 02 Lights Type B::tile_64"]; + 65 [label="65::Cave Corner 01 Type B::tile_65"]; + 66 [label="66::Cave Elevation Type B::tile_66"]; + 67 [label="67::Cave Corner 02 Type B::tile_67"]; + 68 [label="68::Cave Straight 01 Type B::tile_68"]; + 69 [label="69::Cave 3 Way 01 Type B::tile_69"]; + 70 [label="70::Cave Corner 01 Type B::tile_70"]; + 71 [label="71::Cave Straight 01 Type B::tile_71"]; + 72 [label="72::Cave 3 Way 01 Lights Type B::tile_72"]; + 73 [label="73::Cave Corner 01 Lights Type B::tile_73"]; + 74 [label="74::Cave Corner 02 Lights Type B::tile_74"]; + 75 [label="75::Cave Elevation Lights Type B::tile_75"]; + 76 [label="76::Cave Corner 01 Lights Type B::tile_76"]; + 77 [label="77::Cave 3 Way 01 Lights Type B::tile_77"]; + 78 [label="78::Cave Corner 02 Lights Type B::tile_78"]; + 79 [label="79::Cave 3 Way 01 Type B::tile_79"]; + 80 [label="80::Cave Corner 02 Type B::tile_80"]; + 81 [label="81::Cave 3 Way 01 Type B::tile_81"]; + 82 [label="82::Cave Corner 01 Type B::tile_82"]; + 83 [label="83::Cave 3 Way 01 Lights Type B::tile_83"]; + 84 [label="84::Cave Straight 05 Lights Type B::tile_84"]; + 85 [label="85::Cave Corner 02 Lights Type B::tile_85"]; + 86 [label="86::Cave Corner 01 Lights Type B::tile_86"]; + 87 [label="87::Cave Straight 01 Lights Type B::tile_87"]; + 88 [label="88::Cave Elevation Lights Type B::tile_88"]; + 89 [label="89::Cave Straight 01 Lights Type B::tile_89"]; + 90 [label="90::Cave Corner 02 Lights Type B::tile_90"]; + 91 [label="91::Cave Corner 01 Lights Type B::tile_91"]; + 92 [label="92::Cave Straight 03 Type B::tile_92"]; + 93 [label="93::Cave Elevation Type B::tile_93"]; + 94 [label="94::Cave Corner 01 Type B::tile_94"]; + 95 [label="95::Cave Corner 02 Type B::tile_95"]; + 96 [label="96::Cave Elevation Type B::tile_96"]; + 97 [label="97::Cave Straight 03 Type B::tile_97"]; + 98 [label="98::Cave Corner 02 Type B::tile_98"]; + 99 [label="99::Cave Corner 02 Type B::tile_99"]; + 100 [label="100::Cave Straight 03 Type B::tile_100"]; + 101 [label="101::Cave Straight 01 Lights Type B::tile_101"]; + 102 [label="102::Cave Straight 01 Lights Type B::tile_102"]; + 103 [label="103::Cave 3 Way 01 Lights Type B::tile_103"]; + 104 [label="104::Cave Corner 01 Lights Type B::tile_104"]; + 105 [label="105::Cave Corner 02 Lights Type B::tile_105"]; + 106 [label="106::Cave Corner 02 Lights Type B::tile_106"]; + 107 [label="107::Cave 3 Way 01 Lights Type B::tile_107"]; + 108 [label="108::Cave 3 Way 01 Lights Type B::tile_108"]; + 109 [label="109::Cave Corner 01 Lights Type B::tile_109"]; + 110 [label="110::Cave Corner 01 Lights Type B::tile_110"]; + 111 [label="111::Cave Corner 02 Lights Type B::tile_111"]; + 113 [label="113::Cave Straight 01 Type B::tile_113"]; + 114 [label="114::Cave Straight 03 Type B::tile_114"]; + 229 [label="229::Cave Elevation Type B::tile_229"]; + 230 [label="230::Cave Elevation Type B::tile_230"]; + 233 [label="233::Cave Corner 02 Type B::tile_233"]; + 234 [label="234::Cave Straight 03 Type B::tile_234"]; + 235 [label="235::Cave Straight 01 Type B::tile_235"]; + 236 [label="236::Cave Elevation Type B::tile_236"]; + 237 [label="237::Cave Elevation Type B::tile_237"]; + 238 [label="238::Cave Straight 03 Type B::tile_238"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 4 [label=1]; + 1 -- 2 [label=6]; + 1 -- 11 [label=3]; + 1 -- 19 [label=3]; + 2 -- 40 [label=6]; + 4 -- 40 [label=3]; + 5 -- 8 [label=3]; + 5 -- 10 [label=3]; + 7 -- 11 [label=3]; + 7 -- 60 [label=6]; + 8 -- 30 [label=3]; + 10 -- 20 [label=6]; + 12 -- 21 [label=1]; + 12 -- 23 [label=3]; + 13 -- 29 [label=3]; + 13 -- 67 [label=6]; + 14 -- 45 [label=3]; + 14 -- 62 [label=6]; + 16 -- 68 [label=3]; + 16 -- 69 [label=6]; + 18 -- 42 [label=3]; + 18 -- 43 [label=6]; + 18 -- 44 [label=3]; + 19 -- 61 [label=3]; + 20 -- 60 [label=6]; + 21 -- 42 [label=1]; + 23 -- 29 [label=3]; + 24 -- 67 [label=3]; + 24 -- 71 [label=1]; + 26 -- 50 [label=3]; + 26 -- 72 [label=3]; + 31 -- 32 [label=1]; + 31 -- 38 [label=1]; + 38 -- 39 [label=1]; + 39 -- 111 [label=3]; + 40 -- 45 [label=3]; + 41 -- 61 [label=3]; + 41 -- 64 [label=3]; + 43 -- 68 [label=3]; + 44 -- 63 [label=3]; + 50 -- 97 [label=3]; + 51 -- 57 [label=3]; + 51 -- 230 [label=3]; + 52 -- 95 [label=3]; + 52 -- 230 [label=1]; + 53 -- 236 [label=3]; + 53 -- 238 [label=3]; + 54 -- 56 [label=6]; + 54 -- 237 [label=3]; + 55 -- 56 [label=6]; + 55 -- 57 [label=3]; + 56 -- 102 [label=3]; + 61 -- 62 [label=6]; + 62 -- 63 [label=6]; + 64 -- 66 [label=3]; + 65 -- 66 [label=3]; + 69 -- 70 [label=6]; + 69 -- 77 [label=6]; + 70 -- 76 [label=6]; + 71 -- 229 [label=1]; + 72 -- 73 [label=6]; + 72 -- 229 [label=3]; + 73 -- 74 [label=6]; + 74 -- 75 [label=3]; + 75 -- 79 [label=3]; + 76 -- 77 [label=6]; + 77 -- 78 [label=6]; + 78 -- 79 [label=6]; + 79 -- 80 [label=6]; + 80 -- 81 [label=6]; + 81 -- 82 [label=6]; + 81 -- 84 [label=3]; + 82 -- 234 [label=3]; + 83 -- 85 [label=6]; + 83 -- 93 [label=3]; + 84 -- 87 [label=1]; + 85 -- 89 [label=3]; + 86 -- 87 [label=3]; + 86 -- 88 [label=3]; + 88 -- 92 [label=1]; + 89 -- 91 [label=3]; + 90 -- 91 [label=6]; + 90 -- 92 [label=3]; + 93 -- 94 [label=3]; + 94 -- 96 [label=3]; + 95 -- 96 [label=3]; + 97 -- 98 [label=3]; + 98 -- 99 [label=6]; + 99 -- 100 [label=3]; + 100 -- 107 [label=3]; + 101 -- 104 [label=3]; + 101 -- 107 [label=3]; + 102 -- 103 [label=3]; + 103 -- 106 [label=6]; + 104 -- 105 [label=6]; + 105 -- 106 [label=6]; + 107 -- 108 [label=6]; + 108 -- 109 [label=6]; + 108 -- 114 [label=3]; + 110 -- 111 [label=6]; + 110 -- 113 [label=3]; + 113 -- 114 [label=1]; + 233 -- 234 [label=3]; + 233 -- 235 [label=3]; + 235 -- 236 [label=1]; + 237 -- 238 [label=1]; +} diff --git a/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf new file mode 100644 index 00000000..40b55dbf --- /dev/null +++ b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf @@ -0,0 +1,1929 @@ + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + + true + 54.587600 17.610000 2.315350 0.0 0.0 0.0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_1 + 54.587600 17.610000 2.315350 0 0 -0.275092 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Large Rock Fall + + + + + + + + true + 225.065000 -77.066900 -14.073500 0 0 0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_2" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_2 + 225.065000 -77.066900 -14.073500 0 0 1.056680 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Large Rock Fall + + + + + + + + true + 127.255000 -280.265000 -1.574260 0.0 0.0 0.0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_3" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + + dynamic_rocks_3 + 127.255000 -280.265000 -4.144730 0.319924 -0.508086 0.972944 + + 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Rock Fall + + + + + + + + + true + 227.849000 -276.236000 14.808 0 0 0 + + + + /subt_performer_detector + + + 16 25 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_6" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_6 + 227.849000 -276.236000 20.369700 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + + true + 295.221000 -297.105000 6.307410 0 0 0 + + + + /subt_performer_detector + + + 16 25 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_7" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_7 + 295.221000 -302.388000 8.099860 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + true + staging_area + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Starting Area Type B + + + + + true + base_station + -8 0 0 0 0 -1.5708 + 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[label="1::Cave 3 Way Elevation 03 Type A::tile_1"]; + 2 [label="2::Cave 4 Way 01 Lights Type A::tile_2"]; + 3 [label="3::Cave Corner 02 Lights Type A::tile_3"]; + 4 [label="4::Cave Corner 04 Lights Type A::tile_4"]; + 5 [label="5::Cave Straight Lights Type A::tile_5"]; + 6 [label="6::Cave Elevation Corner Type A::tile_6"]; + 7 [label="7::Cave Split Type A::tile_7"]; + 8 [label="8::Cave Corner 03 Type A::tile_8"]; + 9 [label="9::Cave Elevation 02 Type A::tile_9"]; + 10 [label="10::Cave Vertical Shaft Straight Top Type A::tile_10"]; + 11 [label="11::Cave 3 Way 01 Type A::tile_11"]; + 12 [label="12::Cave 3 Way Elevation 02 Lights Type A::tile_12"]; + 13 [label="13::Cave U Turn 01 Type A::tile_13"]; + 14 [label="14::Cave Cap Type A::tile_14"]; + 15 [label="15::Cave Corner 01 Lights Type A::tile_15"]; + 16 [label="16::Cave Corner 04 Lights Type A::tile_16"]; + 17 [label="17::Cave Elevation Corner Type A::tile_17"]; + 18 [label="18::Cave Cap Type A::tile_18"]; + 19 [label="19::Cave 2 Way 01 Type A::tile_19"]; + 20 [label="20::Cave Elevation 02 Type A::tile_20"]; + 21 [label="21::Cave Elevation Straight Lights Type A::tile_21"]; + 22 [label="22::Cave 3 Way Elevation 01 Type A::tile_22"]; + 23 [label="23::Cave Straight Shift Type A::tile_23"]; + 24 [label="24::Cave Straight Shift Type A::tile_24"]; + 25 [label="25::Cave U Turn 01 Type A::tile_25"]; + 26 [label="26::Cave Elevation Straight Type A::tile_26"]; + 27 [label="27::Cave Elevation Straight Lights Type A::tile_27"]; + 28 [label="28::Cave Elevation Straight Type A::tile_28"]; + 29 [label="29::Cave 2 Way 01 Type A::tile_29"]; + 30 [label="30::Cave U Turn Elevation Lights Type A::tile_30"]; + 31 [label="31::Cave Straight Type A::tile_31"]; + 32 [label="32::Cave Corner 02 Type A::tile_32"]; + 33 [label="33::Cave Cap Type A::tile_33"]; + 34 [label="34::Cave Vertical Shaft Straight Bottom Lights Type A::tile_34"]; + 35 [label="35::Cave Vertical Shaft Cantilevered Type A::tile_35"]; + 36 [label="36::Cave Vertical Shaft Cantilevered Type A::tile_36"]; + 37 [label="37::Cave 3 Way Elevation 01 Type A::tile_37"]; + 38 [label="38::Cave Cap Type A::tile_38"]; + 39 [label="39::Cave Corner 03 Type A::tile_39"]; + 40 [label="40::Cave Straight Type A::tile_40"]; + 41 [label="41::Cave Straight Shift Type A::tile_41"]; + 42 [label="42::Cave 3 Way 01 Type A::tile_42"]; + 43 [label="43::Cave Straight Lights Type A::tile_43"]; + 44 [label="44::Cave Corner 01 Lights Type A::tile_44"]; + 45 [label="45::Cave Split Type A::tile_45"]; + 46 [label="46::Cave Corner 02 Lights Type A::tile_46"]; + 47 [label="47::Cave U Turn Elevation Lights Type A::tile_47"]; + 48 [label="48::Cave U Turn 01 Type A::tile_48"]; + 49 [label="49::Cave Corner 03 Type A::tile_49"]; + 50 [label="50::Cave Corner 01 Lights Type A::tile_50"]; + 51 [label="51::Cave Corner 02 Lights Type A::tile_51"]; + 52 [label="52::Cave Elevation Straight Lights Type A::tile_52"]; + 53 [label="53::Cave Cap Type A::tile_53"]; + 54 [label="54::Cave Transition Type A to and from Type B Lights::tile_54"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 54 [label=1]; + 1 -- 6 [label=6]; + 1 -- 10 [label=6]; + 1 -- 14 [label=6]; + 2 -- 3 [label=6]; + 2 -- 18 [label=6]; + 2 -- 30 [label=6]; + 2 -- 39 [label=6]; + 3 -- 8 [label=6]; + 4 -- 12 [label=6]; + 4 -- 13 [label=6]; + 5 -- 22 [label=3]; + 5 -- 27 [label=3]; + 6 -- 30 [label=6]; + 7 -- 13 [label=6]; + 7 -- 17 [label=6]; + 8 -- 28 [label=6]; + 9 -- 11 [label=3]; + 9 -- 12 [label=3]; + 10 -- 11 [label=6]; + 10 -- 35 [label=6]; + 11 -- 15 [label=6]; + 12 -- 54 [label=3]; + 15 -- 24 [label=3]; + 16 -- 21 [label=6]; + 16 -- 22 [label=6]; + 17 -- 19 [label=3]; + 19 -- 20 [label=1]; + 20 -- 21 [label=3]; + 22 -- 23 [label=3]; + 23 -- 26 [label=3]; + 24 -- 31 [label=1]; + 25 -- 26 [label=6]; + 25 -- 27 [label=6]; + 28 -- 29 [label=3]; + 29 -- 50 [label=3]; + 31 -- 32 [label=3]; + 32 -- 33 [label=6]; + 34 -- 36 [label=6]; + 34 -- 37 [label=6]; + 34 -- 38 [label=6]; + 35 -- 36 [label=6]; + 37 -- 40 [label=3]; + 37 -- 41 [label=3]; + 39 -- 52 [label=6]; + 40 -- 42 [label=3]; + 41 -- 43 [label=1]; + 42 -- 45 [label=6]; + 42 -- 46 [label=6]; + 43 -- 44 [label=3]; + 44 -- 45 [label=6]; + 46 -- 47 [label=6]; + 47 -- 48 [label=6]; + 48 -- 49 [label=6]; + 49 -- 53 [label=6]; + 50 -- 51 [label=6]; + 51 -- 52 [label=6]; +} diff --git a/subt_ign/worlds/cave_circuit/03/cave_circuit_03.sdf b/subt_ign/worlds/cave_circuit/03/cave_circuit_03.sdf new file mode 100644 index 00000000..4098facf --- /dev/null +++ b/subt_ign/worlds/cave_circuit/03/cave_circuit_03.sdf @@ -0,0 +1,1241 @@ + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + + true + 230.806000 131.221000 29.773300 0.0 0.0 0.0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_1 + 234.579000 129.354000 28.325200 0 -0.467293 -0.746437 + + 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b/subt_ign/worlds/cave_circuit/04/cave_circuit_04.dat.zip differ diff --git a/subt_ign/worlds/cave_circuit/04/cave_circuit_04.dot b/subt_ign/worlds/cave_circuit/04/cave_circuit_04.dot new file mode 100644 index 00000000..e2962ba7 --- /dev/null +++ b/subt_ign/worlds/cave_circuit/04/cave_circuit_04.dot @@ -0,0 +1,142 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::Cave Elevation Corner Type A::tile_1"]; + 2 [label="2::Cave Straight Shift Type A::tile_2"]; + 3 [label="3::Cave 3 Way Elevation 02 Type A::tile_3"]; + 4 [label="4::Cave Corner 02 Type A::tile_4"]; + 5 [label="5::Cave Corner 01 Type A::tile_5"]; + 6 [label="6::Cave Elevation Straight Type A::tile_6"]; + 7 [label="7::Cave 3 Way Elevation 01 Type A::tile_7"]; + 8 [label="8::Cave 3 Way Elevation 03 Type A::tile_8"]; + 9 [label="9::Cave Elevation 02 Type A::tile_9"]; + 10 [label="10::Cave Straight Type A::tile_10"]; + 23 [label="23::Cave Corner 04 Type A::tile_23"]; + 27 [label="27::Cave U Turn 01 Type A::tile_27"]; + 28 [label="28::Cave 3 Way 01 Type A::tile_28"]; + 29 [label="29::Cave Corner 03 Type A::tile_29"]; + 30 [label="30::Cave Elevation Corner Type A::tile_30"]; + 31 [label="31::Cave 2 Way 01 Type A::tile_31"]; + 32 [label="32::Cave U Turn Elevation Type A::tile_32"]; + 33 [label="33::Cave 3 Way Elevation 02 Type A::tile_33"]; + 34 [label="34::Cave Elevation Straight Type A::tile_34"]; + 35 [label="35::Cave Split Type A::tile_35"]; + 36 [label="36::Cave 3 Way Elevation 01 Type A::tile_36"]; + 37 [label="37::Cave Corner 01 Type A::tile_37"]; + 38 [label="38::Cave Straight Type A::tile_38"]; + 39 [label="39::Cave U Turn Elevation Type A::tile_39"]; + 40 [label="40::Cave Corner 03 Type A::tile_40"]; + 41 [label="41::Cave Elevation 02 Type A::tile_41"]; + 42 [label="42::Cave Vertical Shaft Straight Bottom Type A::tile_42"]; + 43 [label="43::Cave Vertical Shaft Cantilevered Type A::tile_43"]; + 44 [label="44::Cave Vertical Shaft Straight Top Type A::tile_44"]; + 45 [label="45::Cave Vertical Shaft Cantilevered Type A::tile_45"]; + 46 [label="46::Cave Straight Type A::tile_46"]; + 47 [label="47::Cave Corner 01 Type A::tile_47"]; + 48 [label="48::Cave 4 Way 01 Type A::tile_48"]; + 49 [label="49::Cave Elevation Corner Type A::tile_49"]; + 50 [label="50::Cave 3 Way Elevation 01 Type A::tile_50"]; + 51 [label="51::Cave Corner 03 Type A::tile_51"]; + 52 [label="52::Cave 3 Way 01 Type A::tile_52"]; + 53 [label="53::Cave Corner 02 Type A::tile_53"]; + 54 [label="54::Cave 2 Way 01 Type A::tile_54"]; + 55 [label="55::Cave 3 Way 01 Type A::tile_55"]; + 56 [label="56::Cave Corner 03 Type A::tile_56"]; + 57 [label="57::Cave Corner 04 Type A::tile_57"]; + 60 [label="60::Cave U Turn Elevation Type A::tile_60"]; + 61 [label="61::Cave Corner 02 Type A::tile_61"]; + 62 [label="62::Cave Corner 01 Type A::tile_62"]; + 74 [label="74::Cave Elevation Straight Type A::tile_74"]; + 75 [label="75::Cave Elevation Corner Type A::tile_75"]; + 76 [label="76::Cave 3 Way Elevation 03 Type A::tile_76"]; + 77 [label="77::Cave U Turn Elevation Type A::tile_77"]; + 78 [label="78::Cave Corner 03 Type A::tile_78"]; + 79 [label="79::Cave Straight Type A::tile_79"]; + 80 [label="80::Cave U Turn 01 Type A::tile_80"]; + 81 [label="81::Cave Corner 04 Type A::tile_81"]; + 115 [label="115::Cave Transition Type A to and from Type B::tile_115"]; + 117 [label="117::Cave Cap Type A::tile_117"]; + 121 [label="121::Cave Cap Type A::tile_121"]; + 122 [label="122::Cave Cap Type A::tile_122"]; + 123 [label="123::Cave Cap Type A::tile_123"]; + 124 [label="124::Cave Cap Type A::tile_124"]; + 125 [label="125::Cave Cap Type A::tile_125"]; + 126 [label="126::Cave Cap Type A::tile_126"]; + 127 [label="127::Cave Cap Type A::tile_127"]; + 128 [label="128::Cave Cap Type A::tile_128"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 115 [label=1]; + 1 -- 2 [label=3]; + 1 -- 115 [label=3]; + 2 -- 3 [label=3]; + 3 -- 4 [label=6]; + 3 -- 23 [label=6]; + 4 -- 5 [label=6]; + 5 -- 6 [label=6]; + 6 -- 7 [label=6]; + 7 -- 8 [label=6]; + 7 -- 10 [label=3]; + 8 -- 77 [label=6]; + 8 -- 117 [label=6]; + 9 -- 10 [label=1]; + 9 -- 128 [label=3]; + 23 -- 27 [label=6]; + 27 -- 29 [label=6]; + 28 -- 29 [label=6]; + 28 -- 30 [label=6]; + 28 -- 127 [label=6]; + 30 -- 31 [label=3]; + 31 -- 32 [label=3]; + 32 -- 33 [label=6]; + 33 -- 34 [label=6]; + 33 -- 35 [label=6]; + 34 -- 36 [label=6]; + 35 -- 36 [label=6]; + 36 -- 37 [label=6]; + 37 -- 38 [label=3]; + 38 -- 39 [label=3]; + 39 -- 40 [label=6]; + 40 -- 41 [label=3]; + 41 -- 46 [label=1]; + 42 -- 43 [label=6]; + 42 -- 54 [label=3]; + 42 -- 121 [label=6]; + 43 -- 45 [label=6]; + 44 -- 45 [label=6]; + 44 -- 81 [label=6]; + 44 -- 122 [label=6]; + 46 -- 48 [label=3]; + 47 -- 48 [label=6]; + 47 -- 53 [label=6]; + 48 -- 49 [label=6]; + 48 -- 123 [label=6]; + 49 -- 51 [label=6]; + 50 -- 51 [label=6]; + 50 -- 52 [label=6]; + 50 -- 55 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Lights::tile_2"]; + 3 [label="3::Cave Transition Type A to and from Type B Lights::tile_3"]; + 4 [label="4::Cave Straight 02 Lights Type B::tile_4"]; + 5 [label="5::Cave Elevation Lights Type B::tile_5"]; + 6 [label="6::Cave 3 Way 01 Lights Type B::tile_6"]; + 7 [label="7::Cave Transition Type A to and from Type B Lights::tile_7"]; + 8 [label="8::Cave Straight 01 Type B::tile_8"]; + 9 [label="9::Cave Straight Type A::tile_9"]; + 10 [label="10::Cave 4 Way 01 Lights Type A::tile_10"]; + 11 [label="11::Cave 3 Way 01 Type A::tile_11"]; + 12 [label="12::Cave Straight Shift Type A::tile_12"]; + 13 [label="13::Cave 2 Way 01 Type A::tile_13"]; + 14 [label="14::Cave 4 Way 01 Type A::tile_14"]; + 15 [label="15::Cave Corner 02 Type A::tile_15"]; + 16 [label="16::Cave Corner 01 Type B::tile_16"]; + 17 [label="17::Cave Straight Type A::tile_17"]; + 18 [label="18::Cave Cavern Type A::tile_18"]; + 19 [label="19::Cave 3 Way 02 Type A::tile_19"]; + 20 [label="20::Cave Elevation Straight Type A::tile_20"]; + 21 [label="21::Cave Vertical Shaft Type B::tile_21"]; + 22 [label="22::Cave Elevation 01 Type A::tile_22"]; + 23 [label="23::Cave Elevation 01 Type A::tile_23"]; + 24 [label="24::Cave Straight Type A::tile_24"]; + 25 [label="25::Cave Cavern Type A::tile_25"]; + 26 [label="26::Cave 3 Way 02 Type A::tile_26"]; + 27 [label="27::Cave 3 Way Elevation 01 Type A::tile_27"]; + 28 [label="28::Cave Straight Shift Type A::tile_28"]; + 29 [label="29::Cave Straight Type A::tile_29"]; + 30 [label="30::Cave U Turn 01 Type A::tile_30"]; + 31 [label="31::Cave Straight 02 Type B::tile_31"]; + 32 [label="32::Cave Transition Type A to and from Type B::tile_32"]; + 33 [label="33::Cave Split Type A::tile_33"]; + 34 [label="34::Cave Transition Type A to and from Type B::tile_34"]; + 35 [label="35::Cave Transition Type A to and from Type B::tile_35"]; + 36 [label="36::Cave Straight Type A::tile_36"]; + 37 [label="37::Cave Vertical Shaft Type B::tile_37"]; + 38 [label="38::Cave Straight 04 Type B::tile_38"]; + 39 [label="39::Cave Elevation 01 Type A::tile_39"]; + 40 [label="40::Cave Corner 01 Type B::tile_40"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 1 [label=1]; + 1 -- 2 [label=1]; + 2 -- 3 [label=1]; + 3 -- 4 [label=1]; + 4 -- 5 [label=1]; + 5 -- 6 [label=3]; + 6 -- 7 [label=3]; + 6 -- 8 [label=3]; + 7 -- 9 [label=1]; + 8 -- 16 [label=3]; + 9 -- 10 [label=3]; + 10 -- 11 [label=6]; + 10 -- 15 [label=6]; + 10 -- 20 [label=6]; + 11 -- 12 [label=3]; + 11 -- 14 [label=6]; + 12 -- 13 [label=1]; + 13 -- 14 [label=3]; + 14 -- 15 [label=6]; + 14 -- 17 [label=3]; + 16 -- 21 [label=3]; + 17 -- 18 [label=3]; + 18 -- 19 [label=6]; + 18 -- 23 [label=3]; + 18 -- 24 [label=3]; + 19 -- 22 [label=3]; + 20 -- 27 [label=6]; + 21 -- 31 [label=1]; + 22 -- 32 [label=1]; + 23 -- 33 [label=3]; + 24 -- 25 [label=3]; + 25 -- 26 [label=6]; + 25 -- 35 [label=3]; + 25 -- 36 [label=3]; + 26 -- 34 [label=3]; + 27 -- 28 [label=3]; + 27 -- 29 [label=3]; + 28 -- 30 [label=3]; + 29 -- 30 [label=3]; + 31 -- 37 [label=1]; + 32 -- 38 [label=1]; + 33 -- 39 [label=3]; + 34 -- 40 [label=3]; +} diff --git a/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf b/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf new file mode 100644 index 00000000..0c0bfb78 --- /dev/null +++ b/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf @@ -0,0 +1,1423 @@ + + + + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + + true + 330.555000 -119.009000 21.841400 0.0 0.0 0.0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + + dynamic_rocks_1 + 339.242000 -122.163 21.841400 1.172340 -0.244396 -0.228957 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Large Rock Fall + + + + + + dynamic_rocks_1b + 339.242000 -118.163 21.841400 1.172340 -0.244396 -0.228957 + + 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a/subt_ign/worlds/cave_circuit/06/cave_circuit_06.dot b/subt_ign/worlds/cave_circuit/06/cave_circuit_06.dot new file mode 100644 index 00000000..3a8bbcea --- /dev/null +++ b/subt_ign/worlds/cave_circuit/06/cave_circuit_06.dot @@ -0,0 +1,130 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::Cave Straight 03 Type B::tile_1"]; + 2 [label="2::Cave 3 Way 01 Lights Type B::tile_2"]; + 3 [label="3::Cave Straight 02 Lights Type B::tile_3"]; + 4 [label="4::Cave Elevation Lights Type B::tile_4"]; + 5 [label="5::Cave Elevation Lights Type B::tile_5"]; + 6 [label="6::Cave Straight 02 Type B::tile_6"]; + 7 [label="7::Cave 3 Way 01 Lights Type B::tile_7"]; + 8 [label="8::Cave Straight 05 Type B::tile_8"]; + 9 [label="9::Cave 3 Way 01 Type B::tile_9"]; + 10 [label="10::Cave Straight 05 Type B::tile_10"]; + 11 [label="11::Cave Straight 03 Type B::tile_11"]; + 12 [label="12::Cave Cavern Split 02 Type B::tile_12"]; + 13 [label="13::Cave Cavern Split 01 Type B::tile_13"]; + 14 [label="14::Cave Corner 02 Type B::tile_14"]; + 15 [label="15::Cave 3 Way 01 Type B::tile_15"]; + 17 [label="17::Cave Elevation Type B::tile_17"]; + 18 [label="18::Cave Straight 03 Type B::tile_18"]; + 19 [label="19::Cave 3 Way 01 Type B::tile_19"]; + 20 [label="20::Cave Straight 01 Lights Type B::tile_20"]; + 22 [label="22::Cave Straight 05 Lights Type B::tile_22"]; + 23 [label="23::Cave Elevation Type B::tile_23"]; + 24 [label="24::Cave 3 Way 01 Type B::tile_24"]; + 25 [label="25::Cave Straight 05 Type B::tile_25"]; + 26 [label="26::Cave Elevation Type B::tile_26"]; + 28 [label="28::Cave Straight 03 Type B::tile_28"]; + 29 [label="29::Cave 3 Way 01 Type B::tile_29"]; + 30 [label="30::Cave Straight 01 Type B::tile_30"]; + 31 [label="31::Cave Corner 01 Type B::tile_31"]; + 32 [label="32::Cave Straight 03 Type B::tile_32"]; + 33 [label="33::Cave Elevation Type B::tile_33"]; + 35 [label="35::Cave Straight 04 Lights Type B::tile_35"]; + 36 [label="36::Cave Straight 01 Type B::tile_36"]; + 37 [label="37::Cave Straight 03 Type B::tile_37"]; + 38 [label="38::Cave 3 Way 01 Type B::tile_38"]; + 39 [label="39::Cave 3 Way 01 Type B::tile_39"]; + 40 [label="40::Cave 3 Way 01 Type B::tile_40"]; + 42 [label="42::Cave Straight 02 Type B::tile_42"]; + 43 [label="43::Cave Straight 05 Lights Type B::tile_43"]; + 44 [label="44::Cave 3 Way 01 Type B::tile_44"]; + 45 [label="45::Cave Straight 03 Type B::tile_45"]; + 46 [label="46::Cave Straight 03 Type B::tile_46"]; + 47 [label="47::Cave Corner 02 Lights Type B::tile_47"]; + 48 [label="48::Cave Vertical Shaft Type B::tile_48"]; + 49 [label="49::Cave 3 Way 01 Type B::tile_49"]; + 52 [label="52::Cave Straight 05 Type B::tile_52"]; + 55 [label="55::Cave Straight 01 Lights Type B::tile_55"]; + 56 [label="56::Cave Straight 02 Type B::tile_56"]; + 57 [label="57::Cave Elevation Type B::tile_57"]; + 60 [label="60::Cave Straight 05 Type B::tile_60"]; + 61 [label="61::Cave Straight 03 Type B::tile_61"]; + 65 [label="65::Cave Straight 01 Lights Type B::tile_65"]; + 69 [label="69::Cave Straight 03 Type B::tile_69"]; + 72 [label="72::Cave Elevation Lights Type B::tile_72"]; + 73 [label="73::Cave Straight 04 Type B::tile_73"]; + 77 [label="77::Cave Straight 03 Type B::tile_77"]; + 81 [label="81::Cave Straight 01 Lights Type B::tile_81"]; + 85 [label="85::Cave Straight 02 Lights Type B::tile_85"]; + 89 [label="89::Cave Elevation Type B::tile_89"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 1 [label=1]; + 1 -- 2 [label=3]; + 2 -- 3 [label=3]; + 2 -- 4 [label=3]; + 3 -- 5 [label=1]; + 4 -- 6 [label=1]; + 5 -- 7 [label=3]; + 6 -- 8 [label=1]; + 7 -- 9 [label=6]; + 7 -- 10 [label=3]; + 8 -- 11 [label=1]; + 9 -- 12 [label=3]; + 9 -- 73 [label=3]; + 10 -- 15 [label=3]; + 12 -- 13 [label=3]; + 13 -- 17 [label=3]; + 13 -- 18 [label=3]; + 14 -- 61 [label=3]; + 14 -- 73 [label=3]; + 15 -- 19 [label=6]; + 15 -- 20 [label=3]; + 17 -- 22 [label=1]; + 18 -- 23 [label=1]; + 19 -- 24 [label=6]; + 19 -- 25 [label=3]; + 20 -- 26 [label=1]; + 22 -- 28 [label=1]; + 23 -- 29 [label=3]; + 24 -- 30 [label=3]; + 24 -- 31 [label=6]; + 25 -- 32 [label=1]; + 26 -- 33 [label=1]; + 28 -- 35 [label=1]; + 29 -- 36 [label=3]; + 29 -- 37 [label=3]; + 30 -- 38 [label=3]; + 31 -- 39 [label=6]; + 32 -- 40 [label=3]; + 35 -- 42 [label=1]; + 36 -- 43 [label=1]; + 37 -- 44 [label=3]; + 38 -- 45 [label=3]; + 38 -- 46 [label=3]; + 39 -- 47 [label=6]; + 40 -- 48 [label=3]; + 40 -- 49 [label=6]; + 42 -- 52 [label=1]; + 44 -- 55 [label=3]; + 44 -- 56 [label=3]; + 45 -- 57 [label=1]; + 48 -- 60 [label=1]; + 49 -- 61 [label=3]; + 52 -- 65 [label=1]; + 56 -- 69 [label=1]; + 60 -- 72 [label=1]; + 65 -- 77 [label=1]; + 69 -- 81 [label=1]; + 72 -- 85 [label=1]; + 77 -- 89 [label=1]; +} diff --git a/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf b/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf new file mode 100644 index 00000000..aa61b7a3 --- /dev/null +++ b/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf @@ -0,0 +1,1256 @@ + + + + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + + true + 152.895000 42.074100 14.025700 0 0 0 + + + + /subt_performer_detector + + + 25 16 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_1 + 151.793000 40.998700 13.593000 0 0 -2.368540 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Large Rock Fall + + + + + + + + true + 123.259000 119.252000 18.634200 0 0 0 + + + + 1.0 + + + 16 25 15 + + + + + 0.0 1.0 0.0 1 + 0.0 1.0 0.0 1 + 0.5 0.5 0.5 1 + + false + + + /subt_performer_detector + + + 16 25 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_2" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_2 + 123.259000 119.252000 18.634200 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + + true + 232.034000 -0.300330 9.838950 0 0 0 + + + + 1.0 + + + 10 25 15 + + + + + 0.0 1.0 0.0 1 + 0.0 1.0 0.0 1 + 0.5 0.5 0.5 1 + + false + + + /subt_performer_detector + + + 10 25 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_3" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_3 + 232.034000 -0.300330 9.838950 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Starting Area Type B + staging_area + 0 0 0 0 -0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station + base_station + -8 0 0 0 0 -1.5708 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + artifact_origin + 10.0 0.0 0.0 0 0 0 + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight 03 Type 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[label="3::Cave 3 Way Elevation 01 Type A::tile_3"]; + 4 [label="4::Cave 4 Way 01 Type A::tile_4"]; + 5 [label="5::Cave 4 Way 01 Type A::tile_5"]; + 6 [label="6::Cave Corner 01 Type A::tile_6"]; + 7 [label="7::Cave 4 Way 01 Type A::tile_7"]; + 8 [label="8::Cave Elevation Straight Lights Type A::tile_8"]; + 9 [label="9::Cave 3 Way 02 Type A::tile_9"]; + 10 [label="10::Cave U Turn 01 Type A::tile_10"]; + 11 [label="11::Cave Straight Shift Type A::tile_11"]; + 12 [label="12::Cave Straight Type A::tile_12"]; + 13 [label="13::Cave Elevation Straight Type A::tile_13"]; + 14 [label="14::Cave 3 Way 02 Type A::tile_14"]; + 15 [label="15::Cave Corner 01 Type A::tile_15"]; + 16 [label="16::Cave Vertical Shaft Straight Bottom Lights Type A::tile_16"]; + 17 [label="17::Cave Vertical Shaft Straight Top Type A::tile_17"]; + 18 [label="18::Cave Vertical Shaft Cantilevered Type A::tile_18"]; + 19 [label="19::Cave 3 Way Elevation 02 Lights Type A::tile_19"]; + 20 [label="20::Cave 3 Way Elevation 02 Type A::tile_20"]; + 21 [label="21::Cave U Turn 01 Type A::tile_21"]; + 22 [label="22::Cave 3 Way 01 Type A::tile_22"]; + 23 [label="23::Cave Straight Shift Type A::tile_23"]; + 24 [label="24::Cave 2 Way 01 Type A::tile_24"]; + 25 [label="25::Cave 4 Way 01 Type A::tile_25"]; + 26 [label="26::Cave Split Type A::tile_26"]; + 27 [label="27::Cave Corner 01 Type A::tile_27"]; + 28 [label="28::Cave Corner 02 Type A::tile_28"]; + 29 [label="29::Cave Corner 02 Type A::tile_29"]; + 30 [label="30::Cave Elevation Corner Type A::tile_30"]; + 31 [label="31::Cave Vertical Shaft Cantilevered Type A::tile_31"]; + 32 [label="32::Cave Vertical Shaft Straight Bottom Lights Type A::tile_32"]; + 33 [label="33::Cave Vertical Shaft Straight Top Type A::tile_33"]; + 34 [label="34::Cave Straight Type A::tile_34"]; + 35 [label="35::Cave Corner 02 Lights Type A::tile_35"]; + 36 [label="36::Cave Straight Type A::tile_36"]; + 37 [label="37::Cave Straight Shift Type A::tile_37"]; + 38 [label="38::Cave Corner 03 Type A::tile_38"]; + 39 [label="39::Cave Corner 04 Type A::tile_39"]; + 40 [label="40::Cave Vertical Shaft Cantilevered Type A::tile_40"]; + 41 [label="41::Cave Vertical Shaft Straight Bottom Type A::tile_41"]; + 42 [label="42::Cave Vertical Shaft Straight Top Type A::tile_42"]; + 43 [label="43::Cave U Turn Elevation Type A::tile_43"]; + 44 [label="44::Cave Cavern Type A::tile_44"]; + 45 [label="45::Cave Elevation 01 Type A::tile_45"]; + 46 [label="46::Cave Corner 01 Type A::tile_46"]; + 47 [label="47::Cave Elevation Straight Lights Type A::tile_47"]; + 48 [label="48::Cave Vertical Shaft Straight Bottom Type A::tile_48"]; + 49 [label="49::Cave Vertical Shaft Straight Top Type A::tile_49"]; + 50 [label="50::Cave U Turn Elevation Type A::tile_50"]; + 51 [label="51::Cave Corner 03 Type A::tile_51"]; + 52 [label="52::Cave Vertical Shaft Type A::tile_52"]; + 53 [label="53::Cave Elevation 02 Type A::tile_53"]; + 54 [label="54::Cave Vertical Shaft Straight Bottom Type A::tile_54"]; + 55 [label="55::Cave Vertical Shaft Dead End Type A::tile_55"]; + 56 [label="56::Cave 3 Way Elevation 03 Type A::tile_56"]; + 100 [label="100::Cave Cap Type A::cap_100"]; + 101 [label="101::Cave Cap Type A::cap_101"]; + 102 [label="102::Cave Cap Type A::cap_102"]; + 103 [label="103::Cave Cap Type A::cap_103"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 1 [label=1]; + 1 -- 32 [label=3]; + 2 -- 3 [label=6]; + 2 -- 8 [label=6]; + 3 -- 7 [label=6]; + 3 -- 29 [label=6]; + 4 -- 6 [label=6]; + 4 -- 13 [label=6]; + 4 -- 26 [label=6]; + 4 -- 34 [label=3]; + 5 -- 21 [label=6]; + 5 -- 22 [label=6]; + 5 -- 28 [label=6]; + 5 -- 103 [label=6]; + 6 -- 9 [label=6]; + 7 -- 29 [label=6]; + 7 -- 30 [label=6]; + 7 -- 100 [label=6]; + 8 -- 17 [label=6]; + 9 -- 12 [label=3]; + 9 -- 21 [label=6]; + 10 -- 11 [label=3]; + 10 -- 12 [label=3]; + 11 -- 34 [label=1]; + 13 -- 14 [label=6]; + 14 -- 15 [label=6]; + 14 -- 20 [label=6]; + 15 -- 16 [label=6]; + 16 -- 18 [label=6]; + 16 -- 19 [label=6]; + 17 -- 18 [label=6]; + 17 -- 36 [label=3]; + 19 -- 32 [label=6]; + 19 -- 35 [label=6]; + 20 -- 37 [label=3]; + 20 -- 48 [label=6]; + 22 -- 23 [label=3]; + 22 -- 25 [label=6]; + 23 -- 24 [label=1]; + 24 -- 25 [label=3]; + 25 -- 27 [label=6]; + 25 -- 28 [label=6]; + 26 -- 27 [label=6]; + 30 -- 33 [label=6]; + 31 -- 32 [label=6]; + 31 -- 33 [label=6]; + 33 -- 53 [label=3]; + 35 -- 36 [label=3]; + 37 -- 38 [label=3]; + 38 -- 39 [label=6]; + 39 -- 56 [label=6]; + 40 -- 41 [label=6]; + 40 -- 42 [label=6]; + 41 -- 43 [label=6]; + 41 -- 56 [label=6]; + 42 -- 43 [label=6]; + 42 -- 44 [label=6]; + 44 -- 45 [label=3]; + 44 -- 54 [label=6]; + 44 -- 101 [label=6]; + 45 -- 46 [label=3]; + 46 -- 47 [label=6]; + 47 -- 49 [label=6]; + 48 -- 51 [label=6]; + 48 -- 52 [label=3]; + 49 -- 50 [label=6]; + 49 -- 52 [label=3]; + 50 -- 51 [label=6]; + 53 -- 54 [label=3]; + 54 -- 55 [label=3]; + 56 -- 102 [label=6]; +} diff --git a/subt_ign/worlds/cave_circuit/07/cave_circuit_07.sdf 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189.375 810 474.558 + 10 + + + rescue_randy_3 + 293.153 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + helmet_4 + 296.8 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + tile_14 + tile_37 + tile_42 + tile_43 + tile_44 + cap_101 + 337.5 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + rescue_randy_4 + 384.628 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + tile_40 + tile_41 + tile_56 + cap_102 + 387.5 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + rope_4 + 409.12 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + phone_4 + 412.14 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + tile_20 + tile_45 + 412.5 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + helmet_3 + 467.135 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + rope_1 + 482.715 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + tile_46 + tile_47 + tile_48 + tile_49 + tile_50 + tile_52 + 487.5 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + tile_51 + 537.5 -150 28.279 0 0 0 + 189.375 810 474.558 + 10 + + + tile_24 + 287.5 -375 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_23 + tile_25 + tile_27 + 287.5 -350 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rope_2 + 287.5 -348.321 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + phone_3 + 287.5 -335.853 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_2 + tile_3 + tile_22 + tile_28 + 287.5 -300 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_26 + 287.5 -275 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_5 + tile_29 + 287.5 -250 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + helmet_2 + 287.5 -248.778 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + backpack_3 + 287.5 -247.678 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rope_3 + 287.5 -230.892 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_8 + tile_21 + cap_103 + 287.5 -225 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_4 + tile_6 + tile_7 + tile_13 + tile_50 + cap_100 + 287.5 -200 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rescue_randy_3 + 287.5 -196.5 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_9 + tile_14 + tile_17 + tile_20 + tile_34 + tile_48 + tile_49 + tile_51 + tile_52 + backpack_2 + 287.5 -150 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + helmet_3 + 287.5 -147.069 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rescue_randy_1 + 287.5 -136.003 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_11 + tile_12 + tile_15 + tile_16 + tile_18 + tile_36 + tile_38 + tile_43 + 287.5 -100 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rescue_randy_2 + 287.5 -82.8494 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_30 + tile_37 + tile_47 + 287.5 -75 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_10 + tile_35 + tile_40 + tile_41 + tile_42 + 287.5 -50 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_39 + 287.5 -25 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rescue_randy_4 + 287.5 -17.2074 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + helmet_1 + 287.5 -15.166 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + phone_2 + 287.5 -1.57987 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + helmet_4 + 287.5 -0.13845 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_1 + tile_19 + tile_31 + tile_32 + tile_33 + tile_44 + tile_45 + tile_46 + tile_53 + tile_54 + tile_55 + 287.5 0 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rope_1 + 287.5 1.36702 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + backpack_4 + 287.5 2.35599 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + rope_4 + 287.5 3.43221 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + backpack_1 + 287.5 3.74603 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + phone_1 + 287.5 15.5 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + phone_4 + 287.5 22.825 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + tile_56 + cap_101 + 287.5 25 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + cap_102 + 287.5 75 28.279 0 0 0 + 702 337.5 474.558 + 10 + + + + diff --git a/subt_ign/worlds/cave_circuit/08/cave_circuit_08.dat.zip b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.dat.zip new file mode 100644 index 00000000..dbdc6576 Binary files /dev/null and b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.dat.zip differ diff --git a/subt_ign/worlds/cave_circuit/08/cave_circuit_08.dot b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.dot new file mode 100644 index 00000000..3cf7f761 --- /dev/null +++ b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.dot @@ -0,0 +1,35 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::Jenolan Section 01::tile_1"]; + 2 [label="2::Jenolan Section 02::tile_2"]; + 3 [label="3::Jenolan Section 03::tile_3"]; + 4 [label="4::Jenolan Section 04::tile_4"]; + 5 [label="5::Jenolan Section 05::tile_5"]; + 6 [label="6::Jenolan Section 06::tile_6"]; + 7 [label="7::Jenolan Section 07::tile_7"]; + 8 [label="8::Jenolan Section 08::tile_8"]; + 9 [label="9::Jenolan Section 09::tile_9"]; + 10 [label="10::Jenolan Section 10::tile_10"]; + 11 [label="11::Jenolan Section 11::tile_11"]; + + /* ==== Edges ==== */ + + /* Base station */ + 0 -- 5 [label=1]; + 1 -- 2 [label=6]; + 2 -- 3 [label=6]; + 3 -- 4 [label=6]; + 4 -- 5 [label=6]; + 5 -- 6 [label=6]; + 6 -- 7 [label=6]; + 6 -- 8 [label=6]; + 8 -- 9 [label=6]; + 9 -- 10 [label=6]; + 10 -- 11 [label=6]; +} diff --git a/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf new file mode 100644 index 00000000..2e4a5122 --- /dev/null +++ b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf @@ -0,0 +1,226 @@ + + + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + true + staging_area + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Starting Area Type B + + + + + true + base_station + -8 0 0 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station + + + + + artifact_origin + 10.0 0.0 0.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + + true + tile_1 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 01 + + + + true + tile_2 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 02 + + + + true + tile_3 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 03 + + + + true + tile_4 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 04 + + + + true + tile_5 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 05 Lights + + + + true + tile_6 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 06 + + + + true + tile_7 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 07 + + + + true + tile_8 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 08 + + + + true + tile_9 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 09 + + + + true + tile_10 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 10 + + + + true + tile_11 + 0 0 0 1.57 0 1.57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jenolan Section 11 + + + + + backpack_1 + 32.3631 11.431 7.62212 -0.899778 0.061821 0.919509 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + backpack_2 + 110.572 46.2751 -4.88578 0.026012 0.043313 0.720064 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + backpack_3 + 157.816 101.766 -4.50675 -0.040345 -0.002497 1.43355 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + backpack_4 + 73.3787 -236.1450 10.0446 0.0 0.0 1.168030 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + rescue_randy_1 + 209.682 -132.933 10.007 0.065975 0.138911 -1.36773 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + rescue_randy_2 + 131.153 -227.756 0.321615 0 -0.089236 -1.16113 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + rescue_randy_3 + 21.239 -9.61435 -3.01032 0.056947 0.337425 2.12416 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + rescue_randy_4 + 160.708 73.2285 0.965447 0.379158 0.176725 -0.240493 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + rescue_randy_5 + 83.5267 324.828 14.9127 0.028771 0.204703 -0.242483 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + + helmet_1 + 80.4927 28.04530 -1.789780 0.169009 0.208747 -2.914410 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + helmet_2 + 157.2340 5.33024 -1.19615 0.490837 -0.135195 2.507060 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + helmet_3 + 157.807 152.129 -0.475435 0.32586 0.138143 1.33285 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + helmet_4 + 93.3368 132.072 16.005 0 0.153146 -1.47254 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + helmet_5 + 25.0356 396.3600 22.6490 0.170207 0.0 -2.319340 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + + rope_1 + 106.364 26.50860 1.549930 -1.319690 -1.526240 0.0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + rope_2 + 155.501 -15.37460 15.4086 -0.310952 -0.180757 1.060770 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + rope_3 + 142.7550 95.91580 35.21650 0.130178 1.224550 0.444386 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + rope_4 + -36.76780 493.2130 12.45710 0.0 0.0 -1.118760 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + + phone_1 + -27.96870 -231.2480 22.55510 -1.56060 -0.009221 0.735225 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + phone_2 + 107.444 228.745 12.5805 -0.81255 0.119051 -0.965277 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + diff --git a/subt_ros/launch/cloudsim_init.launch b/subt_ros/launch/cloudsim_init.launch index 93f57873..2e4c85ff 100644 --- a/subt_ros/launch/cloudsim_init.launch +++ b/subt_ros/launch/cloudsim_init.launch @@ -15,5 +15,8 @@ type="subt_ros_relay" name="subt_ros_relay"/> - +