diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index e7739cf0..cc21262d 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -375,6 +375,9 @@ <% elsif $worldName.include?('final_event') && !$worldName.include?('practice') %> final_event/<%= worldNumber %>/<%= $worldName %>.sdf + <% elsif $worldName.include?('final_prelim') && + !$worldName.include?('practice') %> + final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf <% else %> <%= $worldName %>.sdf <% end %> diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index c84fbad2..c5824149 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -289,6 +289,9 @@ <% elsif $worldName.include?('final_event') && !$worldName.include?('practice') %> final_event/<%= worldNumber %>/<%= $worldName %>.sdf + <% elsif $worldName.include?('final_prelim') && + !$worldName.include?('practice') %> + final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf <% else %> <%= $worldName %>.sdf <% end %> diff --git a/subt_ign/launch/validate_artifacts.ign b/subt_ign/launch/validate_artifacts.ign index 0997b162..0c573a7f 100644 --- a/subt_ign/launch/validate_artifacts.ign +++ b/subt_ign/launch/validate_artifacts.ign @@ -66,6 +66,9 @@ ign service -s /artifact/move_to \ <% elsif $worldName.include?('final_event') && !$worldName.include?('practice') %> final_event/<%= worldNumber %>/<%= $worldName %>.sdf + <% elsif $worldName.include?('final_prelim') && + !$worldName.include?('practice') %> + final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf <% else %> <%= $worldName %>.sdf <% end %> diff --git a/subt_ign/launch/validate_connections.ign b/subt_ign/launch/validate_connections.ign index 8878d3c5..d71e52ee 100644 --- a/subt_ign/launch/validate_connections.ign +++ b/subt_ign/launch/validate_connections.ign @@ -72,6 +72,9 @@ ign service -s /connection/prev \ <% elsif $worldName.include?('final_event') && !$worldName.include?('practice') %> final_event/<%= worldNumber %>/<%= $worldName %>.sdf + <% elsif $worldName.include?('final_prelim') && + !$worldName.include?('practice') %> + final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf <% else %> <%= $worldName %>.sdf <% end %> diff --git a/subt_ign/launch/visibility.ign b/subt_ign/launch/visibility.ign index 141dbdfb..3780187b 100644 --- a/subt_ign/launch/visibility.ign +++ b/subt_ign/launch/visibility.ign @@ -91,6 +91,9 @@ <% elsif $worldName.include?('final_event') && !$worldName.include?('practice') %> final_event/<%= worldNumber %>/<%= $worldName %>.sdf + <% elsif $worldName.include?('final_prelim') && + !$worldName.include?('practice') %> + final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf <% else %> <%= $worldName %>.sdf <% end %> diff --git a/subt_ign/src/Common.cc b/subt_ign/src/Common.cc index ad652676..2f236776 100644 --- a/subt_ign/src/Common.cc +++ b/subt_ign/src/Common.cc @@ -107,6 +107,7 @@ bool FullWorldPath(const std::string &_worldName, const std::string urbanPrefix = "urban_circuit_"; const std::string cavePrefix = "cave_circuit_"; const std::string finalPrefix = "final_event_"; + const std::string finalPrelimPrefix = "final_prelim_"; if (0 == _worldName.compare(0, tunnelPrefix.size(), tunnelPrefix)) { std::string suffix = _worldName.substr(tunnelPrefix.size()); @@ -143,6 +144,12 @@ bool FullWorldPath(const std::string &_worldName, worldsDirectory = ignition::common::joinPaths(worldsDirectory, "final_event", suffix); } + else if (_worldName.find(finalPrelimPrefix) != std::string::npos) + { + std::string suffix = _worldName.substr(finalPrelimPrefix.size()); + worldsDirectory = ignition::common::joinPaths(worldsDirectory, + "final_prelim", suffix); + } else if (_worldName.find("simple") == std::string::npos && _worldName.find("_qual") == std::string::npos && _worldName.find("_stix") == std::string::npos && diff --git a/subt_ign/src/ConnectionHelper.cc b/subt_ign/src/ConnectionHelper.cc index 4389d8c9..6a6f6e1f 100644 --- a/subt_ign/src/ConnectionHelper.cc +++ b/subt_ign/src/ConnectionHelper.cc @@ -48,18 +48,24 @@ std::map> {"Tunnel Tile 7", {{0, -10, 0}, {0, 10, 5}}}, {"Tunnel Tile 7 Lights", {{0, -10, 0}, {0, 10, 5}}}, {"Rough Tunnel Tile 90-degree Turn", {{0, -10, 0}, {10, 0, 0}}}, + {"Rough Tunnel Tile 90-degree Turn Lights", {{0, -10, 0}, {10, 0, 0}}}, {"Rough Tunnel Tile Ramp", {{0, -10, 0}, {0, 10, 5}}}, + {"Rough Tunnel Tile Ramp Lights", {{0, -10, 0}, {0, 10, 5}}}, {"Rough Tunnel Tile Straight", {{0, -10, 0}, {0, 10, 0}}}, + {"Rough Tunnel Tile Straight Lights", {{0, -10, 0}, {0, 10, 0}}}, {"Rough Tunnel Tile Vertical Shaft", {{0, -10, 0}, {0, 10, 5}}}, {"Rough Tunnel Tile 4-way Intersection", {{0, -10, 0}, {0, 10, 0}, {10, 0, 0}, {-10, 0, 0}}}, + {"Rough Tunnel Tile 4-way Intersection Lights", {{0, -10, 0}, {0, 10, 0}, {10, 0, 0}, {-10, 0, 0}}}, {"Urban Straight", {{0, 20, 0}, {0, -20, 0}}}, {"Urban Straight Lights", {{0, 20, 0}, {0, -20, 0}}}, {"Urban Bend Right", {{0, -20, 0}, {20, 0, 0}}}, {"Urban Bend Left", {{0, -20, 0}, {-20, 0, 0}}}, {"Urban Bend Left Lights", {{0, -20, 0}, {-20, 0, 0}}}, + {"Urban Bend Mixed", {{0, -20, 0}, {20, 0, 0}}}, {"Urban Superpose", {{0, 20, 0}, {0, -20, 0}, {-20, 0, 10}, {20, 0, 10}}}, {"Urban 3-Way Right Intersection", {{0, 20, 0}, {0, -20, 0}, {20, 0, 0}}}, + {"Urban 4way Intersection", {{0, -10, 0}, {0, 10, 0}, {10, 0, 0}, {-10, 0, 0}}}, {"Urban Straight Door Right", {{20, 0, 0}, {-20, 0, 0}, {-16.021, 3.94, 0.94}}}, {"Urban Straight Door Left", @@ -70,6 +76,8 @@ std::map> {{20, 0, 0}, {-20, 0, 0}, {-16.021, 3.94, 0.94}}}, {"Urban Straight Door Left Flipped", {{20, 0, 0}, {-20, 0, 0}, {-16.021, -3.94, 0.94}}}, + {"Urban Straight Door Left Extension", + {{20, 0, 0}, {-20, 0, 0}, {0, -20, 0}}}, {"Urban Straight Door Right Extension", {{20, 0, 0}, {-20, 0, 0}, {0, 20, 0}}}, {"Urban Straight Door Right Extension Lights", @@ -203,8 +211,14 @@ std::map> {"Cave Tunnel Transition", {{0, 25, 0}, {0, -25, 0}, {-25, 0, 0}}}, {"Cave Tunnel Transition Lights", {{0, 25, 0}, {0, -25, 0}, {-25, 0, 0}}}, {"Urban Cave Transition", {{0, -12, 0}, {0, 12, 0}, {-25, 0, 0}}}, + {"Urban Cave Transition 2", {{0, -12, 0}, {0, 12, 0}, {-25, 0, 0}}}, {"Urban Cave Transition Straight", {{0, -5, 0}, {0, 5, 0}}}, + {"Urban Cave Transition Straight Large", {{0, -5, 0}, {0, 5, 0}}}, + {"Urban Cave Transition Straight Lights", {{0, -5, 0}, {0, 5, 0}}}, {"Urban Tunnel Transition", {{0, 0, 0}, {0, -15, -5}}}, + {"Urban Tunnel Transition 2", {{0, 0, 0}, {0, -15, -5}}}, + {"Urban Tunnel Transition Straight", {{0, -5, 0}, {0, 5, 0}}}, + {"4-Way Finals Transition", {{8, 0, 0}, {-8, 0, 0}, {0, 8, 0}, {0, -8, 0}}}, {"4-Way Finals Transition 2", {{8, 0, 0}, {-8, 0, 0}, {0, 8, 0}, {0, -8, 0}}}, {"4-Way Finals Transition 2 Lights", {{8, 0, 0}, {-8, 0, 0}, {0, 8, 0}, {0, -8, 0}}}, {"Finals Staging Area", {{0, 5, 0}}}, @@ -213,6 +227,16 @@ std::map> std::map subt::ConnectionHelper::connectionTypes = { + {"Constrained Tunnel Tile Short", subt::ConnectionHelper::STRAIGHT}, + {"Constrained Tunnel Tile Tall", subt::ConnectionHelper::STRAIGHT}, + {"Tunnel Bend Right", subt::ConnectionHelper::TURN}, + {"Tunnel Corner Left", subt::ConnectionHelper::TURN}, + {"Tunnel Corner Right", subt::ConnectionHelper::TURN}, + {"Tunnel Elevation", subt::ConnectionHelper::STRAIGHT}, + {"Tunnel Intersection", subt::ConnectionHelper::TURN}, + {"Tunnel Intersection T", subt::ConnectionHelper::TURN}, + {"Tunnel Straight", subt::ConnectionHelper::STRAIGHT}, + {"subt_tunnel_staging_area", subt::ConnectionHelper::STRAIGHT}, {"Tunnel Tile 1", subt::ConnectionHelper::TURN}, {"Tunnel Tile 1 Lights", subt::ConnectionHelper::TURN}, {"Tunnel Tile 2", subt::ConnectionHelper::TURN}, @@ -227,19 +251,32 @@ std::map {"Tunnel Tile 6 Lights", subt::ConnectionHelper::STRAIGHT}, {"Tunnel Tile 7", subt::ConnectionHelper::TURN}, {"Tunnel Tile 7 Lights", subt::ConnectionHelper::TURN}, + {"Rough Tunnel Tile 90-degree Turn", subt::ConnectionHelper::TURN}, + {"Rough Tunnel Tile 90-degree Turn Lights", subt::ConnectionHelper::TURN}, + {"Rough Tunnel Tile Ramp", subt::ConnectionHelper::STRAIGHT}, + {"Rough Tunnel Tile Ramp Lights", subt::ConnectionHelper::STRAIGHT}, + {"Rough Tunnel Tile Straight", subt::ConnectionHelper::STRAIGHT}, + {"Rough Tunnel Tile Straight Lights", subt::ConnectionHelper::STRAIGHT}, + {"Rough Tunnel Tile Vertical Shaft", subt::ConnectionHelper::STRAIGHT}, + {"Rough Tunnel Tile 4-way Intersection", subt::ConnectionHelper::TURN}, + {"Rough Tunnel Tile 4-way Intersection Lights", subt::ConnectionHelper::TURN}, + {"Urban Straight", subt::ConnectionHelper::STRAIGHT}, {"Urban Straight Lights", subt::ConnectionHelper::STRAIGHT}, {"Urban Bend Right", subt::ConnectionHelper::TURN}, {"Urban Bend Left", subt::ConnectionHelper::TURN}, {"Urban Bend Left Lights", subt::ConnectionHelper::TURN}, + {"Urban Bend Mixed", subt::ConnectionHelper::TURN}, {"Urban Superpose", subt::ConnectionHelper::TURN}, {"Urban 3-Way Right Intersection", subt::ConnectionHelper::TURN}, + {"Urban 4way Intersection", subt::ConnectionHelper::TURN}, {"Urban Straight Door Right", subt::ConnectionHelper::STRAIGHT}, {"Urban Straight Door Left", subt::ConnectionHelper::STRAIGHT}, {"Urban Straight Door Right Flipped", subt::ConnectionHelper::STRAIGHT}, {"Urban Straight Door Right Flipped Lights", subt::ConnectionHelper::STRAIGHT}, {"Urban Straight Door Left Flipped", subt::ConnectionHelper::STRAIGHT}, + {"Urban Straight Door Left Extension", subt::ConnectionHelper::TURN}, {"Urban Straight Door Right Extension", subt::ConnectionHelper::TURN}, {"Urban Straight Door Right Extension Lights", subt::ConnectionHelper::TURN}, @@ -348,6 +385,17 @@ std::map {"Jenolan Section 09", subt::ConnectionHelper::TURN}, {"Jenolan Section 10", subt::ConnectionHelper::TURN}, {"Jenolan Section 11", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX Staging", subt::ConnectionHelper::STRAIGHT}, + {"Edgar Mine Virtual STIX 1", subt::ConnectionHelper::STRAIGHT}, + {"Edgar Mine Virtual STIX 2", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX 3", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX 4", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX 5", subt::ConnectionHelper::STRAIGHT}, + {"Edgar Mine Virtual STIX 6", subt::ConnectionHelper::STRAIGHT}, + {"Edgar Mine Virtual STIX 7", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX 8", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX 9", subt::ConnectionHelper::TURN}, + {"Edgar Mine Virtual STIX 10", subt::ConnectionHelper::STRAIGHT}, {"Universal Straight 10", subt::ConnectionHelper::STRAIGHT}, {"Universal Straight 5", subt::ConnectionHelper::STRAIGHT}, {"Universal Straight 2.5", subt::ConnectionHelper::STRAIGHT}, @@ -356,8 +404,12 @@ std::map {"Cave Tunnel Transition", subt::ConnectionHelper::STRAIGHT}, {"Cave Tunnel Transition Lights", subt::ConnectionHelper::STRAIGHT}, {"Urban Cave Transition", subt::ConnectionHelper::STRAIGHT}, + {"Urban Cave Transition 2", subt::ConnectionHelper::STRAIGHT}, {"Urban Cave Transition Straight", subt::ConnectionHelper::STRAIGHT}, + {"Urban Cave Transition Straight Large", subt::ConnectionHelper::STRAIGHT}, + {"Urban Tunnel Transition Straight", subt::ConnectionHelper::STRAIGHT}, {"Urban Tunnel Transition", subt::ConnectionHelper::STRAIGHT}, + {"Urban Tunnel Transition 2", subt::ConnectionHelper::STRAIGHT}, {"Finals Staging Area", subt::ConnectionHelper::STRAIGHT}, {"4-Way Finals Transition", subt::ConnectionHelper::TURN}, {"4-Way Finals Transition 2", subt::ConnectionHelper::TURN}, @@ -367,6 +419,16 @@ std::map std::map subt::ConnectionHelper::circuitTypes = { + {"Constrained Tunnel Tile Short", subt::ConnectionHelper::TUNNEL}, + {"Constrained Tunnel Tile Tall", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Bend Right", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Corner Left", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Corner Right", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Elevation", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Intersection", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Intersection T", subt::ConnectionHelper::TUNNEL}, + {"Tunnel Straight", subt::ConnectionHelper::TUNNEL}, + {"subt_tunnel_staging_area", subt::ConnectionHelper::TUNNEL}, {"Tunnel Tile 1", subt::ConnectionHelper::TUNNEL}, {"Tunnel Tile 1 Lights", subt::ConnectionHelper::TUNNEL}, {"Tunnel Tile 2", subt::ConnectionHelper::TUNNEL}, @@ -381,6 +443,16 @@ std::map {"Tunnel Tile 6 Lights", subt::ConnectionHelper::TUNNEL}, {"Tunnel Tile 7", subt::ConnectionHelper::TUNNEL}, {"Tunnel Tile 7 Lights", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile 90-degree Turn", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile 90-degree Turn Lights", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile Ramp", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile Ramp Lights", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile Straight", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile Straight Lights", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile Vertical Shaft", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile 4-way Intersection", subt::ConnectionHelper::TUNNEL}, + {"Rough Tunnel Tile 4-way Intersection Lights", subt::ConnectionHelper::TUNNEL}, + {"Urban Straight", subt::ConnectionHelper::URBAN}, {"Urban Straight Lights", subt::ConnectionHelper::URBAN}, {"Urban Bend Right", subt::ConnectionHelper::URBAN}, @@ -422,7 +494,10 @@ std::map {"Urban 2 Story Large Side 2", subt::ConnectionHelper::URBAN}, {"Urban Large Room Split", subt::ConnectionHelper::URBAN}, {"Urban Large Room Split Lights", subt::ConnectionHelper::URBAN}, + {"Urban Straight Door Left Extension", subt::ConnectionHelper::URBAN}, + {"Urban Bend Mixed", subt::ConnectionHelper::URBAN}, {"Cave Starting Area Type B", subt::ConnectionHelper::CAVE}, + {"Cave Straight 01", subt::ConnectionHelper::CAVE}, {"Cave Straight 01 Type B", subt::ConnectionHelper::CAVE}, {"Cave Straight 01 Lights Type B", subt::ConnectionHelper::CAVE}, {"Cave Straight 02 Type B", subt::ConnectionHelper::CAVE}, @@ -502,6 +577,17 @@ std::map {"Jenolan Section 09", subt::ConnectionHelper::CAVE}, {"Jenolan Section 10", subt::ConnectionHelper::CAVE}, {"Jenolan Section 11", subt::ConnectionHelper::CAVE}, + {"Edgar Mine Virtual STIX Staging", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 1", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 2", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 3", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 4", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 5", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 6", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 7", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 8", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 9", subt::ConnectionHelper::TUNNEL}, + {"Edgar Mine Virtual STIX 10", subt::ConnectionHelper::TUNNEL}, {"Universal Straight 10", subt::ConnectionHelper::UNIVERSAL}, {"Universal Straight 5", subt::ConnectionHelper::UNIVERSAL}, {"Universal Straight 2.5", subt::ConnectionHelper::UNIVERSAL}, @@ -512,6 +598,8 @@ std::map {"Urban Cave Transition", subt::ConnectionHelper::TRANSITION}, {"Urban Cave Transition Straight", subt::ConnectionHelper::TRANSITION}, {"Urban Tunnel Transition", subt::ConnectionHelper::TRANSITION}, + {"Urban Tunnel Transition 2", subt::ConnectionHelper::TRANSITION}, + {"Urban Tunnel Transition Straight", subt::ConnectionHelper::TRANSITION}, {"Finals Staging Area", subt::ConnectionHelper::STAGING_AREA}, {"4-Way Finals Transition", subt::ConnectionHelper::TRANSITION}, {"4-Way Finals Transition 2", subt::ConnectionHelper::TRANSITION}, @@ -525,27 +613,43 @@ using namespace subt; bool ConnectionHelper::ComputePoint(VertexData *_tile1, VertexData *_tile2, ignition::math::Vector3d& _pt) { - if (!ConnectionHelper::connectionPoints.count(_tile1->tileType)) + std::string conn1, conn2; + for (const auto &connection : ConnectionHelper::connectionPoints) + { + if (ignition::common::lowercase(connection.first) == + ignition::common::lowercase(_tile1->tileType)) + { + conn1 = connection.first; + } + + if (ignition::common::lowercase(connection.first) == + ignition::common::lowercase(_tile2->tileType)) + { + conn2 = connection.first; + } + } + + if (conn1.empty()) { ignwarn << "No connection information for: " << _tile1->tileType << std::endl; return false; } - if (!ConnectionHelper::connectionPoints.count(_tile2->tileType)) + if (conn2.empty()) { ignwarn << "No connection information for: " << _tile2->tileType << std::endl; return false; } - for (const auto& pt1 : ConnectionHelper::connectionPoints[_tile1->tileType]) + for (const auto& pt1 : ConnectionHelper::connectionPoints[conn1]) { auto pt1tf = _tile1->model.RawPose().CoordPositionAdd(pt1); - for (const auto& pt2 : ConnectionHelper::connectionPoints[_tile2->tileType]) + for (const auto& pt2 : ConnectionHelper::connectionPoints[conn2]) { auto pt2tf = _tile2->model.RawPose().CoordPositionAdd(pt2); - if (pt1tf.Equal(pt2tf, 1)) + if (pt1tf.Equal(pt2tf, 1.5)) { _pt = pt1tf; return true; @@ -556,11 +660,11 @@ bool ConnectionHelper::ComputePoint(VertexData *_tile1, VertexData *_tile2, ignwarn << "Failed to connect: " << _tile1->tileType << " " << _tile2->tileType << std::endl; - for (const auto& pt1 : ConnectionHelper::connectionPoints[_tile1->tileType]) + for (const auto& pt1 : ConnectionHelper::connectionPoints[conn1]) { auto pt1tf = _tile1->model.RawPose().CoordPositionAdd(pt1); for (const auto& pt2 : - ConnectionHelper::connectionPoints[_tile2->tileType]) + ConnectionHelper::connectionPoints[conn2]) { auto pt2tf = _tile2->model.RawPose().CoordPositionAdd(pt2); igndbg << @@ -579,14 +683,24 @@ std::vector ConnectionHelper::GetConnectionPoints(Vert { auto ret = std::vector(); - if (!ConnectionHelper::connectionPoints.count(_tile1->tileType)) + std::string conn1; + for (const auto &connection : ConnectionHelper::connectionPoints) + { + if (ignition::common::lowercase(connection.first) == + ignition::common::lowercase(_tile1->tileType)) + { + conn1 = connection.first; + } + } + + if (conn1.empty()) { ignwarn << "No connection information for: " << _tile1->tileType << std::endl; } else { - for (const auto& pt1 : ConnectionHelper::connectionPoints[_tile1->tileType]) + for (const auto& pt1 : ConnectionHelper::connectionPoints[conn1]) { auto pt1tf = _tile1->model.RawPose().CoordPositionAdd(pt1); ret.push_back(pt1tf); diff --git a/subt_ign/src/GameLogicPlugin.cc b/subt_ign/src/GameLogicPlugin.cc index 06cb24e5..f51b9c1b 100644 --- a/subt_ign/src/GameLogicPlugin.cc +++ b/subt_ign/src/GameLogicPlugin.cc @@ -1113,7 +1113,7 @@ void GameLogicPluginPrivate::OnEvent(const ignition::msgs::Pose &_msg) // there should be only 1 key-value pair. Just in case, we will grab // only the first. The key is currently always "type", which we can // ignore when sending the ROS message. - if (regionEventType.empty()) + if (regionEventType.empty() && data.first == "type") { if (data.second.find("performer_detector_rockfall") == std::string::npos) @@ -2390,6 +2390,10 @@ bool GameLogicPluginPrivate::OnFinishCall(const ignition::msgs::Boolean &_req, ignition::msgs::Time localSimTime(this->simTime); if (this->started && _req.data() && !this->finished) { + ignmsg << "User triggered OnFinishCall." << std::endl; + this->Log(localSimTime) << "User triggered OnFinishCall." << std::endl; + this->logStream.flush(); + this->Finish(localSimTime); _res.set_data(true); } diff --git a/subt_ign/src/apps/dot_generator.cc b/subt_ign/src/apps/dot_generator.cc index 7ad499d0..40ccb508 100644 --- a/subt_ign/src/apps/dot_generator.cc +++ b/subt_ign/src/apps/dot_generator.cc @@ -94,15 +94,15 @@ void printGraph(std::vector &_vertexData, _vertexData[i].tileType); if (ct1It == subt::ConnectionHelper::circuitTypes.end()) { - ignwarn << "No circuit information for: " << _vertexData[i].tileType - << std::endl; + std::cerr << "No circuit information for: " + << _vertexData[i].tileType << std::endl; } auto ct2It = subt::ConnectionHelper::circuitTypes.find( _vertexData[j].tileType); if (ct2It == subt::ConnectionHelper::circuitTypes.end()) { - ignwarn << "No circuit information for: " << _vertexData[j].tileType - << std::endl; + std::cerr << "No circuit information for: " + << _vertexData[j].tileType << std::endl; } // Is one of the tile a starting area? If so, the cost should be 1. @@ -191,7 +191,16 @@ void generateDOT(const std::string &_sdfFile, const std::string &_circuit) filter = [](const std::string &/*_name*/, const std::string &_type) { - return subt::ConnectionHelper::connectionPoints.count(_type) <= 0; + for (const auto &connection : subt::ConnectionHelper::connectionPoints) + { + if (ignition::common::lowercase(connection.first) == + ignition::common::lowercase(_type)) + { + return false; + } + } + + return true; }; std::vector vertexData; @@ -202,6 +211,7 @@ void generateDOT(const std::string &_sdfFile, const std::string &_circuit) if (result == std::string::npos || result > str.size()) break; + VertexData vd; bool filled = SdfParser::FillVertexData(includeStr, vd, filter); if (filled) diff --git a/subt_ign/worlds/final_prelim/01/final_prelim_01.dat b/subt_ign/worlds/final_prelim/01/final_prelim_01.dat new file mode 100644 index 00000000..2b7eeefa Binary files /dev/null and b/subt_ign/worlds/final_prelim/01/final_prelim_01.dat differ diff --git a/subt_ign/worlds/final_prelim/01/final_prelim_01.dot b/subt_ign/worlds/final_prelim/01/final_prelim_01.dot new file mode 100644 index 00000000..36e27c83 --- /dev/null +++ b/subt_ign/worlds/final_prelim/01/final_prelim_01.dot @@ -0,0 +1,116 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::4-Way Finals Transition 2::tile_1"]; + 2 [label="2::Urban Service Room Straight Lights::tile_2"]; + 3 [label="3::Cave Vertical Shaft Straight Bottom Type A::tile_3"]; + 4 [label="4::Cave Straight 01 Type B::tile_4"]; + 5 [label="5::Cave Corner 01 Type B::tile_5"]; + 6 [label="6::Cave Tunnel Transition::tile_6"]; + 7 [label="7::Cave Tunnel Transition::tile_7"]; + 8 [label="8::Cave Transition Type A to and from Type B Lights::tile_8"]; + 9 [label="9::Cave Tunnel Transition::tile_9"]; + 10 [label="10::Urban 2 Story Lights::tile_10"]; + 11 [label="11::Urban Large Room Split Lights::tile_11"]; + 12 [label="12::Rough Tunnel Tile 90-degree Turn Lights::tile_12"]; + 13 [label="13::Rough Tunnel Tile Straight::tile_13"]; + 14 [label="14::Tunnel Tile 2::tile_14"]; + 15 [label="15::Universal Shift 5x5::tile_15"]; + 16 [label="16::Tunnel Bend Right::tile_16"]; + 17 [label="17::Universal Shift 5x5::tile_17"]; + 18 [label="18::Universal Shift 5x5::tile_18"]; + 19 [label="19::Universal Straight 10::tile_19"]; + 20 [label="20::Urban Large Room Split::tile_20"]; + 21 [label="21::Urban Service Room Straight Lights::tile_21"]; + 22 [label="22::4-Way Finals Transition 2::tile_22"]; + 23 [label="23::Constrained Tunnel Tile Short::tile_23"]; + 24 [label="24::Tunnel Tile 6::tile_24"]; + 25 [label="25::Tunnel Tile 1::tile_25"]; + 26 [label="26::Tunnel Tile 6::tile_26"]; + 27 [label="27::Tunnel Tile 2::tile_27"]; + 28 [label="28::Universal Straight 10::tile_28"]; + 29 [label="29::Universal Straight 5::tile_29"]; + 30 [label="30::Urban 3-Way Right Intersection::tile_30"]; + 31 [label="31::Universal Straight 10::tile_31"]; + 32 [label="32::Urban Tunnel Transition::tile_32"]; + 33 [label="33::Rough Tunnel Tile Vertical Shaft::tile_33"]; + 34 [label="34::Rough Tunnel Tile 4-way Intersection Lights::tile_34"]; + 35 [label="35::Rough Tunnel Tile 90-degree Turn Lights::tile_35"]; + 36 [label="36::Constrained Tunnel Tile Tall::tile_36"]; + 37 [label="37::Universal Straight 10::tile_37"]; + 38 [label="38::Universal Straight 10::tile_38"]; + 39 [label="39::Universal Straight 5::tile_39"]; + 40 [label="40::Cave Corner 04 Type A::tile_40"]; + 41 [label="41::Urban Service Room Centered Lights::tile_41"]; + 46 [label="46::Urban Platform::tile_46"]; + 51 [label="51::Cave Cap Type A::tile_51"]; + 53 [label="53::Rough Tunnel Tile Ramp::tile_53"]; + 54 [label="54::Rough Tunnel Tile Straight Lights::tile_54"]; + 56 [label="56::Rough Tunnel Tile Vertical Shaft::tile_56"]; + 57 [label="57::Constrained Tunnel Tile Short::tile_57"]; + 58 [label="58::Tunnel Tile 7::tile_58"]; + 60 [label="60::Rough Tunnel Tile Vertical Shaft::tile_60"]; + 61 [label="61::Cave Vertical Shaft Dead End Type A::shaft_1"]; + + /* ==== Edges ==== */ + + 0 -- 1 [label=3]; + 1 -- 2 [label=3]; + 1 -- 4 [label=3]; + 2 -- 10 [label=3]; + 3 -- 61 [label=3]; + 3 -- 7 [label=3]; + 3 -- 9 [label=3]; + 4 -- 5 [label=3]; + 5 -- 8 [label=3]; + 6 -- 7 [label=1]; + 6 -- 8 [label=1]; + 6 -- 12 [label=3]; + 7 -- 23 [label=1]; + 9 -- 33 [label=1]; + 9 -- 40 [label=3]; + 10 -- 11 [label=6]; + 10 -- 41 [label=3]; + 11 -- 15 [label=3]; + 11 -- 20 [label=6]; + 12 -- 13 [label=2]; + 13 -- 14 [label=2]; + 14 -- 16 [label=3]; + 15 -- 17 [label=1]; + 16 -- 19 [label=3]; + 17 -- 18 [label=1]; + 18 -- 19 [label=1]; + 20 -- 21 [label=3]; + 21 -- 28 [label=1]; + 22 -- 26 [label=3]; + 22 -- 28 [label=2]; + 22 -- 31 [label=2]; + 23 -- 24 [label=1]; + 24 -- 25 [label=2]; + 25 -- 27 [label=3]; + 25 -- 53 [label=2]; + 26 -- 29 [label=1]; + 27 -- 29 [label=3]; + 30 -- 31 [label=3]; + 30 -- 32 [label=3]; + 30 -- 46 [label=6]; + 32 -- 37 [label=1]; + 33 -- 34 [label=2]; + 34 -- 36 [label=2]; + 34 -- 56 [label=2]; + 34 -- 60 [label=2]; + 35 -- 38 [label=3]; + 35 -- 39 [label=3]; + 36 -- 38 [label=1]; + 37 -- 39 [label=1]; + 40 -- 51 [label=6]; + 53 -- 54 [label=1]; + 56 -- 57 [label=1]; + 57 -- 58 [label=2]; +} + diff --git a/subt_ign/worlds/final_prelim/01/final_prelim_01.sdf b/subt_ign/worlds/final_prelim/01/final_prelim_01.sdf new file mode 100644 index 00000000..2741c607 --- /dev/null +++ b/subt_ign/worlds/final_prelim/01/final_prelim_01.sdf @@ -0,0 +1,1743 @@ + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + 288 + 0.2 + + + + + true + staging_area + -13 0 -0.01 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Finals Staging Area + + + + + true + base_station + -30 0 0 0 -0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + + true + artifact_origin + -10.5 0 0 0 -0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + true + backpack_1 + 4.60 -23.0 0.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + true + backpack_2 + 104.3 -26.8 -10.0 0 0 -1.2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + rescue_randy_1 + 189.338 -60.3018 -0.01395 -0.2346 0.4255 2.5711 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + rescue_randy_2 + -3.73 46.462 -0.25694 -0.248890 0.208901 0.968724 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + + helmet_1 + 195.212 45.26 0.753602 0.0 0.215243 -1.222750 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + helmet_2 + 329.901 61.38 12.0 0 0 1.3 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + + rope_1 + 82.89 51.672 0.729 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + rope_2 + 315.23 136.781 23.145 0.3 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + + true + cube_1 + 1.87 -55.5 10.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SubT Challenge Cube + + + true + cube_2 + 238.821 10.08 -4.997 0 0 0.707 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SubT Challenge Cube + + + + drill_1 + true + 195.63 -13.618 -5.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + true + drill_2 + 181.071 -110.71 1.710390 0 0 0.513170 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + + extinguisher_1 + true + 35.666900 -12.644300 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + extinguisher_2 + true + 300.78 -10.127 5.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + + true + phone_1 + 82.0 11.72 0.002 -1.570800 0 -0.657628 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + phone_2 + true + 138.012 19.017 0.003 -1.530430 0.000003 0.0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + + vent_1 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Vent + 85 -62.83 4.3 3.141590 -1.570790 3.141590 + + + vent_2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Vent + -15.0 -60.5 4.0 0.0 -1.570790 3.141590 + + + + gas_1 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gas + 108 -68.5 0 0 0 -1.570790 + + + + gas_2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gas + 0 -100 10 0 0 3.141590 + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/4-Way Finals Transition 2 + tile_1 + 0 0 0 0 -0 1.5708 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Service Room Straight Lights + tile_2 + 0 -28.5 0 0 -0 0 + + + tile_3 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Straight Bottom Type A + 187 45 0 0 -0 1.5708 + + + + shaft_1 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Dead End Type A + 187 45 0 0 -0 0 + + + + tile_4 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B + 0 20 0 0 -0 0 + + + tile_5 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B + 0 45 0 0 0 -3.14159 + + + tile_6 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Tunnel Transition + 87 45 0 0 -0 1.5708 + + + tile_7 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Tunnel Transition + 137 45.0002 0 0 -0 1.5708 + + + tile_8 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Transition Type A to and from Type B Lights + 37 45 0 0 -0 1.5708 + + + tile_9 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Tunnel Transition + 237 45.0001 0 0 -0 1.5708 + + + tile_10 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Urban 2 Story Lights + 0 -68.5 0 0 -0 1.5708 + + + tile_11 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Urban Large Room Split Lights + 40 -68.5 0 0 0 -1.5708 + + + tile_12 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile 90-degree Turn Lights + 87 10 0 0 0 -3.14159 + + tile_13 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile Straight + 67 10 0 0 -0 1.5708 + + + tile_14 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile 2 + 47 10 0 0 -0 0 + + + tile_15 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Shift 5x5 + 37.5 -46 0 0 -0 0 + + + tile_16 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Bend Right + 32 -25 0 0 -0 0 + + + tile_17 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Shift 5x5 + 35 -41.25 0 0 -0 0 + + + tile_18 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Shift 5x5 + 32.5 -36.5 0 0 -0 0 + + + tile_19 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 10 + 32.53 -29.1553 0 0 -0 0 + + + tile_20 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Large Room Split + 80 -68.5 0 0 -0 1.5708 + + + tile_21 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Service Room Straight Lights + 120 -68.5 0 0 -0 1.5708 + + + tile_22 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/4-Way Finals Transition 2 + 154 -68.5 0 0 -0 0 + + + tile_23 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Constrained Tunnel Tile Short + 137 10 0 0 -0 0 + + + tile_24 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile 6 + 137 -10 -5 0 -0 0 + + + tile_25 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile 1 + 137 -27.5 -5 0 -0 0 + + + tile_26 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile 6 + 154 -51 -5 0 -0 3.1415 + + + tile_27 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile 2 + 154 -27.5 -5 0 0 -1.5708 + + + tile_28 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 10 + 142 -68.5 0 0 -0 1.5708 + + + tile_29 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 5 + 154 -40 -5 0 -0 0 + + + tile_30 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Urban 3-Way Right Intersection + 191 -68.5 0 0 -0 3.1415 + + + tile_31 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 10 + 166 -68.5 0 0 -0 1.5708 + + + tile_32 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Urban Tunnel Transition + 191 -48.5 0 0 -0 3.1415 + + + tile_33 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile Vertical Shaft + 237 10 -5 0 -0 0 + + + tile_34 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile 4-way Intersection Lights + 237 -10 -5 0 -0 0 + + + tile_35 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile 90-degree Turn Lights + 191 -10 -5 0 -0 0 + + + tile_36 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Constrained Tunnel Tile Tall + 217 -10 -5 0 -0 1.5708 + + + tile_37 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 10 + 191 -29 -5 0 -0 0 + + + tile_38 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 10 + 205.141 -9.99999 -5 0 -0 1.5708 + + + tile_39 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Universal Straight 5 + 191.006 -21.5 -5 0 -0 0 + + + tile_40 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 04 Type A + 312 95 0 0 -0 0 + + + tile_41 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Urban Service Room Centered Lights + 0 -68.5 10 0 -0 3.1415 + + + tile_42 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + -22.5 -68.5 12 0 -0 0 + + + tile_43 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 10 0 2 0 -0 0 + + + tile_44 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 80.4382 -90.4305 1.37371 0 -0 0 + + + tile_45 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 153.864 -78.1928 1.4547 0 -0 0 + + + tile_46 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Urban Platform + 191 -108 0 0 -0 1.5708 + + + tile_47 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 170.617 -108.153 3.07965 0 -0 0 + + + tile_48 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 183.317 -84.552 2.7308 0 -0 0 + + + tile_49 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 190.426 -131.063 1.44572 0 -0 0 + + + tile_50 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 189.532 -131.479 2.73351 0 -0 0 + + + tile_51 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type A + 312 145 25 0 -0 0 + + + tile_52 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 137 -38 -5 0 -0 0 + + + tile_53 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile Ramp + 119.5 -27.5 -10 0 0 -1.5708 + + + tile_54 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile Straight Lights + 100 -27.5 -10 0 -0 1.5708 + + + tile_55 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 87 -27.5 -10 0 -0 0 + + + tile_56 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile Vertical Shaft + 257 -10 -5 0 0 -1.5708 + + + tile_57 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Constrained Tunnel Tile Short + 277 -9.99999 0 0 -0 1.5708 + + + tile_58 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile 7 + 297 -10 0 0 0 -1.5708 + + + tile_59 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 310.124 -10 5.66211 0 -0 0 + + + tile_60 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rough Tunnel Tile Vertical Shaft + 237 -30 -5 0 -0 3.1415 + + + tile_61 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tunnel Tile Blocker + 236.833 -43.1347 1.12383 0 -0 0 + + + + + + fog_emitter_1 + true + 47 0.0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + + + 47 0 0 0 0 0 + true + + + + /subt_performer_detector + 0 0 0 0 0 0 + + + 10 60 20 + + + + type + fog + + + + + + + { + key: "frame_id" + value: "fog_emitter_1_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "1" + } + + + + emitting:{data: 1} + + + + + + + { + key: "frame_id" + value: "fog_emitter_1_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "0" + } + + + { + key: "count" + value: "0" + } + + + + emitting:{data: 0} + + + + + + + + + true + 138 2.5 0 0 0 0 + + + + /subt_performer_detector + + + 8 18 10 + + + + type + dynamic_collapse + + + + + + + { key: "frame_id" value: "performer_detector_debris_wall_1" } + { key: "state" value: "0" } + { key: "count" value: "0" } + + 2500 + + + + + + + + { + key: "type" + value: "dynamic_collapse" + } + + + { + key: "state" + value: "0" + } + + { key: "count" value: "0" } + + + emitting:{data: 1} + + + emitting:{data: 1} + + + + + + + + { + key: "type" + value: "dynamic_collapse" + } + + + { + key: "state" + value: "0" + } + + { key: "count" value: "0" } + + 2500 + + emitting:{data: 0} + rate:{data: 0} + + + emitting:{data: 0} + rate:{data: 0} + + + + + + true + + 1 + true + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Wall debris + Wall + 138 2.5 0 0 0 0 + + + + + + + + debris_wall_1_fog_emitter_1 + true + 138 -3.5 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + debris_wall_1_fog_emitter_2 + true + 138 8.5 0 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + + + + + + + true + 191 -48.5 0 0 0 0 + + + + + /subt_performer_detector + + + 8 18 10 + + + + type + dynamic_collapse_2 + + + + + + + { key: "frame_id" value: "performer_detector_debris_wall_2" } + { key: "state" value: "0" } + + 2500 + + + + + + + + { + key: "type" + value: "dynamic_collapse_2" + } + + + { + key: "state" + value: "0" + } + + + + emitting:{data: 1} + + + emitting:{data: 1} + + + + + + + + { + key: "type" + value: "dynamic_collapse_2" + } + + + { + key: "state" + value: "0" + } + + + 2500 + + emitting:{data: 0} + rate:{data: 0} + + + emitting:{data: 0} + rate:{data: 0} + + + + + + true + + 1 + true + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Wall debris + Wall + 191 -48.5 0 0 0 0 + + + + + + + + debris_wall_2_fog_emitter_1 + true + 191 -52 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + debris_wall_2_fog_emitter_2 + true + 191 -38.5 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + + + + + true + 203.102 45.2652 3.796500 0 -0 0 + + + + /subt_performer_detector + + + 10 10 10 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_1 + 203.102 45.2652 3.796500 0 -0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + true + 131.624 50.2669 4.61803 0 -0 0 + + + + /subt_performer_detector + + + 15 15 15 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_2" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_2 + 131.624 50.2669 4.61803 0 -0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + + + 0.000000 0.000000 0.000000 + + + + + + + 10 + + 0.05 + 60 + + + 0 + 0.0002 + + + + 30 + + 5 + 20 + + + 0 + 0.03 + + + + + + 0 + 0.03 + + + + + + + + tile_42 + -22.5 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + vent_2 + -15 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + rescue_randy_2 + -3.73 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + gas_2 + tile_1 + tile_2 + tile_4 + tile_5 + tile_10 + tile_41 + 0 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + cube_1 + 1.87 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + backpack_1 + 4.6 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_43 + 10 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_16 + 32 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_18 + 32.5 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_19 + 32.53 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_17 + 35 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + extinguisher_1 + 35.6669 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_8 + 37 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_15 + 37.5 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_11 + 40 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_14 + 47 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_13 + 67 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_20 + 80 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_44 + 80.4382 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + phone_1 + 82 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + rope_1 + 82.89 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + vent_1 + 85 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_6 + tile_12 + tile_55 + 87 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_54 + 100 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + backpack_2 + 104.3 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + gas_1 + 108 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_53 + 119.5 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_21 + 120 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_7 + tile_23 + tile_24 + tile_25 + tile_52 + 137 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + phone_2 + 138.012 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_28 + 142 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_45 + 153.864 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_22 + tile_26 + tile_27 + tile_29 + 154 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_31 + 166 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_47 + 170.617 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + drill_2 + 181.071 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_48 + 183.317 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_3 + shaft_1 + 187 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + rescue_randy_1 + 189.338 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_50 + 189.532 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_49 + 190.426 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_30 + tile_32 + tile_35 + tile_37 + tile_46 + 191 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_39 + 191.006 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + helmet_1 + 194.169 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + drill_1 + 195.63 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_38 + 205.141 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_36 + 217 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_61 + 236.833 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_9 + tile_33 + tile_34 + tile_60 + 237 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + cube_2 + 238.821 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_56 + 257 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_57 + 277 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_58 + 297 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + extinguisher_2 + 300.78 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_59 + 310.124 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_40 + tile_51 + 312 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + rope_2 + 315.23 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + helmet_2 + 329.901 6.7605 7.5 0 0 0 + 170.625 488.479 113 + 12.5 + + + tile_50 + 153.701 -131.479 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_49 + 153.701 -131.063 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + drill_2 + 153.701 -110.71 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_47 + 153.701 -108.153 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_46 + 153.701 -108 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + gas_2 + 153.701 -100 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_44 + 153.701 -90.4305 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_48 + 153.701 -84.552 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_45 + 153.701 -78.1928 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + gas_1 + tile_10 + tile_11 + tile_20 + tile_21 + tile_22 + tile_28 + tile_30 + tile_31 + tile_41 + tile_42 + 153.701 -68.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + vent_1 + 153.701 -62.83 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + vent_2 + 153.701 -60.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + rescue_randy_1 + 153.701 -60.3018 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + cube_1 + 153.701 -55.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_26 + 153.701 -51 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_32 + 153.701 -48.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_15 + 153.701 -46 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_61 + 153.701 -43.1347 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_17 + 153.701 -41.25 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_29 + 153.701 -40 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_52 + 153.701 -38 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_18 + 153.701 -36.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_60 + 153.701 -30 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_19 + 153.701 -29.1553 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_37 + 153.701 -29 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_2 + 153.701 -28.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_25 + tile_27 + tile_53 + tile_54 + tile_55 + 153.701 -27.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + backpack_2 + 153.701 -26.8 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_16 + 153.701 -25 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + backpack_1 + 153.701 -23 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_39 + 153.701 -21.5 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + drill_1 + 153.701 -13.618 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + extinguisher_1 + 153.701 -12.6443 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + extinguisher_2 + 153.701 -10.127 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_24 + tile_34 + tile_35 + tile_36 + tile_56 + tile_58 + tile_59 + 153.701 -10 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_38 + tile_57 + 153.701 -9.99999 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_1 + tile_43 + 153.701 0 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_12 + tile_13 + tile_14 + tile_23 + tile_33 + 153.701 10 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + cube_2 + 153.701 10.08 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + phone_1 + 153.701 11.72 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + phone_2 + 153.701 19.017 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_4 + 153.701 20 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_3 + shaft_1 + tile_5 + tile_6 + tile_8 + 153.701 45 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_9 + 153.701 45.0001 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_7 + 153.701 45.0002 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + rescue_randy_2 + 153.701 46.462 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + helmet_1 + 153.701 48.32 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + rope_1 + 153.701 51.672 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + helmet_2 + 153.701 61.38 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_40 + 153.701 95 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + rope_2 + 153.701 136.781 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + tile_51 + 153.701 145 7.5 0 0 0 + 534.401 198.75 113 + 12.5 + + + + diff --git a/subt_ign/worlds/final_prelim/02/final_prelim_02.dat b/subt_ign/worlds/final_prelim/02/final_prelim_02.dat new file mode 100644 index 00000000..6119f278 Binary files /dev/null and b/subt_ign/worlds/final_prelim/02/final_prelim_02.dat differ diff --git a/subt_ign/worlds/final_prelim/02/final_prelim_02.dot b/subt_ign/worlds/final_prelim/02/final_prelim_02.dot new file mode 100644 index 00000000..3a5608cf --- /dev/null +++ b/subt_ign/worlds/final_prelim/02/final_prelim_02.dot @@ -0,0 +1,181 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 0 [label="0::base_station::BaseStation"]; + + 1 [label="1::4-Way Finals Transition 2::tile_1"]; + 2 [label="2::Tunnel Tile 6 Lights::tile_2"]; + 3 [label="3::Universal Straight 2.5::tile_3"]; + 4 [label="4::Rough Tunnel Tile 4-way Intersection Lights::tile_4"]; + 5 [label="5::Tunnel Tile 1 Lights::tile_5"]; + 6 [label="6::Universal Straight 2.5::tile_6"]; + 7 [label="7::Rough Tunnel Tile Straight Lights::tile_7"]; + 8 [label="8::Tunnel Tile 5 Lights::tile_8"]; + 9 [label="9::Universal Straight 5::tile_9"]; + 10 [label="10::Rough Tunnel Tile 4-way Intersection Lights::tile_10"]; + 11 [label="11::Tunnel Tile 4 Lights::tile_11"]; + 12 [label="12::Rough Tunnel Tile 90-degree Turn Lights::tile_12"]; + 13 [label="13::Tunnel Tile 1::tile_13"]; + 14 [label="14::Tunnel Tile 1::tile_14"]; + 15 [label="15::Rough Tunnel Tile Straight::tile_15"]; + 16 [label="16::Rough Tunnel Tile 90-degree Turn::tile_16"]; + 17 [label="17::Rough Tunnel Tile 4-way Intersection::tile_17"]; + 18 [label="18::Tunnel Corner Left::tile_18"]; + 19 [label="19::Tunnel Corner Left::tile_19"]; + 20 [label="20::Urban 2 Story::tile_20"]; + 21 [label="21::Universal Straight 2.5::tile_21"]; + 22 [label="22::Urban Stairwell Platform::tile_22"]; + 23 [label="23::Urban Straight Door Left Extension::tile_23"]; + 24 [label="24::Urban Tunnel Transition Straight::tile_24"]; + 25 [label="25::Urban Service Room Straight::tile_25"]; + 26 [label="26::Urban Service Room Straight::tile_26"]; + 27 [label="27::Urban Straight::tile_27"]; + 28 [label="28::Urban Cave Transition::tile_28"]; + 29 [label="29::Universal Straight 2.5::tile_29"]; + 30 [label="30::Urban Bend Mixed::tile_30"]; + 31 [label="31::Cave 3 Way 01 Type B::tile_31"]; + 32 [label="32::Cave Elevation Type B::tile_32"]; + 33 [label="33::Cave 3 Way 01 Type B::tile_33"]; + 34 [label="34::Cave U Turn Elevation Type A::tile_34"]; + 35 [label="35::Cave Transition Type A to and from Type B::tile_35"]; + 36 [label="36::Cave Split Type A::tile_36"]; + 37 [label="37::Universal Shift 5x5::tile_37"]; + 38 [label="38::Universal Shift 5x5::tile_38"]; + 39 [label="39::Universal Straight 10::tile_39"]; + 40 [label="40::Universal Straight 2.5::tile_40"]; + 41 [label="41::Cave Corner 02 Type B::tile_41"]; + 42 [label="42::Cave Cavern Type A::tile_42"]; + 43 [label="43::Cave 3 Way Elevation 02 Lights Type A::tile_43"]; + 44 [label="44::Cave Transition Type A to and from Type B::tile_44"]; + 45 [label="45::Cave Corner 03 Type A::tile_45"]; + 46 [label="46::Cave Straight Type A::tile_46"]; + 47 [label="47::Cave 3 Way 02 Type A::tile_47"]; + 48 [label="48::Cave Transition Type A to and from Type B::tile_48"]; + 49 [label="49::Cave Vertical Shaft Straight Top Type A::tile_49"]; + 50 [label="50::Cave Vertical Shaft Type A::tile_50"]; + 51 [label="51::Cave Vertical Shaft Straight Bottom Type A::tile_51"]; + 52 [label="52::Cave U Turn 01 Type A::tile_52"]; + 53 [label="53::Cave Elevation 01 Type A::tile_53"]; + 54 [label="54::Cave Cap Type A::tile_54"]; + 55 [label="55::Cave Cap Type A::tile_55"]; + 56 [label="56::Cave Cap Type A::tile_56"]; + 57 [label="57::Cave Cap Type A::tile_57"]; + 59 [label="59::Cave Corner 02 Type B::tile_59"]; + 61 [label="61::Urban Service Room Centered::tile_61"]; + 62 [label="62::Urban Service Room Centered::tile_62"]; + 63 [label="63::Rough Tunnel Tile 4-way Intersection Lights::tile_63"]; + 64 [label="64::Rough Tunnel Tile 90-degree Turn Lights::tile_64"]; + 65 [label="65::Rough Tunnel Tile 90-degree Turn Lights::tile_65"]; + 66 [label="66::Tunnel Tile 2::tile_66"]; + 67 [label="67::Tunnel Tile 2::tile_67"]; + 68 [label="68::Tunnel Tile 2::tile_68"]; + 71 [label="71::Tunnel Tile 2::tile_71"]; + 72 [label="72::Tunnel Tile 2::tile_72"]; + 73 [label="73::Tunnel Tile 2::tile_73"]; + 74 [label="74::Rough Tunnel Tile Vertical Shaft::tile_74"]; + 75 [label="75::Rough Tunnel Tile 90-degree Turn::tile_75"]; + 77 [label="77::Tunnel Tile 2::tile_77"]; + 78 [label="78::Rough Tunnel Tile 90-degree Turn::tile_78"]; + 79 [label="79::Tunnel Tile 6::tile_79"]; + 80 [label="80::Tunnel Tile 6::tile_80"]; + 81 [label="81::Tunnel Tile 6::tile_81"]; + 82 [label="82::Tunnel Tile 2::tile_82"]; + 83 [label="83::Tunnel Tile 2::tile_83"]; + 85 [label="85::Rough Tunnel Tile Straight::tile_85"]; + 87 [label="87::Universal Straight 10::tile_87"]; + + /* ==== Edges ==== */ + + 0 -- 1 [label=3]; + 1 -- 3 [label=1]; + 1 -- 6 [label=1]; + 1 -- 9 [label=1]; + 2 -- 3 [label=1]; + 2 -- 4 [label=2]; + 4 -- 15 [label=2]; + 4 -- 66 [label=3]; + 4 -- 68 [label=3]; + 5 -- 6 [label=3]; + 5 -- 7 [label=2]; + 5 -- 71 [label=3]; + 5 -- 72 [label=3]; + 7 -- 10 [label=2]; + 8 -- 9 [label=1]; + 8 -- 11 [label=2]; + 10 -- 11 [label=3]; + 10 -- 24 [label=3]; + 10 -- 75 [label=3]; + 11 -- 13 [label=3]; + 11 -- 12 [label=3]; + 12 -- 14 [label=3]; + 13 -- 77 [label=3]; + 13 -- 79 [label=2]; + 13 -- 14 [label=3]; + 14 -- 29 [label=1]; + 15 -- 16 [label=2]; + 16 -- 17 [label=3]; + 17 -- 19 [label=3]; + 17 -- 63 [label=3]; + 17 -- 65 [label=3]; + 19 -- 87 [label=1]; + 18 -- 21 [label=3]; + 20 -- 21 [label=1]; + 20 -- 23 [label=6]; + 20 -- 61 [label=3]; + 20 -- 62 [label=3]; + 22 -- 24 [label=1]; + 22 -- 25 [label=1]; + 23 -- 27 [label=3]; + 25 -- 26 [label=1]; + 26 -- 37 [label=1]; + 27 -- 30 [label=3]; + 28 -- 30 [label=3]; + 28 -- 31 [label=3]; + 28 -- 41 [label=3]; + 29 -- 83 [label=3]; + 31 -- 32 [label=3]; + 31 -- 48 [label=3]; + 32 -- 33 [label=3]; + 33 -- 35 [label=3]; + 33 -- 59 [label=6]; + 34 -- 36 [label=6]; + 34 -- 39 [label=3]; + 35 -- 40 [label=1]; + 36 -- 38 [label=1]; + 37 -- 38 [label=1]; + 39 -- 40 [label=1]; + 41 -- 44 [label=3]; + 42 -- 43 [label=6]; + 42 -- 46 [label=3]; + 42 -- 47 [label=6]; + 42 -- 57 [label=6]; + 43 -- 44 [label=3]; + 43 -- 45 [label=6]; + 45 -- 46 [label=3]; + 47 -- 51 [label=6]; + 47 -- 52 [label=6]; + 48 -- 49 [label=3]; + 49 -- 50 [label=3]; + 49 -- 53 [label=3]; + 50 -- 51 [label=3]; + 51 -- 56 [label=6]; + 52 -- 55 [label=6]; + 53 -- 54 [label=3]; + 63 -- 64 [label=3]; + 64 -- 65 [label=3]; + 66 -- 67 [label=3]; + 67 -- 68 [label=3]; + 71 -- 73 [label=3]; + 72 -- 73 [label=3]; + 74 -- 75 [label=2]; + 77 -- 78 [label=3]; + 78 -- 80 [label=2]; + 79 -- 85 [label=1]; + 80 -- 81 [label=1]; + 81 -- 82 [label=2]; + 82 -- 83 [label=3]; + 87 -- 18 [label=1]; +} diff --git a/subt_ign/worlds/final_prelim/02/final_prelim_02.sdf b/subt_ign/worlds/final_prelim/02/final_prelim_02.sdf new file mode 100644 index 00000000..a053738f --- /dev/null +++ b/subt_ign/worlds/final_prelim/02/final_prelim_02.sdf @@ -0,0 +1,2113 @@ + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + 288 + 0.2 + + + + true + staging_area + -13 0 -0.01 0 -0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Finals Staging Area + + + + true + base_station + -30 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + true + artifact_origin + -10.5 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/4-Way Finals Transition 2 Lights + tile_1 + -1 0 0 0 0 1.5708 + + + tile_2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 Lights + -1 -19 0 0 0 -3.1415 + + + tile_3 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 2.5 + -1 -8 0 0 -0 0 + + + tile_4 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 4-way Intersection Lights + -1 -38 5 0 -0 0 + + + tile_5 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 Lights + 19 0 0 0 -0 0 + + + tile_6 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 2.5 + 8 0 0 0 -0 1.5708 + + + tile_7 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile Straight Lights + 19 20 0 0 -0 0 + + + tile_8 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 Lights + -1 20 0 0 -0 0 + + + tile_9 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 5 + 0 8 0 0 -0 0 + + + tile_10 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 4-way Intersection Lights + 19 40 0 0 -0 0 + + + tile_11 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 4 Lights + -1 40 0 0 -0 0 + + + tile_12 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 90-degree Turn Lights + -19 40 0 0 -0 1.5708 + + + tile_13 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 Lights + -1 60 0 0 -0 0 + + + tile_14 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 Lights + -19 60 0 0 -0 0 + + + tile_15 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile Straight + 19 -38 5 0 -0 1.5708 + + + tile_16 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 90-degree Turn + 39 -38 5 0 -0 3.14159 + + + tile_17 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 4-way Intersection + 39 -18 5 0 -0 0 + + + tile_18 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + 59 -48 5 0 0 1.5708 + + + tile_19 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + 59 -18 5 0 0 -1.5708 + + + tile_20 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban 2 Story + 90 -48 -5 0 -0 0 + + + tile_21 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 2.5 + 69 -48 5 0 -0 1.5708 + + + tile_22 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Stairwell Platform + 59 40 -11.69 0 -0 1.5708 + + + tile_23 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Straight Door Left Extension + 90 -8 5 0 -0 0 + + + tile_24 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Tunnel Transition Straight + 34 40 0 0 -0 1.5708 + + + tile_25 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Service Room Straight + 99 40 -10 0 -0 1.5708 + + + tile_26 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Service Room Straight + 139 40 -10 0 -0 1.5708 + + + tile_27 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Straight + 130 -8 5 0 0 -1.5708 + + + tile_28 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Cave Transition + 169.981 -53 5 0 0 -1.5708 + + + tile_29 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 2.5 + -30 60 0 0 0 -1.5708 + + + tile_30 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Bend Mixed + 170 -8 5 0 0 -1.5708 + + + tile_31 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way 01 Type B + 195 -53 5 0 -0 1.5708 + + + tile_32 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation Type B + 194.999 -28 5 0 -0 3.1415 + + + tile_33 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way 01 Type B + 195 -3 15 0 0 -1.5708 + + + tile_34 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave U Turn Elevation Type A + 293 -3 -10 0 0 -1.5708 + + + tile_35 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Transition Type A to and from Type B + 232 -3 15 0 -0 1.5708 + + + tile_36 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Split Type A + 218 47 -10 0 0 -1.5708 + + + tile_37 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Shift 5x5 + 161.333 42.7782 -10 0 0 -1.5708 + + + tile_38 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Shift 5x5 + 166 43 -10 0 -0 1.5708 + + + tile_39 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 10 + 263 -3 15 0 -0 1.5708 + + + tile_40 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 2.5 + 257 -3 15 0 -0 1.5708 + + + tile_41 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 02 Type B + 145 -53 5 0 -0 3.14159 + + + tile_42 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cavern Type A + 145 -240 -20 0 -0 1.5708 + + + tile_43 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way Elevation 02 Type A + 145 -165 5 0 -0 0 + + + tile_44 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Transition Type A to and from Type B + 145 -90 5 0 -0 0 + + + tile_45 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 03 Type A + 45 -240 -20 0 0 -3.14159 + + + tile_46 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Type A + 95 -240 -20 0 -0 1.5708 + + + tile_47 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way 02 Type A + 195 -190 -20 0 -0 3.14159 + + + tile_48 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Transition Type A to and from Type B + 195 -90 5 0 -0 0 + + + tile_49 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Top Type A + 195 -140 5 0 -0 0 + + + tile_50 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Type A + 195 -140 -20 0 -0 0 + + + tile_51 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Bottom Type A + 195 -140 -20 0 -0 0 + + + tile_52 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave U Turn 01 Type A + 270 -240 -20 0 -0 3.1415 + + + tile_53 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation 01 Type A + 195 -215 5 0 -0 3.1415 + + + tile_54 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A + 195 -265 80 0 -0 3.1415 + + + tile_55 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A + 295 -215 -20 0 -0 0 + + + tile_56 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A + 195 -115 -20 0 -0 0 + + + tile_57 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A + 145 -265 5 0 -0 3.1415 + + + tile_58 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type B + 170 22 15 0 0 -1.5708 + + + tile_59 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 02 Type B + 195 22 15 0 -0 1.5708 + + + tile_60 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile blocker + 66.8964 -8.06715 5.8754 0 -0 0 + + + tile_61 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Service Room Centered + 90 -48 -5 0 -0 3.1415 + + + tile_62 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Service Room Centered + 90 -48 -5 0 0 -1.5708 + + + tile_63 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 4-way Intersection + 19 -18 5 0 -0 0 + + + tile_64 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 90-degree Turn + 19 2 5 0 -0 0 + + + tile_65 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 90-degree Turn + 39 2 5 0 0 -1.5708 + + + tile_66 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + -21 -38 5 0 -0 0 + + + tile_67 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + -21 -58 5 0 -0 1.5708 + + + tile_68 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + -1.00001 -58 5 0 -0 3.14159 + + + tile_69 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile blocker + 6 -18 5 0 -0 0 + + + tile_70 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile blocker + 19 -31 5 0 -0 0 + + + tile_71 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + 39 0 0 0 0 -1.5708 + + + tile_72 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + 19 -18 0 0 -0 1.5708 + + + tile_73 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + 39 -18 0 0 -0 3.14159 + + + tile_74 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile Vertical Shaft + 39 60 -5 0 -0 1.5708 + + + tile_75 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 90-degree Turn + 19 60 0 0 -0 0 + + + tile_76 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile blocker + 52 60 -5 0 -0 0 + + + tile_77 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + 19 60 0 0 0 -3.14159 + + + tile_78 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile 90-degree Turn + 19 80 0 0 0 -1.5708 + + + tile_79 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 + -1 80 0 0 -0 0 + + + tile_80 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 + -1 80 -5 0 0 -1.5708 + + + tile_81 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 + -21 80 -5 0 -0 1.5708 + + + tile_82 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + -41 80 0 0 -0 0 + + + tile_83 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + -41 60 0 0 -0 1.5708 + + + tile_84 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + -19 73 0 0 -0 0 + + + tile_85 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rough Tunnel Tile Straight + -1 100 5 0 -0 0 + + + tile_86 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile blocker + -1 112 5 0 -0 0 + + + tile_87 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Universal Straight 10 + 59 -33 5 0 0 0 + + + + + true + rescue_randy_1 + -10 -40.227400 5.003640 0 0 3.14159 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + true + rescue_randy_2 + 140.883000 48.976100 -10.004600 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + + true + phone_1 + -16.978700 68.315900 0.000079 -1.570800 0 -0.657628 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + phone_2 + true + 289.828000 11.922900 12.225400 -1.530430 0.000003 1.124200 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + extinguisher_1 + true + 35.666900 -12.644300 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + extinguisher_2 + true + 28.918000 3.111500 5 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + + drill_1 + true + -35.0655 63.0475 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + true + drill_2 + 8.4463 42.0775 -0.0062 0 0 0.513170 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + + true + backpack_1 + 64.312800 37.872900 -5.670560 0 0 -3.141590 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + true + backpack_2 + 247.081000 -224.517000 -19.925100 0 0 -1.317850 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + true + cube_1 + 77.17900 -11.300 5.75 0 0.25 0.2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SubT Challenge Cube + + + true + cube_2 + 146.906000 -240.659000 -10.970400 -0.157422 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SubT Challenge Cube + + + + rope_1 + 155.027000 -85.443000 5.961290 0 -0.115450 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + rope_2 + 196.471000 -265.029000 80.028400 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope + + + + helmet_1 + 198.211000 38.173000 -10.176600 0.047240 0.063979 -1.233040 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + helmet_2 + 48.187600 -226.241000 -14.191000 0 -0.105038 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light + + + + vent_1 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Vent + 99.964100 36.338800 -5.970060 3.141590 -1.570790 3.141590 + + + vent_2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Vent + 82.503500 -62.837600 4.293750 3.141590 -1.570790 3.141590 + + + + gas_1 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gas + 90 -80 -5 0 0 -3.1415 + + + + gas_2 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gas + 122 -48 -5 0 0 -1.5708 + + + + 0.000000 0.000000 0.000000 + + + + + + + 10 + + 0.05 + 60 + + + 0 + 0.0002 + + + + 30 + + 5 + 20 + + + 0 + 0.03 + + + + + + 0 + 0.03 + + + + + + + + + + fog_emitter_1 + true + 120 40 -10 0 0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + + + 120 40 -10 0 0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + true + + + + + /subt_performer_detector + 0 0 0 0 0 0 + + + 10 30 10 + + + + type + fog + + + + + + + { + key: "frame_id" + value: "fog_emitter_1_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "1" + } + + + + emitting:{data: 1} + + + + + + + { + key: "frame_id" + value: "fog_emitter_1_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "0" + } + + + { + key: "count" + value: "0" + } + + + + emitting:{data: 0} + + + + + + + + + fog_emitter_2 + true + 30 -38 5 0 0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + + + 30 -38 5 0 0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + true + + + + + /subt_performer_detector + 0 0 0 0 0 0 + + + 10 30 10 + + + + type + fog + + + + + + + { + key: "frame_id" + value: "fog_emitter_2_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "1" + } + + + + emitting:{data: 1} + + + + + + + { + key: "frame_id" + value: "fog_emitter_2_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "0" + } + + + { + key: "count" + value: "0" + } + + + + emitting:{data: 0} + + + + + + + + + true + 130 -8 5 0 -0 1.5716 + + + + + /subt_performer_detector + + + 10 30 10 + + + + type + dynamic_collapse + + + + + + + { key: "frame_id" value: "performer_detector_debris_wall_1" } + { key: "state" value: "0" } + { key: "count" value: "0" } + + 2500 + + + + + + + + { + key: "frame_id" + value: "performer_detector_debris_wall_1" + } + + + + { + key: "type" + value: "dynamic_collapse" + } + + + { + key: "state" + value: "0" + } + + { key: "count" value: "0" } + + + emitting:{data: 1} + + + emitting:{data: 1} + + + + + + + + { + key: "frame_id" + value: "performer_detector_debris_wall_1" + } + + + + { + key: "type" + value: "dynamic_collapse" + } + + + { + key: "state" + value: "0" + } + + { key: "count" value: "0" } + + 2500 + + emitting:{data: 0} + rate:{data: 0} + + + emitting:{data: 0} + rate:{data: 0} + + + + + + true + + 1 + true + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban Wall debris + Wall + 130 -8 5 0 0 1.5716 + + + + + + + + debris_wall_1_fog_emitter_1 + true + 130 0 3.5 0 -0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + debris_wall_1_fog_emitter_2 + true + 130 -15 6.5 0 -0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + + + + + true + -30 60 0 0 -0 1.5716 + + + + + /subt_performer_detector + + + 10 30 10 + + + + type + dynamic_collapse + + + + + + + { key: "frame_id" value: "performer_detector_debris_wall_2" } + { key: "state" value: "0" } + { key: "count" value: "0" } + + 2500 + + + + + + + + { + key: "frame_id" + value: "performer_detector_debris_wall_2" + } + + + + { + key: "type" + value: "dynamic_collapse" + } + + + { + key: "state" + value: "0" + } + + { key: "count" value: "0" } + + + emitting:{data: 1} + + + emitting:{data: 1} + + + + + + + + { + key: "frame_id" + value: "performer_detector_debris_wall_2" + } + + + + { + key: "type" + value: "dynamic_collapse" + } + + + { + key: "state" + value: "0" + } + + { key: "count" value: "0" } + + 2500 + + emitting:{data: 0} + rate:{data: 0} + + + emitting:{data: 0} + rate:{data: 0} + + + + + + true + + 1 + true + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Wall debris + Wall + -30 60 0 0 0 1.5716 + + + + + + + + debris_wall_2_fog_emitter_1 + true + -30 68 -1.5 0.173755 -0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + debris_wall_2_fog_emitter_2 + true + -30 53 1.5 0.173755 0 1.5716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Dust Emitter Dense + + + + + + + + true + 195 -2.5 20 0 -0 1.5708 + + + + /subt_performer_detector + + + 20 20 12 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_1" + } + + + { + key: "state" + value: "1" + } + + + + + + + + + dynamic_rocks_1 + 195 -2.5 21.1 0 -0 1.5708 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Medium Rock Fall + + + + + + + + true + 49.561900 -207.080000 -15 0 0 1.5708 + + + + /subt_performer_detector + + + 30 30 12 + + + + + + + + + { + key: "frame_id" + value: "performer_detector_rockfall_2" + } + + + { + key: "state" + value: "0" + } + + + + + + + + + dynamic_rocks_2 + 49.561900 -207.080000 -18.791300 0 -0.286350 0.968561 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Large Rock Fall + + + + + + + tile_82 + tile_83 + -41 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + drill_1 + -35.0655 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_29 + Wall + debris_wall_2_fog_emitter_1 + debris_wall_2_fog_emitter_2 + -30 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_66 + tile_67 + tile_81 + -21 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_12 + tile_14 + tile_84 + -19 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + phone_1 + -16.9787 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + rescue_randy_1 + -10 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_68 + -1.00001 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_1 + tile_2 + tile_3 + tile_4 + tile_8 + tile_11 + tile_13 + tile_79 + tile_80 + tile_85 + tile_86 + -1 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_9 + 0 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_69 + 6 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_6 + 8 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + drill_2 + 8.4463 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_5 + tile_7 + tile_10 + tile_15 + tile_63 + tile_64 + tile_70 + tile_72 + tile_75 + tile_77 + tile_78 + 19 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + extinguisher_2 + 28.918 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + fog_emitter_2 + 30 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_24 + 34 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + extinguisher_1 + 35.6669 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_16 + tile_17 + tile_65 + tile_71 + tile_73 + tile_74 + 39 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_45 + 45 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + helmet_2 + 48.1876 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + dynamic_rocks_2 + 49.5619 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_76 + 52 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_18 + tile_19 + tile_22 + tile_87 + 59 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + backpack_1 + 64.3128 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_60 + 66.8964 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_21 + 69 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + cube_1 + 77.179 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + vent_2 + 82.5035 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_20 + tile_23 + tile_61 + tile_62 + gas_1 + 90 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_46 + 95 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_25 + 99 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + vent_1 + 99.9641 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + fog_emitter_1 + 120 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + gas_2 + 122 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_27 + Wall + debris_wall_1_fog_emitter_1 + debris_wall_1_fog_emitter_2 + 130 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_26 + 139 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + rescue_randy_2 + 140.883 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_41 + tile_42 + tile_43 + tile_44 + tile_57 + 145 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + cube_2 + 146.906 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + rope_1 + 155.027 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_37 + 161.333 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_38 + 166 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_28 + 169.981 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_30 + tile_58 + 170 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_32 + 194.999 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_31 + tile_33 + tile_47 + tile_48 + tile_49 + tile_50 + tile_51 + tile_53 + tile_54 + tile_56 + tile_59 + dynamic_rocks_1 + 195 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + rope_2 + 196.471 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + helmet_1 + 198.211 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_36 + 218 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_35 + 232 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + backpack_2 + 247.081 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_40 + 257 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_39 + 263 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_52 + 270 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + phone_2 + 289.828 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_34 + 293 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + tile_55 + 295 -76.5145 30.0142 0 0 0 + 215.625 579.029 266.028 + 12.5 + + + rope_2 + 127 -265.029 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_54 + tile_57 + 127 -265 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + cube_2 + 127 -240.659 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_42 + tile_45 + tile_46 + tile_52 + 127 -240 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + helmet_2 + 127 -226.241 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + backpack_2 + 127 -224.517 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_53 + tile_55 + 127 -215 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + dynamic_rocks_2 + 127 -207.08 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_47 + 127 -190 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_43 + 127 -165 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_49 + tile_50 + tile_51 + 127 -140 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_56 + 127 -115 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_44 + tile_48 + 127 -90 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + rope_1 + 127 -85.443 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + gas_1 + 127 -80 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + vent_2 + 127 -62.8376 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_67 + tile_68 + 127 -58 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_28 + tile_31 + tile_41 + 127 -53 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_18 + tile_20 + tile_21 + tile_61 + tile_62 + gas_2 + 127 -48 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + rescue_randy_1 + 127 -40.2274 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_4 + tile_15 + tile_16 + tile_66 + fog_emitter_2 + 127 -38 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_87 + 127 -33 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_70 + 127 -31 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_32 + 127 -28 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_2 + 127 -19 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_17 + tile_19 + tile_63 + tile_69 + tile_72 + tile_73 + 127 -18 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + debris_wall_1_fog_emitter_2 + 127 -15 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + extinguisher_1 + 127 -12.6443 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + cube_1 + 127 -11.3 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_60 + 127 -8.06715 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_3 + tile_23 + tile_27 + tile_30 + Wall + 127 -8 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_33 + tile_34 + tile_35 + tile_39 + tile_40 + 127 -3 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + dynamic_rocks_1 + 127 -2.5 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_1 + tile_5 + tile_6 + tile_71 + debris_wall_1_fog_emitter_1 + 127 0 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_64 + tile_65 + 127 2 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + extinguisher_2 + 127 3.1115 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_9 + 127 8 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + phone_2 + 127 11.9229 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_7 + tile_8 + 127 20 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_58 + tile_59 + 127 22 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + vent_1 + 127 36.3388 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + backpack_1 + 127 37.8729 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + helmet_1 + 127 38.173 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_10 + tile_11 + tile_12 + tile_22 + tile_24 + tile_25 + tile_26 + fog_emitter_1 + 127 40 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + drill_2 + 127 42.0775 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_37 + 127 42.7782 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_38 + 127 43 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_36 + 127 47 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + rescue_randy_2 + 127 48.9761 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + debris_wall_2_fog_emitter_2 + 127 53 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_13 + tile_14 + tile_29 + tile_74 + tile_75 + tile_76 + tile_77 + tile_83 + Wall + 127 60 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + drill_1 + 127 63.0475 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + debris_wall_2_fog_emitter_1 + 127 68 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + phone_1 + 127 68.3159 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_84 + 127 73 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_78 + tile_79 + tile_80 + tile_81 + tile_82 + 127 80 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_85 + 127 100 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + tile_86 + 127 112 30.0142 0 0 0 + 566 189.375 266.028 + 12.5 + + + + diff --git a/subt_ign/worlds/final_prelim/03/final_prelim_03.dat b/subt_ign/worlds/final_prelim/03/final_prelim_03.dat new file mode 100644 index 00000000..bba92718 Binary files /dev/null and b/subt_ign/worlds/final_prelim/03/final_prelim_03.dat differ diff --git a/subt_ign/worlds/final_prelim/03/final_prelim_03.dot b/subt_ign/worlds/final_prelim/03/final_prelim_03.dot new file mode 100644 index 00000000..4092ed55 --- /dev/null +++ b/subt_ign/worlds/final_prelim/03/final_prelim_03.dot @@ -0,0 +1,37 @@ +/* Visibility graph generated by dot_generator */ + +graph { + /* ==== Vertices ==== */ + + /* Base station / Staging area */ + 1 [label="1::base_station::BaseStation"]; + + 2 [label="2::Edgar Mine Virtual STIX 1::edgar1"]; + 3 [label="3::Edgar Mine Virtual STIX 2::edgar2"]; + 4 [label="4::Edgar Mine Virtual STIX 3::edgar3"]; + 5 [label="5::Edgar Mine Virtual STIX 4::edgar4"]; + 6 [label="6::Edgar Mine Virtual STIX 5::edgar5"]; + 7 [label="7::Edgar Mine Virtual STIX 6::edgar6"]; + 8 [label="8::Edgar Mine Virtual STIX 7::edgar7"]; + 9 [label="9::Edgar Mine Virtual STIX 8::edgar8"]; + 10 [label="10::Edgar Mine Virtual STIX 9::edgar9"]; + 11 [label="11::Edgar Mine Virtual STIX 10::edgar10"]; + + /* ==== Edges ==== */ + + /* Base station */ + 1 -- 2 [label=5]; + 2 -- 3 [label=5]; + 2 -- 6 [label=5]; + 2 -- 11 [label=5]; + 3 -- 4 [label=5]; + 3 -- 6 [label=5]; + 4 -- 5 [label=5]; + 5 -- 6 [label=5]; + 6 -- 7 [label=5]; + 7 -- 8 [label=5]; + 7 -- 9 [label=5]; + 7 -- 10 [label=5]; + 8 -- 9 [label=5]; + 10 -- 11 [label=5]; +} diff --git a/subt_ign/worlds/final_prelim/03/final_prelim_03.sdf b/subt_ign/worlds/final_prelim/03/final_prelim_03.sdf new file mode 100644 index 00000000..a012c996 --- /dev/null +++ b/subt_ign/worlds/final_prelim/03/final_prelim_03.sdf @@ -0,0 +1,983 @@ + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + 288 + 0.2 + + + + true + edgar_staging + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX Staging + + + + true + staging_area + -13 0 -0.01 0 -0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Finals Staging Area + + + + true + base_station + -30 0 0.0 0 -0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + true + artifact_origin + -10.5 0 0.0 0 -0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + + + + true + edgar1 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 1 + + + + true + edgar2 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 2 + + + + true + edgar3 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 3 + + + + true + edgar4 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 4 + + + + true + edgar5 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 5 + + + + true + edgar6 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 6 + + + + true + edgar7 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 7 + + + + true + edgar8 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 8 + + + + true + edgar9 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 9 + + + + true + edgar10 + 98.1 0.255284 0.441351 0 0 -1.92335 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Edgar Mine Virtual STIX 10 + + + + + -1.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 8.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 18.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 28.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 38.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 48.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 58.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 68.5 0.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 78.5 2.8 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 90.5 5.2 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 100.5 8.0 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 110.5 9.8 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 120.5 12.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 130.5 14.6 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 140.5 17.2 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 150.5 19.4 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 160.5 21.5 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 170.5 23.9 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 180.5 26.2 3.0 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 40.8 20.4 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 53.36 21.8 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 76.8 25.42 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 90 27.6 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 102.77 21.85 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 41.78 9.5 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + 46.92 -14.6 3.2 0 0 0 + 0.8 0.8 0.8 1 + 0.1 0.1 0.1 1 + + 50 + 0.2 + 0.5 + 0.001 + + + 2.0 + 3.1 + 0.4 + + false + + + + + + true + backpack_1 + 42.0689 -13.4864 0.794203 0.074180 0.0 1.716120 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + true + backpack_2 + 78.5143 96.4204 1.00419 0.123453 0.08254 1.85346 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + true + backpack_3 + 62.3811 -82.4752 1.3844 0.133572 -0.047190 -2.06509 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + true + backpack_4 + 21.9122 75.1691 0.33994 0.281245 0.059872 2.4346 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red + + + + true + phone_1 + 68.036 -129.778 1.68686 -1.643740 0.0 0.721257 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + true + phone_2 + 43.7766 64.5942 0.787794 -1.284990 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + true + phone_3 + 102.732 37.3969 0.771168 -1.61551 0.015901 -0.003862 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + true + phone_4 + 195.377 0.14026 2.05761 -1.5708 0.092817 0.359092 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + true + extinguisher_1 + 165.591 30.758 1.14928 0 0 -1.905280 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + + true + extinguisher_2 + 39.1674 91.9164 0.12156 0 0.069094 -1.11845 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + + true + extinguisher_3 + 93.3527 -103.161 1.38504 0 0 -1.11845 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + + true + extinguisher_4 + 117.929 6.32411 1.6094 0 0 -1.69497 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fire Extinguisher + + + + true + rescue_randy_1 + 112.979 -124.369 2.899 0.14236 -0.196344 -2.57716 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + + true + rescue_randy_2 + 53.989 18.3617 1.00999 0.222412 0.103946 -2.87908 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + + true + rescue_randy_3 + 30.465 -4.163 0.606 0.1165 0.08478 2.5263 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting + + + + true + drill_1 + 97.1126 -67.3237 1.28814 0 0 1.09554 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + + true + drill_2 + 37.8579 121.751 -0.900395 0 0 -0.894948 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + + true + drill_3 + 164.051 -58.4336 2.21417 0 0 -0.894948 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Black and Decker Cordless Drill + + + + true + cube_1 + 108.996 -101.106 2.86563 0 0.27996 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SubT Challenge Cube + + + + true + cube_2 + 188.783 28.8847 1.01531 0 0 0.278848 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SubT Challenge Cube + + + + + fog_emitter_1 + true + 63.3 -99 1.787 0 0 0.19 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + + + 63.3 -99 1.787 0 0 0.19 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + true + + + + /subt_performer_detector + 0 0 0 0 0 0 + + + 10 30 10 + + + + type + fog + + + + + + + { + key: "frame_id" + value: "fog_emitter_1_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "1" + } + + + + emitting:{data: 1} + + + + + + + { + key: "frame_id" + value: "fog_emitter_1_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "0" + } + + + { + key: "count" + value: "0" + } + + + + emitting:{data: 0} + + + + + + + + fog_emitter_2 + true + 103.8 36.8 0.8675 0.0 0 0.0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog Emitter2 + + + 103.8 36.8 0.8675 0.0 0 0.0 + true + + + + /subt_performer_detector + 0 0 0 0 0 0 + + + 10 30 10 + + + + type + fog + + + + + + + { + key: "frame_id" + value: "fog_emitter_2_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "1" + } + + + + emitting:{data: 1} + + + + + + + { + key: "frame_id" + value: "fog_emitter_2_detector" + } + + + { + key: "type" + value: "fog" + } + + + { + key: "state" + value: "0" + } + + + { + key: "count" + value: "0" + } + + + + emitting:{data: 0} + + + + + + + 0.000000 0.000000 0.000000 + + + + + + + 10 + + 0.05 + 60 + + + 0 + 0.0002 + + + + 30 + + 5 + 20 + + + 0 + 0.03 + + + + + + 0 + 0.03 + + + + + +