Merge pull request #37 from aPR0T0/dev_Aryan

Dev aryan
aPR0T0 · Oct 12, 2022 · 3389314 · 3389314
2 parents 6c26434 + 644cef8
commit 3389314
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diff --git a/rotors_gazebo/models/asphalt_plane/materials/scripts/asphalt.material b/rotors_gazebo/models/asphalt_plane/materials/scripts/asphalt.material
@@ -0,0 +1,20 @@
+material vrc/asphalt
+{
+	technique
+	{
+		pass
+		{
+			ambient 0.5 0.5 0.5 1.0
+			diffuse 0.5 0.5 0.5 1.0
+			specular 0.2 0.2 0.2 1.0 12.5
+
+			texture_unit
+			{
+				texture tarmac.png
+				filtering anistropic
+				max_anisotropy 16
+				scale 0.1 0.1
+			}
+		}
+	}
+}
diff --git a/rotors_gazebo/models/asphalt_plane/materials/textures/tarmac.png b/rotors_gazebo/models/asphalt_plane/materials/textures/tarmac.png
diff --git a/rotors_gazebo/models/asphalt_plane/model-1_4.sdf b/rotors_gazebo/models/asphalt_plane/model-1_4.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="asphalt_plane">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>20 20 .1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>20 20 .1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://asphalt_plane/materials/scripts</uri>
+            <uri>model://asphalt_plane/materials/textures</uri>
+            <name>vrc/asphalt</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/rotors_gazebo/models/asphalt_plane/model.config b/rotors_gazebo/models/asphalt_plane/model.config
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Asphalt Plane</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Thomas Koletschka</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    An asphalt textured plane.
+  </description>
+
+</model>
diff --git a/rotors_gazebo/models/asphalt_plane/model.sdf b/rotors_gazebo/models/asphalt_plane/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="asphalt_plane">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>20 20 .1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>20 20 .1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://asphalt_plane/materials/scripts</uri>
+            <uri>model://asphalt_plane/materials/textures</uri>
+            <name>vrc/asphalt</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/rotors_gazebo/models/ros_interface/model.config b/rotors_gazebo/models/ros_interface/model.config
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>ROS Interface</name>
+  <version>1.0</version>
+
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Geoffrey Hunter</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    A model that purely exists to load the ROS interface plugin in Gazebo.
+  </description>
+
+</model>
diff --git a/rotors_gazebo/models/ros_interface/model.sdf b/rotors_gazebo/models/ros_interface/model.sdf
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="ros_interface">
+    <static>true</static>
+      <plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so">
+        <robotNamespace>firefly</robotNamespace>
+      </plugin>
+  </model>
+</sdf>
diff --git a/rotors_gazebo/models/rotors_description/model.config b/rotors_gazebo/models/rotors_description/model.config
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<model>
+  <name>rotors description</name>
+  <version>1.0</version>
+</model>