diff --git a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py index 8d386034f..2ab359fa5 100644 --- a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py +++ b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py @@ -35,6 +35,7 @@ def generate_launch_description(): # Launch configuration variables specific to simulation x_pose = LaunchConfiguration('x_pose', default='0.0') y_pose = LaunchConfiguration('y_pose', default='0.0') + yaw = LaunchConfiguration('yaw', default='0.0') # Declare the launch arguments declare_x_position_cmd = DeclareLaunchArgument( @@ -53,7 +54,8 @@ def generate_launch_description(): '-file', urdf_path, '-x', x_pose, '-y', y_pose, - '-z', '0.01' + '-z', '0.01', + '-Y', yaw ], output='screen', ) diff --git a/turtlebot3_gazebo/launch/turtlebot3_urmc_2025.launch.py b/turtlebot3_gazebo/launch/turtlebot3_urmc_2025.launch.py new file mode 100644 index 000000000..f30cb8190 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_urmc_2025.launch.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool, Hyungyu Kim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + # x_pose = LaunchConfiguration('x_pose', default='-1.75') + # y_pose = LaunchConfiguration('y_pose', default='0.2') + # yaw = LaunchConfiguration('yaw', default='1.57') + x_pose = LaunchConfiguration('x_pose', default='0.2') + y_pose = LaunchConfiguration('y_pose', default='-1.8') + yaw = LaunchConfiguration('yaw', default='0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_urmc_2025.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose, + 'yaw': yaw + }.items() + ) + + ld = LaunchDescription() + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + return ld diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/checker.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/checker.png new file mode 100644 index 000000000..996ee2f0b Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/checker.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/scripts/checker.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/scripts/checker.material new file mode 100644 index 000000000..ebd4585e7 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/scripts/checker.material @@ -0,0 +1,14 @@ +material checker +{ + technique + { + pass + { + texture_unit + { + texture checker.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/textures/checker.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/textures/checker.png new file mode 100644 index 000000000..43ea3bacc Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/textures/checker.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.config new file mode 100644 index 000000000..f987bfb27 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.config @@ -0,0 +1,16 @@ + + + + checker + 1.0 + model.sdf + + + Gilbert + kkjong@robotis.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.sdf new file mode 100644 index 000000000..6bd583145 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.02 1 1 + + + + + + + 0.02 1 1 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/scripts/course.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/scripts/course.material new file mode 100644 index 000000000..0859df92e --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/scripts/course.material @@ -0,0 +1,14 @@ +material course +{ + technique + { + pass + { + texture_unit + { + texture course.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/textures/course.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/textures/course.png new file mode 100644 index 000000000..419d0ac40 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/textures/course.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.config new file mode 100644 index 000000000..725e5f6ac --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.config @@ -0,0 +1,16 @@ + + + + course + 1.0 + model.sdf + + sdq + test@gmail.com + + + + A simple textured ground plane + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.sdf new file mode 100644 index 000000000..65dd7ff73 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.sdf @@ -0,0 +1,42 @@ + + + + true + + + + + 0 0 1 + 4 4 + + + + + + 100 + 50 + + + + + + false + + + 0 0 1 + 4 4 + + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/scripts/piste_droit.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/scripts/piste_droit.material new file mode 100644 index 000000000..d6e1e599e --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/scripts/piste_droit.material @@ -0,0 +1,14 @@ +material piste_droit +{ + technique + { + pass + { + texture_unit + { + texture test_bande.png + scale 1 1 + } + } + } +} diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/textures/test_bande.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/textures/test_bande.png new file mode 100644 index 000000000..f44bfc7fc Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/textures/test_bande.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.config new file mode 100644 index 000000000..23c519ef1 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.config @@ -0,0 +1,11 @@ + + + PIste_droite_texture + 1.0 + model.sdf + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.sdf new file mode 100644 index 000000000..15b015493 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.sdf @@ -0,0 +1,108 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + /home/alexis/Téléchargements/piste_droit_texture.dae + 0.02 0.02 0.02 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + /home/alexis/Téléchargements/piste_droit_texture.dae + 0.02 0.02 0.02 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 1 + 1 + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.config new file mode 100644 index 000000000..5fa2d5f84 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.config @@ -0,0 +1,11 @@ + + + Parking_1 + 1.0 + model.sdf + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.sdf new file mode 100644 index 000000000..5f5e35f59 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.sdf @@ -0,0 +1,107 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + -0 -0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + /home/alexis/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/Circuit/meshes/parking_1.dae + 0.05 0.05 0.05 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 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+ + + + + + + + 0.025 0 0 0 0 0.025 0 0 0 0 0.025 0 0 0 0 1 + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/scripts/traffic_construction.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/scripts/traffic_construction.material new file mode 100644 index 000000000..a468c2af0 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/scripts/traffic_construction.material @@ -0,0 +1,14 @@ +material traffic_construction +{ + technique + { + pass + { + texture_unit + { + texture traffic_construction.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction.png new file mode 100644 index 000000000..ad472e429 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction_white_background.png new file mode 100644 index 000000000..f6f55f09b Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.config new file mode 100644 index 000000000..6e18cadcb --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.config @@ -0,0 +1,16 @@ + + + + traffic_construction + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.sdf new file mode 100644 index 000000000..04c7271fd --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/scripts/traffic_intersection.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/scripts/traffic_intersection.material new file mode 100644 index 000000000..a17574c9a --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/scripts/traffic_intersection.material @@ -0,0 +1,14 @@ +material traffic_intersection +{ + technique + { + pass + { + texture_unit + { + texture traffic_intersection.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection.png new file mode 100644 index 000000000..e6900cbbd Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection_white_background.png new file mode 100644 index 000000000..906154462 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.config new file mode 100644 index 000000000..9bec9f4a9 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.config @@ -0,0 +1,16 @@ + + + + traffic_intersection + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.sdf new file mode 100644 index 000000000..b993750a8 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/scripts/traffic_is_left.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/scripts/traffic_is_left.material new file mode 100644 index 000000000..60c7f7359 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/scripts/traffic_is_left.material @@ -0,0 +1,14 @@ +material traffic_left +{ + technique + { + pass + { + texture_unit + { + texture traffic_left.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left.png new file mode 100644 index 000000000..ede00a047 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left_white_background.png new file mode 100644 index 000000000..fa0e204ff Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.config new file mode 100644 index 000000000..97b56b653 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.config @@ -0,0 +1,16 @@ + + + + traffic_left + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.sdf new file mode 100644 index 000000000..3a47a303a --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 1.08 -0.838 0.125 0 -0 -1.57 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/scripts/traffic_noentry.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/scripts/traffic_noentry.material new file mode 100644 index 000000000..ac9a9da7e --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/scripts/traffic_noentry.material @@ -0,0 +1,14 @@ +material traffic_noentry +{ + technique + { + pass + { + texture_unit + { + texture traffic_noentry.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry.png new file mode 100644 index 000000000..b1c71255e Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry_white_background.png new file mode 100644 index 000000000..295185446 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.config new file mode 100644 index 000000000..9b71484c2 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.config @@ -0,0 +1,16 @@ + + + + traffic_noentry + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.sdf new file mode 100644 index 000000000..3891b9846 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/scripts/traffic_parking.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/scripts/traffic_parking.material new file mode 100644 index 000000000..fe4c11988 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/scripts/traffic_parking.material @@ -0,0 +1,14 @@ +material traffic_parking +{ + technique + { + pass + { + texture_unit + { + texture traffic_parking.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking.png new file mode 100644 index 000000000..0027bbe05 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking_white_background.png new file mode 100644 index 000000000..62ecbdd04 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.config new file mode 100644 index 000000000..f03079457 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.config @@ -0,0 +1,16 @@ + + + + traffic_parking + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.sdf new file mode 100644 index 000000000..024eb3718 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/scripts/traffic_pl_left.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/scripts/traffic_pl_left.material new file mode 100644 index 000000000..e8b2b07ef --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/scripts/traffic_pl_left.material @@ -0,0 +1,14 @@ +material traffic_pl_left +{ + technique + { + pass + { + texture_unit + { + texture traffic_pl_left.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left.png new file mode 100644 index 000000000..ede00a047 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left_white_background.png new file mode 100644 index 000000000..fa0e204ff Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.config new file mode 100644 index 000000000..d9731924b --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.config @@ -0,0 +1,16 @@ + + + + traffic_pl_left + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.sdf new file mode 100644 index 000000000..039e9a30d --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/scripts/traffic_right.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/scripts/traffic_right.material new file mode 100644 index 000000000..cd25f5d47 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/scripts/traffic_right.material @@ -0,0 +1,14 @@ +material traffic_right +{ + technique + { + pass + { + texture_unit + { + texture traffic_right.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right.png new file mode 100644 index 000000000..1ef164281 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right_white_background.png new file mode 100644 index 000000000..fa2d85094 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.config new file mode 100644 index 000000000..47c141ffb --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.config @@ -0,0 +1,16 @@ + + + + traffic_right + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.sdf new file mode 100644 index 000000000..500bec7b4 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 1.08 -0.728 0.125 0 -0 -1.57 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/scripts/traffic_stop.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/scripts/traffic_stop.material new file mode 100644 index 000000000..135323968 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/scripts/traffic_stop.material @@ -0,0 +1,14 @@ +material traffic_stop +{ + technique + { + pass + { + texture_unit + { + texture traffic_stop.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop.png new file mode 100644 index 000000000..3795709a3 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop_white_background.png new file mode 100644 index 000000000..232f5eca1 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.config new file mode 100644 index 000000000..37c96e374 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.config @@ -0,0 +1,16 @@ + + + + traffic_stop + 1.0 + model.sdf + + + Gilbert + kkjong@robotis.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.sdf new file mode 100644 index 000000000..8ab3774f9 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.sdf @@ -0,0 +1,30 @@ + + + + true + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/scripts/tunnel.material b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/scripts/tunnel.material new file mode 100644 index 000000000..e0bbd27b6 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/scripts/tunnel.material @@ -0,0 +1,14 @@ +material traffic_tunnel +{ + technique + { + pass + { + texture_unit + { + texture tunnel.png + } + } + } +} + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel.png new file mode 100644 index 000000000..c44d37603 Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel_white_background.png b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel_white_background.png new file mode 100644 index 000000000..73535d4bf Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel_white_background.png differ diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.config b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.config new file mode 100644 index 000000000..6a4cff6d5 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.config @@ -0,0 +1,16 @@ + + + + traffic_tunnel + 1.0 + model.sdf + + + Hyunok Lee + hyunokhyunok@naver.com + + + + Model with links of simple shapes and texture applied. + + diff --git a/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.sdf b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.sdf new file mode 100644 index 000000000..37b292794 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.sdf @@ -0,0 +1,30 @@ + + + + 0 0 0.125 0 0 0 + + 0 0 0 0 0 0 + + + + 0.12 0.025 0.25 + + + + + + + 0.12 0.025 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_urmc_2025.world b/turtlebot3_gazebo/worlds/turtlebot3_urmc_2025.world new file mode 100644 index 000000000..994b8dbb4 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_urmc_2025.world @@ -0,0 +1,1307 @@ + + + + + + + 0.8 0.8 0.8 1 + 0 + 0 + 0.7 0.7 0.7 1 + + + + 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