From 0b3e166af05fbbeda68fb0c18b27b609481d6f1a Mon Sep 17 00:00:00 2001 From: gredin67 Date: Tue, 17 Feb 2026 17:13:45 +0100 Subject: [PATCH] add URMC 2025 gazebo world --- .../launch/spawn_turtlebot3.launch.py | 4 +- .../launch/turtlebot3_urmc_2025.launch.py | 82 ++ .../checker/materials/checker.png | Bin 0 -> 4901 bytes .../materials/scripts/checker.material | 14 + .../checker/materials/textures/checker.png | Bin 0 -> 2741 bytes .../turtlebot3_urmc_2025/checker/model.config | 16 + .../turtlebot3_urmc_2025/checker/model.sdf | 30 + .../course/materials/scripts/course.material | 14 + .../course/materials/textures/course.png | Bin 0 -> 67326 bytes .../turtlebot3_urmc_2025/course/model.config | 16 + .../turtlebot3_urmc_2025/course/model.sdf | 42 + .../materials/scripts/piste_droit.material | 14 + .../materials/textures/test_bande.png | Bin 0 -> 125742 bytes .../meshes/PIste_droite_texture/model.config | 11 + .../meshes/PIste_droite_texture/model.sdf | 108 ++ .../meshes/Parking_1/model.config | 11 + .../meshes/Parking_1/model.sdf | 107 ++ .../meshes/Virage/model.config | 11 + .../meshes/Virage/model.sdf | 107 ++ .../turtlebot3_urmc_2025/meshes/parking_1.dae | 124 ++ .../turtlebot3_urmc_2025/meshes/virage.dae | 132 ++ .../scripts/traffic_construction.material | 14 + .../textures/traffic_construction.png | Bin 0 -> 77961 bytes .../traffic_construction_white_background.png | Bin 0 -> 68018 bytes .../traffic_construction/model.config | 16 + .../traffic_construction/model.sdf | 30 + .../scripts/traffic_intersection.material | 14 + .../textures/traffic_intersection.png | Bin 0 -> 67723 bytes .../traffic_intersection_white_background.png | Bin 0 -> 63421 bytes .../traffic_intersection/model.config | 16 + .../traffic_intersection/model.sdf | 30 + .../scripts/traffic_is_left.material | 14 + .../materials/textures/traffic_left.png | Bin 0 -> 52647 bytes .../traffic_left_white_background.png | Bin 0 -> 43845 bytes .../traffic_left/model.config | 16 + .../traffic_left/model.sdf | 30 + .../scripts/traffic_noentry.material | 14 + .../materials/textures/traffic_noentry.png | Bin 0 -> 55194 bytes .../traffic_noentry_white_background.png | Bin 0 -> 46544 bytes .../traffic_noentry/model.config | 16 + .../traffic_noentry/model.sdf | 30 + .../scripts/traffic_parking.material | 14 + .../materials/textures/traffic_parking.png | Bin 0 -> 70281 bytes .../traffic_parking_white_background.png | Bin 0 -> 48326 bytes .../traffic_parking/model.config | 16 + .../traffic_parking/model.sdf | 30 + .../scripts/traffic_pl_left.material | 14 + .../materials/textures/traffic_pl_left.png | Bin 0 -> 52647 bytes .../traffic_pl_left_white_background.png | Bin 0 -> 43845 bytes .../traffic_pl_left/model.config | 16 + .../traffic_pl_left/model.sdf | 30 + .../materials/scripts/traffic_right.material | 14 + .../materials/textures/traffic_right.png | Bin 0 -> 48565 bytes .../traffic_right_white_background.png | Bin 0 -> 41130 bytes .../traffic_right/model.config | 16 + .../traffic_right/model.sdf | 30 + .../materials/scripts/traffic_stop.material | 14 + .../materials/textures/traffic_stop.png | Bin 0 -> 52936 bytes .../traffic_stop_white_background.png | Bin 0 -> 43083 bytes .../traffic_stop/model.config | 16 + .../traffic_stop/model.sdf | 30 + .../materials/scripts/tunnel.material | 14 + .../materials/textures/tunnel.png | Bin 0 -> 62728 bytes .../textures/tunnel_white_background.png | Bin 0 -> 81801 bytes .../traffic_tunnel/model.config | 16 + .../traffic_tunnel/model.sdf | 30 + .../worlds/turtlebot3_urmc_2025.world | 1307 +++++++++++++++++ 67 files changed, 2689 insertions(+), 1 deletion(-) create mode 100644 turtlebot3_gazebo/launch/turtlebot3_urmc_2025.launch.py create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/checker.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/scripts/checker.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/materials/textures/checker.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/checker/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/scripts/course.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/materials/textures/course.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/course/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/scripts/piste_droit.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/materials/textures/test_bande.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/PIste_droite_texture/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Parking_1/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Virage/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/Virage/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/parking_1.dae create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/meshes/virage.dae create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/scripts/traffic_construction.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/materials/textures/traffic_construction_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_construction/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/scripts/traffic_intersection.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/materials/textures/traffic_intersection_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_intersection/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/scripts/traffic_is_left.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/materials/textures/traffic_left_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_left/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/scripts/traffic_noentry.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/materials/textures/traffic_noentry_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_noentry/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/scripts/traffic_parking.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/materials/textures/traffic_parking_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_parking/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/scripts/traffic_pl_left.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/materials/textures/traffic_pl_left_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_pl_left/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/scripts/traffic_right.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/materials/textures/traffic_right_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_right/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/scripts/traffic_stop.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/materials/textures/traffic_stop_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_stop/model.sdf create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/scripts/tunnel.material create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/materials/textures/tunnel_white_background.png create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.config create mode 100644 turtlebot3_gazebo/models/turtlebot3_urmc_2025/traffic_tunnel/model.sdf create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_urmc_2025.world 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 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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 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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 +++ 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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 0000000000000000000000000000000000000000..ede00a0473c304a58c0e89140351a87a67caf67d GIT binary patch literal 52647 zcmV)1K+V62P)%V1UvvzfnT_)P2d-ved({} zxC9t^W~bB3U*Jq;odJBD5(E`H?b+gwhAo5}=a9q)1rfi9QeO*moz8H|LZ z6o9x11v{l63n0lHA;lIiW04MY0wGlJGMh^DdcB?lu=tzhLaUBTH}O!w0bDQuqyvD9 z5F%d9m_6rIUI};rq!PY66zJijoLari20|gs^3SpoON1L_wm20B0?Z(K>*aIa1};CyYRU@@^g3D9*L)^C&^OQD$LKT@TI9u% zGn|+Hv^PK@0EpKDik0vc-8Dn@07xZy)d(6z0RF`SL>AcH(Ybb~Dc>gfW@fqTWM<{m 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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 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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 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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 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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 0000000000000000000000000000000000000000..ede00a0473c304a58c0e89140351a87a67caf67d GIT binary patch literal 52647 zcmV)1K+V62P)%V1UvvzfnT_)P2d-ved({} zxC9t^W~bB3U*Jq;odJBD5(E`H?b+gwhAo5}=a9q)1rfi9QeO*moz8H|LZ z6o9x11v{l63n0lHA;lIiW04MY0wGlJGMh^DdcB?lu=tzhLaUBTH}O!w0bDQuqyvD9 z5F%d9m_6rIUI};rq!PY66zJijoLari20|gs^3SpoON1L_wm20B0?Z(K>*aIa1};CyYRU@@^g3D9*L)^C&^OQD$LKT@TI9u% zGn|+Hv^PK@0EpKDik0vc-8Dn@07xZy)d(6z0RF`SL>AcH(Ybb~Dc>gfW@fqTWM<{m 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/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 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