diff --git a/vrx_gz/hooks/resource_paths.dsv.in b/vrx_gz/hooks/resource_paths.dsv.in index daada84ca..97311339a 100644 --- a/vrx_gz/hooks/resource_paths.dsv.in +++ b/vrx_gz/hooks/resource_paths.dsv.in @@ -1,5 +1,6 @@ prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds/2023_practice +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds/2023_phase2 prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models/tmp prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/lib diff --git a/vrx_gz/hooks/resource_paths.sh b/vrx_gz/hooks/resource_paths.sh index afa29e909..8cb1a1e6f 100644 --- a/vrx_gz/hooks/resource_paths.sh +++ b/vrx_gz/hooks/resource_paths.sh @@ -1,5 +1,6 @@ ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/worlds" ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/worlds/2023_practice" +ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/worlds/2023_phase2" ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/models" ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/models/tmp" ament_prepend_unique_value GZ_SIM_SYSTEM_PLUGIN_PATH "$AMENT_CURRENT_PREFIX/lib" diff --git a/vrx_gz/src/vrx_gz/launch.py b/vrx_gz/src/vrx_gz/launch.py index 098a1c639..7a4274c01 100644 --- a/vrx_gz/src/vrx_gz/launch.py +++ b/vrx_gz/src/vrx_gz/launch.py @@ -38,6 +38,18 @@ PERCEPTION_WORLDS = [ 'perception_task', + 'phase2_2023_perception0', + 'phase2_2023_perception1', + 'phase2_2023_perception2', + 'phase2_2023_perception3', + 'phase2_2023_perception4', + 'phase2_2023_perception5', + 'phase3_2023_perception0', + 'phase3_2023_perception1', + 'phase3_2023_perception2', + 'phase3_2023_perception3', + 'phase3_2023_perception4', + 'phase3_2023_perception5', 'practice_2023_perception0_task', 'practice_2023_perception1_task', 'practice_2023_perception2_task', @@ -51,6 +63,18 @@ STATIONKEEPING_WORLDS = [ 'stationkeeping_task', + 'phase2_2023_stationkeeping0', + 'phase2_2023_stationkeeping1', + 'phase2_2023_stationkeeping2', + 'phase2_2023_stationkeeping3', + 'phase2_2023_stationkeeping4', + 'phase2_2023_stationkeeping5', + 'phase3_2023_stationkeeping0', + 'phase3_2023_stationkeeping1', + 'phase3_2023_stationkeeping2', + 'phase3_2023_stationkeeping3', + 'phase3_2023_stationkeeping4', + 'phase3_2023_stationkeeping5', 'practice_2023_stationkeeping0_task', 'practice_2023_stationkeeping1_task', 'practice_2023_stationkeeping2_task', @@ -64,6 +88,18 @@ WAYFINDING_WORLDS = [ 'wayfinding_task', + 'phase2_2023_wayfinding0', + 'phase2_2023_wayfinding1', + 'phase2_2023_wayfinding2', + 'phase2_2023_wayfinding3', + 'phase2_2023_wayfinding4', + 'phase2_2023_wayfinding5', + 'phase3_2023_wayfinding0', + 'phase3_2023_wayfinding1', + 'phase3_2023_wayfinding2', + 'phase3_2023_wayfinding3', + 'phase3_2023_wayfinding4', + 'phase3_2023_wayfinding5', 'practice_2023_wayfinding0_task', 'practice_2023_wayfinding1_task', 'practice_2023_wayfinding2_task', @@ -77,6 +113,18 @@ WILDLIFE_WORLDS = [ 'wildlife_task', + 'phase2_2023_wildlife0', + 'phase2_2023_wildlife1', + 'phase2_2023_wildlife2', + 'phase2_2023_wildlife3', + 'phase2_2023_wildlife4', + 'phase2_2023_wildlife5', + 'phase3_2023_wildlife0', + 'phase3_2023_wildlife1', + 'phase3_2023_wildlife2', + 'phase3_2023_wildlife3', + 'phase3_2023_wildlife4', + 'phase3_2023_wildlife5', 'practice_2023_wildlife0_task', 'practice_2023_wildlife1_task', 'practice_2023_wildlife2_task', @@ -90,6 +138,18 @@ SCAN_DOCK_DELIVER_WORLDS = [ 'scan_dock_deliver_task', + 'phase2_2023_scan_dock_deliver0', + 'phase2_2023_scan_dock_deliver1', + 'phase2_2023_scan_dock_deliver2', + 'phase2_2023_scan_dock_deliver3', + 'phase2_2023_scan_dock_deliver4', + 'phase2_2023_scan_dock_deliver5', + 'phase3_2023_scan_dock_deliver0', + 'phase3_2023_scan_dock_deliver1', + 'phase3_2023_scan_dock_deliver2', + 'phase3_2023_scan_dock_deliver3', + 'phase3_2023_scan_dock_deliver4', + 'phase3_2023_scan_dock_deliver5', 'practice_2023_scan_dock_deliver0_task', 'practice_2023_scan_dock_deliver1_task', 'practice_2023_scan_dock_deliver2_task', @@ -103,6 +163,18 @@ ACOUSTIC_TRACKING_WORLDS = [ 'acoustic_tracking_task', + 'phase2_2023_acoustic_tracking0', + 'phase2_2023_acoustic_tracking1', + 'phase2_2023_acoustic_tracking2', + 'phase2_2023_acoustic_tracking3', + 'phase2_2023_acoustic_tracking4', + 'phase2_2023_acoustic_tracking5', + 'phase3_2023_acoustic_tracking0', + 'phase3_2023_acoustic_tracking1', + 'phase3_2023_acoustic_tracking2', + 'phase3_2023_acoustic_tracking3', + 'phase3_2023_acoustic_tracking4', + 'phase3_2023_acoustic_tracking5', 'practice_2023_acoustic_tracking0_task', 'practice_2023_acoustic_tracking1_task', 'practice_2023_acoustic_tracking2_task', @@ -116,6 +188,18 @@ FOLLOWPATH_WORLDS = [ 'follow_path_task', + 'phase2_2023_follow_path0', + 'phase2_2023_follow_path1', + 'phase2_2023_follow_path2', + 'phase2_2023_follow_path3', + 'phase2_2023_follow_path4', + 'phase2_2023_follow_path5', + 'phase3_2023_follow_path0', + 'phase3_2023_follow_path1', + 'phase3_2023_follow_path2', + 'phase3_2023_follow_path3', + 'phase3_2023_follow_path4', + 'phase3_2023_follow_path5', 'practice_2023_follow_path0_task', 'practice_2023_follow_path1_task', 'practice_2023_follow_path2_task', diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception0.sdf new file mode 100644 index 000000000..99fa1e8f9 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception0.sdf @@ -0,0 +1,512 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + x: -560, + y: 185, + z: -2 + + + + + + wamv + acoustic_perception + /vrx/acoustic_perception/debug/contact + 10 + 10 + 300 + /vrx/release + 3 + -560 185 -2 + + 0.2 0.2 2.0 + 0.5 + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception1.sdf new file mode 100644 index 000000000..43004bf84 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception1.sdf @@ -0,0 +1,512 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + x: -528, + y: 225, + z: -2 + + + + + + wamv + acoustic_perception + /vrx/acoustic_perception/debug/contact + 10 + 10 + 300 + /vrx/release + 3 + -528 225 -2 + + 0.2 0.2 2.0 + 0.5 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 96 + + 3.0 + 2.0 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception2.sdf new file mode 100644 index 000000000..276841673 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception2.sdf @@ -0,0 +1,512 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + x: -490, + y: 175, + z: -2 + + + + + + wamv + acoustic_perception + /vrx/acoustic_perception/debug/contact + 10 + 10 + 300 + /vrx/release + 3 + -490 175 -2 + + 0.2 0.2 2.0 + 0.5 + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 1.570797 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception3.sdf new file mode 100644 index 000000000..cd5b7e2d4 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception3.sdf @@ -0,0 +1,512 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + x: -560, + y: 187, + z: -2 + + + + + + wamv + acoustic_perception + /vrx/acoustic_perception/debug/contact + 10 + 10 + 300 + /vrx/release + 3 + -560 187 -2 + + 0.2 0.2 2.0 + 0.5 + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception4.sdf new file mode 100644 index 000000000..3c1fcbe65 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception4.sdf @@ -0,0 +1,512 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + x: -528, + y: 223, + z: -2 + + + + + + wamv + acoustic_perception + /vrx/acoustic_perception/debug/contact + 10 + 10 + 300 + /vrx/release + 3 + -528 223 -2 + + 0.2 0.2 2.0 + 0.5 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 96 + + 3.0 + 2.0 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception5.sdf new file mode 100644 index 000000000..7401fce03 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception5.sdf @@ -0,0 +1,512 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + x: -484, + y: 177, + z: -2 + + + + + + wamv + acoustic_perception + /vrx/acoustic_perception/debug/contact + 10 + 10 + 300 + /vrx/release + 3 + -484 177 -2 + + 0.2 0.2 2.0 + 0.5 + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 1.570797 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking0.sdf new file mode 100644 index 000000000..09d53005a --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking0.sdf @@ -0,0 +1,815 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_0 + -527 200 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_1 + -523 180 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_2 + -525 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_3 + -530 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_4 + -525 160 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_5 + -505 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_6 + -528.5 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_7 + -530 206 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_8 + -504 196 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_9 + -512 185 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + -525 167 0 0 0 0 + + + 0 0 -0.3 0 0 0 + 20 + + 0.24683 + 0 + 0 + 0.98016 + 0 + 1.14166 + + + + + + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 350 + 1.5 + + -526 170 + -530 210 + -502 201 + + + + + + + wamv + acoustic_tracking + /vrx/task/info + /vrx/acoustic_tracking/debug/contact + 10 + 10 + 300 + /vrx/release + /pinger/set_pinger_position + pinger + 2.0 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking1.sdf new file mode 100644 index 000000000..77a7ef6e8 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking1.sdf @@ -0,0 +1,917 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_0 + -527 200 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_1 + -523 180 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_2 + -525 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_3 + -530 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_4 + -530 182 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_10 + -525 160 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + mb_round_buoy_black_5 + -527 183 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_11 + -505 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + mb_round_buoy_black_6 + -528.5 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_7 + -530 206 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_8 + -529 175 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_9 + -531 170 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_12 + -504 196 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_13 + -512 185 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + -536 167 0 0 0 0 + + + 0 0 -0.3 0 0 0 + 20 + + 0.24683 + 0 + 0 + 0.98016 + 0 + 1.14166 + + + + + + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 350 + 1.5 + + -536 167 + -505 200 + -536 200 + -505 167 + + + + + + + wamv + acoustic_tracking + /vrx/task/info + /vrx/acoustic_tracking/debug/contact + 10 + 10 + 300 + /vrx/release + /pinger/set_pinger_position + pinger + 2.0 + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 96 + + 3.0 + 2.0 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking2.sdf new file mode 100644 index 000000000..51605fa16 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking2.sdf @@ -0,0 +1,816 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_0 + -527 200 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_1 + -504 180 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_2 + -525 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_3 + -536.5 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_4 + -535.5 182 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_5 + -527 183 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_6 + -505 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_7 + -530 206 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_8 + -520 167 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_9 + -531 170 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + -536 167 0 0 0 0 + + + 0 0 -0.3 0 0 0 + 20 + + 0.24683 + 0 + 0 + 0.98016 + 0 + 1.14166 + + + + + + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 350 + 1.5 + + -536 167 + -536 200 + -505 200 + -505 167 + + + + + + + wamv + acoustic_tracking + /vrx/task/info + /vrx/acoustic_tracking/debug/contact + 10 + 10 + 300 + /vrx/release + /pinger/set_pinger_position + pinger + 2.0 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking3.sdf new file mode 100644 index 000000000..76c15c022 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking3.sdf @@ -0,0 +1,831 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_0 + -527 200 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_1 + -523 180 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_2 + -525 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_3 + -530 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_4 + -525 160 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_5 + -505 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_6 + -528.5 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_7 + -530 206 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_8 + -504 196 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_9 + -512 185 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + -525 167 0 0 0 0 + + + 0 0 -0.3 0 0 0 + 20 + + 0.24683 + 0 + 0 + 0.98016 + 0 + 1.14166 + + + + + + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 350 + 1.5 + + -527 170 + -527 211 + -518 210 + -514 209 + -512 208 + -510 207 + -507 205 + -506 203 + -505 201 + -504.5 199.5 + -505 197 + -506 195 + -507 193 + -510 190 + -512 188 + -514 189 + -518 188 + -527 187 + + + + + + + + wamv + acoustic_tracking + /vrx/task/info + /vrx/acoustic_tracking/debug/contact + 10 + 10 + 300 + /vrx/release + /pinger/set_pinger_position + pinger + 2.0 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking4.sdf new file mode 100644 index 000000000..eac01f423 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking4.sdf @@ -0,0 +1,824 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_0 + -527 200 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_1 + -504 180 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_2 + -525 203 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_3 + -536.5 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_4 + -535.5 182 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_5 + -527 183 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_6 + -505 190 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_7 + -530 206 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_8 + -520 167 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_9 + -531 170 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + -536 167 0 0 0 0 + + + 0 0 -0.3 0 0 0 + 20 + + 0.24683 + 0 + 0 + 0.98016 + 0 + 1.14166 + + + + + + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 350 + 1.5 + + + + -525.5 168.5 + -523.5 175 + -501.5 173 + -501.5 185 + -538 187 + -527.5 204.5 + -523 210 + + + + + + + wamv + acoustic_tracking + /vrx/task/info + /vrx/acoustic_tracking/debug/contact + 10 + 10 + 300 + /vrx/release + /pinger/set_pinger_position + pinger + 2.0 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking5.sdf new file mode 100644 index 000000000..6b29d0503 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking5.sdf @@ -0,0 +1,820 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_0 + -526 180 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_1 + -507 199.645 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_2 + -482.91 199.645 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_3 + -482.91 220.355 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_4 + -507 220.355 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_5 + -540.09 220.355 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_6 + -565.09 220.355 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_7 + -565.09 199.645 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_8 + -540.09 199.645 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + mb_round_buoy_black_9 + -524 195 0.0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + -536 167 0 0 0 0 + + + 0 0 -0.3 0 0 0 + 20 + + 0.24683 + 0 + 0 + 0.98016 + 0 + 1.14166 + + + + + + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 350 + 1.5 + + -524 210 + -491.82 230.71 + -474 210 + -491.82 189.289 + -524 210 + -556.18 230.71 + -574 210 + -556.18 189.289 + + + + + + + wamv + acoustic_tracking + /vrx/task/info + /vrx/acoustic_tracking/debug/contact + 10 + 10 + 300 + /vrx/release + /pinger/set_pinger_position + pinger + 2.0 + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path0.sdf new file mode 100644 index 000000000..6bd3a7a8d --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path0.sdf @@ -0,0 +1,522 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + model://short_navigation_course_0 + -524 186 0 0 0 -1.44 + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + wamv + follow_path + /vrx/task/info + /vrx/follow_path/debug/contact + 10 + 10 + 300 + 10 + /vrx/release + + short_navigation_course_0 + 10 + 3.0 + 1 + + + red_bound_0 + green_bound_0 + + + red_bound_1 + green_bound_1 + + + red_bound_2 + green_bound_2 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path1.sdf new file mode 100644 index 000000000..c5bd77f1c --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path1.sdf @@ -0,0 +1,534 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + model://short_navigation_course_1 + -535 180 0 0 0 -1.44 + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 72 + + 5.0 + 4.0 + 2 + 7 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + wamv + follow_path + /vrx/task/info + /vrx/follow_path/debug/contact + 10 + 10 + 300 + 10 + /vrx/release + + short_navigation_course_1 + 10 + 1 + 3.0 + + + red_bound_0 + green_bound_0 + + + red_bound_1 + green_bound_1 + + + red_bound_2 + green_bound_2 + + + red_bound_3 + green_bound_3 + + + red_bound_4 + green_bound_4 + + + red_bound_5 + green_bound_5 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path2.sdf new file mode 100644 index 000000000..71545285a --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path2.sdf @@ -0,0 +1,546 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + model://short_navigation_course_2 + -524 186 0 0 0 -1.44 + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 355 + + 9.0 + 5.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + wamv + follow_path + /vrx/task/info + /vrx/follow_path/debug/contact + 10 + 10 + 300 + 10 + /vrx/release + + short_navigation_course_2 + 10 + 3.0 + 1 + + + red_bound_0 + green_bound_0 + + + red_bound_1 + green_bound_1 + + + red_bound_2 + green_bound_2 + + + red_bound_3 + green_bound_3 + + + red_bound_4 + green_bound_4 + + + red_bound_5 + green_bound_5 + + + red_bound_6 + green_bound_6 + + + red_bound_7 + green_bound_7 + + + red_bound_8 + green_bound_8 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path3.sdf new file mode 100644 index 000000000..1ea191625 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path3.sdf @@ -0,0 +1,522 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + model://short_navigation_course_3 + -524 186 0 0 0 -1.44 + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + wamv + follow_path + /vrx/task/info + /vrx/follow_path/debug/contact + 10 + 10 + 300 + 10 + /vrx/release + + short_navigation_course_3 + 10 + 3.0 + 1 + + + red_bound_0 + green_bound_0 + + + red_bound_1 + green_bound_1 + + + red_bound_2 + green_bound_2 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path4.sdf new file mode 100644 index 000000000..e6206422b --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path4.sdf @@ -0,0 +1,534 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + model://short_navigation_course_4 + -535 180 0 0 0 -1.44 + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 72 + + 5.0 + 4.0 + 2 + 7 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + wamv + follow_path + /vrx/task/info + /vrx/follow_path/debug/contact + 10 + 10 + 300 + 10 + /vrx/release + + short_navigation_course_4 + 10 + 1 + 3.0 + + + red_bound_0 + green_bound_0 + + + red_bound_1 + green_bound_1 + + + red_bound_2 + green_bound_2 + + + red_bound_3 + green_bound_3 + + + red_bound_4 + green_bound_4 + + + red_bound_5 + green_bound_5 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path5.sdf new file mode 100644 index 000000000..4498bafa9 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path5.sdf @@ -0,0 +1,546 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + model://short_navigation_course_5 + -524 186 0 0 0 -1.44 + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 355 + + 9.0 + 5.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + wamv + follow_path + /vrx/task/info + /vrx/follow_path/debug/contact + 10 + 10 + 300 + 10 + /vrx/release + + short_navigation_course_5 + 10 + 3.0 + 1 + + + red_bound_0 + green_bound_0 + + + red_bound_1 + green_bound_1 + + + red_bound_2 + green_bound_2 + + + red_bound_3 + green_bound_3 + + + red_bound_4 + green_bound_4 + + + red_bound_5 + green_bound_5 + + + red_bound_6 + green_bound_6 + + + red_bound_7 + green_bound_7 + + + red_bound_8 + green_bound_8 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception0.sdf new file mode 100644 index 000000000..159dd2c44 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception0.sdf @@ -0,0 +1,605 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + -532 162 -1 0 0 0 + platform + articulated_platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0.0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + red_0 + -200 100 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + green_0 + -200 102 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_0 + -200 104 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + perception + 10.0 + 10.0 + 300 + + wamv + + + + + mb_marker_buoy_red + red_0 + 7.8 2.1 0.7 0 0 0 + + + + mb_marker_buoy_green + green_0 + 8.3 0.1 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 4.9 -2.32 0.2 0 0 0 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception1.sdf new file mode 100644 index 000000000..1d8f5c74a --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception1.sdf @@ -0,0 +1,685 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + -532 162 -1 0 0 0 + platform + articulated_platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0.0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + orange_round + -200 100 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + green_0 + -200 102 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_round_0 + -200 106 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + black_round_1 + -200 112 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + white_0 + -200 104 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + perception + 10.0 + 10.0 + 300 + + wamv + + + + + mb_round_buoy_orange + orange_round + 7.8 2.1 0.7 0 0 0 + + + + mb_marker_buoy_green + green_0 + 7.8 -2.1 0.7 0 0 0 + + + + mb_marker_buoy_green + green_0 + 8.3 1.5 0.7 0 0 0 + + + + mb_round_buoy_orange + orange_round + 6.0 -1.0 0.7 0 0 0 + + + + mb_round_buoy_black + black_round_0 + 4.9 1.32 0.7 0 0 0 + + + + mb_round_buoy_black + black_round_1 + 4.7 0.7 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 4.1 -2.2 0.7 0 0 0 + + + + mb_round_buoy_black + black_round_0 + 6.1 0.2 0.7 0 0 0 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception2.sdf new file mode 100644 index 000000000..312d555e4 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception2.sdf @@ -0,0 +1,1014 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + -532 162 -1 0 0 0 + platform + articulated_platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0.0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + orange_round_0 + -200 100 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + orange_round_1 + -200 114 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + green_0 + -200 102 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + green_1 + -200 130 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_round_0 + -200 106 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + black_round_1 + -200 112 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + white_0 + -200 118 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_1 + -200 120 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_2 + -200 122 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_3 + -200 124 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_0 + -200 108 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_1 + -200 132 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + red_0 + -200 110 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + red_1 + -200 126 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + red_2 + -200 128 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + perception + 10.0 + 10.0 + 300 + + wamv + + + + + mb_round_buoy_orange + orange_round_0 + 8 0.4 0.4 0 0 0 + + + + mb_round_buoy_orange + orange_round_1 + 7.5 1 0.4 0 0 0 + + + + mb_round_buoy_black + black_round_0 + 7.0 1.7 0.4 0 0 0 + + + + mb_round_buoy_black + black_round_1 + 6.5 2.34 0.4 0 0 0 + + + + mb_marker_buoy_green + green_0 + 9 0.1 0.7 0 0 0 + + + + mb_marker_buoy_green + green_1 + 6.5 0.7 0.7 0 0 0 + + + + mb_marker_buoy_red + red_0 + 8.63 1.9 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 4.4 2.37 0.7 0 0 0 + + + + mb_marker_buoy_black + black_0 + 10 0.15 0.7 0 0 0 + + + + mb_marker_buoy_green + green_0 + 16.5 0.7 0.7 0 0 0 + + + + mb_marker_buoy_red + red_0 + 7.63 1.85 0.7 0 0 0 + + + + mb_marker_buoy_green + green_1 + 12.4 2.37 0.7 0 0 0 + + + + mb_marker_buoy_black + black_1 + 5.4 2.1 0.7 0 0 0 + + + + mb_marker_buoy_red + red_1 + 4.4 -0.43 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 8.63 1.9 0.7 0 0 0 + + + + mb_marker_buoy_white + white_1 + 7.43 2.1 0.7 0 0 0 + + + + mb_marker_buoy_white + white_2 + 7 1.68 0.7 0 0 0 + + + + mb_marker_buoy_white + white_3 + 30 -1.99 0.7 0 0 0 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception3.sdf new file mode 100644 index 000000000..296ab9a2c --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception3.sdf @@ -0,0 +1,603 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + -532 162 -1 0 0 0 + platform + articulated_platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0.0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + buoy_0 + -200 100 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + buoy_1 + -200 102 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + buoy_2 + -200 104 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + perception + 10.0 + 10.0 + 300 + + wamv + + + + + mb_marker_buoy_black + buoy_0 + 8 1.1 0.7 0 0 0 + + + + mb_round_buoy_black + buoy_1 + 8.3 -0.5 0.4 0 0 0 + + + + mb_round_buoy_orange + buoy_2 + 6.9 -1.32 0.4 0 0 0 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception4.sdf new file mode 100644 index 000000000..e2a97ed2a --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception4.sdf @@ -0,0 +1,740 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + -532 162 -1 0 0 0 + platform + articulated_platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0.0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + black_round_0 + -200 100 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + black_round_1 + -200 102 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + red_0 + -200 104 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_0 + -200 106 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_1 + -200 108 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + green_0 + -200 1110 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_0 + -200 112 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + perception + 10.0 + 10.0 + 300 + + wamv + + + + + mb_round_buoy_black + black_round_0 + 8.8 2.3 0.4 0 0 0 + + + + mb_marker_buoy_red + red_0 + 6.8 -2 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 9.3 1 0.7 0 0 0 + + + + mb_marker_buoy_white + white_1 + 6.5 -1.0 0.7 0 0 0 + + + + mb_round_buoy_black + black_round_0 + 5.0 1.5 0.4 0 0 0 + + + + mb_round_buoy_black + black_round_1 + 4.7 0.6 0.4 0 0 0 + + + + mb_marker_buoy_green + green_0 + 4.0 -2 0.7 0 0 0 + + + + mb_marker_buoy_black + black_0 + 6.2 0.5 0.7 0 0 0 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception5.sdf new file mode 100644 index 000000000..fe427ca32 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception5.sdf @@ -0,0 +1,1014 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + -532 162 -1 0 0 0 + platform + articulated_platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0.0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + orange_round_0 + -200 100 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + orange_round_1 + -200 114 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + green_0 + -200 102 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + green_1 + -200 130 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_round_0 + -200 106 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + black_round_1 + -200 112 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black + + + 1000 + 0.0 + 75.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.21 + + + + + /vrx/wavefield/parameters + + + + + + white_0 + -200 118 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_1 + -200 120 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_2 + -200 122 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + white_3 + -200 124 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_0 + -200 108 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + black_1 + -200 132 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + red_0 + -200 110 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + red_1 + -200 126 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + red_2 + -200 128 1 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red + + + 1000 + 0.0 + 50.0 + 2.0 + + link + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + perception + 10.0 + 10.0 + 300 + + wamv + + + + + mb_round_buoy_orange + orange_round_0 + 8 -0.4 0.4 0 0 0 + + + + mb_round_buoy_orange + black_round_0 + 7.5 -1 0.4 0 0 0 + + + + mb_round_buoy_black + orange_round_1 + 7.0 1.7 0.4 0 0 0 + + + + mb_round_buoy_black + black_round_1 + 6.5 2.34 0.4 0 0 0 + + + + mb_marker_buoy_black + black_0 + 9.5 0.1 0.7 0 0 0 + + + + mb_marker_buoy_black + black_1 + 7.5 0.8 0.7 0 0 0 + + + + mb_marker_buoy_red + red_0 + 8.63 -1.9 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 4.5 -2.41 0.7 0 0 0 + + + + mb_marker_buoy_red + red_0 + 10 -0.15 0.7 0 0 0 + + + + mb_marker_buoy_green + green_0 + 16.5 -7.7 0.7 0 0 0 + + + + mb_marker_buoy_black + black_0 + 7.63 -3.85 0.7 0 0 0 + + + + mb_marker_buoy_green + green_1 + 12.4 -4.37 0.7 0 0 0 + + + + mb_marker_buoy_red + red_1 + 5.4 -2.1 0.7 0 0 0 + + + + mb_marker_buoy_black + black_1 + 4.4 0.43 0.7 0 0 0 + + + + mb_marker_buoy_white + white_0 + 8.63 -1.95 0.7 0 0 0 + + + + mb_marker_buoy_white + white_1 + 7.43 -2.05 0.7 0 0 0 + + + + mb_marker_buoy_white + white_2 + 8 -1.68 0.7 0 0 0 + + + + mb_marker_buoy_white + white_3 + 32 -2 0.7 0 0 0 + + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver0.sdf new file mode 100644 index 000000000..42035412b --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver0.sdf @@ -0,0 +1,614 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + robotx_light_buoy_rgy + -532 175 0.32 0 0 0 + robotx_light_buoy_rgy + + + 1000 + 0.0 + 1000.0 + 200.0 + + base_link + 0 0 -0.1 0 0 0 + + + 1.5 1.5 0.4 + + + + + base_link + 0 0 0.8 0 0 0 + + + 0.2 + 0.15 + + + + + /vrx/wavefield/parameters + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + blue_projectile + + + 0.057 0.057 0.057 + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + dock_2022 + -480 190 0 0 0 1.0 + + + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + red + green + yellow + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + True + red_rectangle + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + False + blue_triangle + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + False + yellow_circle + + + + + + + /vrx/dock_2022_placard1_big_hole/contain + 5 + + + /vrx/dock_2022_placard1_small_hole/contain + 10 + + + + /vrx/dock_2022_placard2_big_hole/contain + 5 + + + /vrx/dock_2022_placard2_small_hole/contain + 10 + + + + /vrx/dock_2022_placard3_big_hole/contain + 5 + + + /vrx/dock_2022_placard3_small_hole/contain + 10 + + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver1.sdf new file mode 100644 index 000000000..99a0d0cb5 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver1.sdf @@ -0,0 +1,615 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + robotx_light_buoy_ybr + -515 180 0.32 0 0 0 + robotx_light_buoy_ybr + + + 1000 + 0.0 + 1000.0 + 200.0 + + base_link + 0 0 -0.1 0 0 0 + + + 1.5 1.5 0.4 + + + + + base_link + 0 0 0.8 0 0 0 + + + 0.2 + 0.15 + + + + + /vrx/wavefield/parameters + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + blue_projectile + + + 0.057 0.057 0.057 + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 96 + + 3.0 + 2.0 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + dock_2022 + -500 190 0 0 0 0 + + + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + yellow + blue + red + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + False + blue_rectangle + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + False + red_cross + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + True + yellow_circle + + + + + + + /vrx/dock_2022_placard1_big_hole/contain + 5 + + + /vrx/dock_2022_placard1_small_hole/contain + 10 + + + + /vrx/dock_2022_placard2_big_hole/contain + 5 + + + /vrx/dock_2022_placard2_small_hole/contain + 10 + + + + /vrx/dock_2022_placard3_big_hole/contain + 5 + + + /vrx/dock_2022_placard3_small_hole/contain + 10 + + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver2.sdf new file mode 100644 index 000000000..c1015cead --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver2.sdf @@ -0,0 +1,616 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + robotx_light_buoy_yrg + -510 175 0.32 0 0 0 + robotx_light_buoy_yrg + + + 1000 + 0.0 + 1000.0 + 200.0 + + base_link + 0 0 -0.1 0 0 0 + + + 1.5 1.5 0.4 + + + + + base_link + 0 0 0.8 0 0 0 + + + 0.2 + 0.15 + + + + + /vrx/wavefield/parameters + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + blue_projectile + + + 0.057 0.057 0.057 + + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + dock_2022 + -540 210 0 0 0 3.14 + + + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + yellow + red + green + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + True + yellow_triangle + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + False + blue_cross + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + False + green_rectangle + + + + + + + /vrx/dock_2022_placard1_big_hole/contain + 5 + + + /vrx/dock_2022_placard1_small_hole/contain + 10 + + + + /vrx/dock_2022_placard2_big_hole/contain + 5 + + + /vrx/dock_2022_placard2_small_hole/contain + 10 + + + + /vrx/dock_2022_placard3_big_hole/contain + 5 + + + /vrx/dock_2022_placard3_small_hole/contain + 10 + + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver3.sdf new file mode 100644 index 000000000..8c4367a24 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver3.sdf @@ -0,0 +1,614 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + robotx_light_buoy_gbr + -531 176 0.32 0 0 0 + robotx_light_buoy_gbr + + + 1000 + 0.0 + 1000.0 + 200.0 + + base_link + 0 0 -0.1 0 0 0 + + + 1.5 1.5 0.4 + + + + + base_link + 0 0 0.8 0 0 0 + + + 0.2 + 0.15 + + + + + /vrx/wavefield/parameters + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + blue_projectile + + + 0.057 0.057 0.057 + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + dock_2022 + -478 189 0 0 0 1.2 + + + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + green + blue + red + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + False + red_cross + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + True + green_circle + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + False + blue_circle + + + + + + + /vrx/dock_2022_placard1_big_hole/contain + 5 + + + /vrx/dock_2022_placard1_small_hole/contain + 10 + + + + /vrx/dock_2022_placard2_big_hole/contain + 5 + + + /vrx/dock_2022_placard2_small_hole/contain + 10 + + + + /vrx/dock_2022_placard3_big_hole/contain + 5 + + + /vrx/dock_2022_placard3_small_hole/contain + 10 + + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver4.sdf new file mode 100644 index 000000000..15ac08010 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver4.sdf @@ -0,0 +1,615 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + robotx_light_buoy_bgy + -514 179 0.32 0 0 0 + robotx_light_buoy_bgy + + + 1000 + 0.0 + 1000.0 + 200.0 + + base_link + 0 0 -0.1 0 0 0 + + + 1.5 1.5 0.4 + + + + + base_link + 0 0 0.8 0 0 0 + + + 0.2 + 0.15 + + + + + /vrx/wavefield/parameters + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + blue_projectile + + + 0.057 0.057 0.057 + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 96 + + 3.0 + 2.0 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + dock_2022 + -500 190 0 0 0 -0.7 + + + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + blue + green + yellow + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + False + yellow_cross + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + False + green_triangle + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + True + blue_rectangle + + + + + + + /vrx/dock_2022_placard1_big_hole/contain + 5 + + + /vrx/dock_2022_placard1_small_hole/contain + 10 + + + + /vrx/dock_2022_placard2_big_hole/contain + 5 + + + /vrx/dock_2022_placard2_small_hole/contain + 10 + + + + /vrx/dock_2022_placard3_big_hole/contain + 5 + + + /vrx/dock_2022_placard3_small_hole/contain + 10 + + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver5.sdf new file mode 100644 index 000000000..7dc4f394b --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver5.sdf @@ -0,0 +1,616 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + robotx_light_buoy_rgb + -512 170 0.32 0 0 0 + robotx_light_buoy_rgb + + + 1000 + 0.0 + 1000.0 + 200.0 + + base_link + 0 0 -0.1 0 0 0 + + + 1.5 1.5 0.4 + + + + + base_link + 0 0 0.8 0 0 0 + + + 0.2 + 0.15 + + + + + /vrx/wavefield/parameters + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + blue_projectile + + + 0.057 0.057 0.057 + + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 17 + + 8.0 + 4.0 + 2 + 19 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 2.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + dock_2022 + -540 210 0 0 0 0.4 + + + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + red + green + blue + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + False + red_triangle + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + False + blue_cross + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + True + red_cross + + + + + + + /vrx/dock_2022_placard1_big_hole/contain + 5 + + + /vrx/dock_2022_placard1_small_hole/contain + 10 + + + + /vrx/dock_2022_placard2_big_hole/contain + 5 + + + /vrx/dock_2022_placard2_small_hole/contain + 10 + + + + /vrx/dock_2022_placard3_big_hole/contain + 5 + + + /vrx/dock_2022_placard3_small_hole/contain + 10 + + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping0.sdf new file mode 100644 index 000000000..8e4c64107 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping0.sdf @@ -0,0 +1,502 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + stationkeeping + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + -33.722718 150.674031 0 + + 0.2 0.2 2.0 + 0.5 + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping1.sdf new file mode 100644 index 000000000..5c6656c21 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping1.sdf @@ -0,0 +1,495 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 120 + + 5.0 + 2.0 + 2 + 15 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + + + + + + wamv + stationkeeping + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + -33.72267 150.67406 2.0 + + 0.2 0.2 2.0 + 0.5 + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping2.sdf new file mode 100644 index 000000000..7d153c23e --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping2.sdf @@ -0,0 +1,502 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 265 + + 7.0 + 1.5 + 2 + 12 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 1.570797 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0.0 + } + } + + + + + + wamv + stationkeeping + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + -33.7226643 150.673947 -1.0 + + 0.2 0.2 2.0 + 0.5 + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping3.sdf new file mode 100644 index 000000000..9965e6794 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping3.sdf @@ -0,0 +1,502 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + stationkeeping + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + -33.72271 150.674102 0.5 + + 0.2 0.2 2.0 + 0.5 + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping4.sdf new file mode 100644 index 000000000..7ce4ec902 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping4.sdf @@ -0,0 +1,495 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 120 + + 5.0 + 2.0 + 2 + 15 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + + + + + + wamv + stationkeeping + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + -33.7227 150.6741 1.0 + + 0.2 0.2 2.0 + 0.5 + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping5.sdf new file mode 100644 index 000000000..bc636ca7f --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping5.sdf @@ -0,0 +1,502 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 265 + + 7.0 + 1.5 + 2 + 12 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 1.570797 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0.0 + } + } + + + + + + wamv + stationkeeping + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + -33.722664 150.67395 2.25 + + 0.2 0.2 2.0 + 0.5 + + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding0.sdf new file mode 100644 index 000000000..3815b62d2 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding0.sdf @@ -0,0 +1,513 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + wayfinding + + + -33.722611 150.674051 1.0 + + + -33.722574 150.6744381 0.0 + + + -33.722680 150.674756 -1.0 + + + + 0.2 0.2 2.0 + 0.5 + + + + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding1.sdf new file mode 100644 index 000000000..f405c3fec --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding1.sdf @@ -0,0 +1,516 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 315 + + 4.0 + 2.0 + 2 + 15 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + wayfinding + + + -33.722726 150.674110 1.0 + + + -33.722418 150.673634 1.0 + + + -33.722106 150.673663 0.5 + + + -33.722006 150.674110 -3 + + + + 0.2 0.2 2.0 + 0.5 + + + + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding2.sdf new file mode 100644 index 000000000..2e4fc1f83 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding2.sdf @@ -0,0 +1,519 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 244 + + 8.0 + 2.0 + 2 + 9 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + wayfinding + + + -33.722462 150.674268 1.0 + + + -33.722262 150.674800 -1.0 + + + -33.7226908 150.6751165 0.0 + + + -33.722925 150.675304 1.0 + + + -33.7226908 150.6755165 -2.5 + + + + 0.2 0.2 2.0 + 0.5 + + + + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding3.sdf new file mode 100644 index 000000000..690f8a054 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding3.sdf @@ -0,0 +1,513 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + wayfinding + + + -33.722611 150.674051 1.0 + + + -33.72240 150.67410 1.5 + + + -33.72207 150.67411 2.0 + + + + 0.2 0.2 2.0 + 0.5 + + + + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding4.sdf new file mode 100644 index 000000000..661a7511c --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding4.sdf @@ -0,0 +1,516 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 315 + + 4.0 + 2.0 + 2 + 15 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + wayfinding + + + -33.722428 150.67418 1.0 + + + -33.72208 150.67400 1.0 + + + -33.72219 150.6745 -1.5 + + + -33.72272 150.6744 -3 + + + + 0.2 0.2 2.0 + 0.5 + + + + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding5.sdf new file mode 100644 index 000000000..1d82cd6c4 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding5.sdf @@ -0,0 +1,519 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 244 + + 8.0 + 2.0 + 2 + 9 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + wamv + wayfinding + + + -33.722462 150.674268 1.5 + + + -33.72182 150.67365 -1.5 + + + -33.722691 150.6751163 0.0 + + + -33.722924 150.675302 -1.0 + + + -33.7226905 150.6755162 2.5 + + + + 0.2 0.2 2.0 + 0.5 + + + + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife0.sdf new file mode 100644 index 000000000..e53d3aa49 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife0.sdf @@ -0,0 +1,629 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + -520 180 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -523 179 + -520 180 + + + + + + + -550 230 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/turtle + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.35 + + + + + /vrx/wavefield/parameters + + + + + link + true + 6 + 1 + + -551 233 + -550 230 + + + + + + + -500 210 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/platypus + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -496 211 + -500 210 + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + + + wamv + wildlife + 10 + 10 + 300 + 10 + + + + + crocodile::link + avoid + + + platypus::link + circumnavigate_clockwise + + + turtle::link + circumnavigate_counterclockwise + + + 10.0 + 30.0 + /vrx/wildlife/animal + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife1.sdf new file mode 100644 index 000000000..14943559b --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife1.sdf @@ -0,0 +1,633 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + -510 199 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -511 203 + -510 199 + + + + + + + turtle1 + -550 201 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/turtle + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.35 + + + + + /vrx/wavefield/parameters + + + + + link + true + 6 + 1 + + -551 203 + -550 201 + + + + + + + turtle2 + -470 200 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/turtle + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.35 + + + + + /vrx/wavefield/parameters + + + + + link + true + 6 + 1 + + -470 205 + -470 200 + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 37 + + 3.7 + 3.0 + 2 + 12 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + + + wamv + wildlife + 10 + 10 + 300 + 10 + + + + + crocodile::link + avoid + + + turtle1::link + circumnavigate_counterclockwise + + + turtle2::link + circumnavigate_counterclockwise + + + 10.0 + 30.0 + /vrx/wildlife/animal + 0.33 + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife2.sdf new file mode 100644 index 000000000..84dfa91d1 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife2.sdf @@ -0,0 +1,634 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + crocodile1 + -550 189 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -550 189 + -520 190 + + + + + + + crocodile2 + -520 225 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -520 225 + -500 224 + + + + + + + platypus + -500 260 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/platypus + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -500 260 + -500 270 + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 359 + + 6.35 + 4.1 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 3.141593 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + + + wamv + wildlife + 10 + 10 + 300 + 10 + + + + + crocodile1::link + avoid + + + crocodile2::link + avoid + + + platypus::link + circumnavigate_clockwise + + + 10.0 + 30.0 + /vrx/wildlife/animal + 0.1 + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife3.sdf new file mode 100644 index 000000000..f05c491db --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife3.sdf @@ -0,0 +1,629 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + -520 180 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -523 179 + -520 180 + + + + + + + -500 210 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/turtle + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.35 + + + + + /vrx/wavefield/parameters + + + + + link + true + 6 + 1 + + -496 211 + -500 210 + + + + + + + -550 230 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/platypus + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -551 233 + -550 230 + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 240 + + 0.0 + 0 + 2 + 10 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 4 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + + + wamv + wildlife + 10 + 10 + 300 + 10 + + + + + crocodile::link + avoid + + + platypus::link + circumnavigate_clockwise + + + turtle::link + circumnavigate_counterclockwise + + + 10.0 + 30.0 + /vrx/wildlife/animal + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife4.sdf new file mode 100644 index 000000000..7e78f2140 --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife4.sdf @@ -0,0 +1,633 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.8 0.8 0.8 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + -511 200 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -512 204 + -511 200 + + + + + + + platypus1 + -551 202 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/platypus + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.35 + + + + + /vrx/wavefield/parameters + + + + + link + true + 6 + 1 + + -552 204 + -551 202 + + + + + + + platypus2 + -471 201 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/platypus + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0.2 0 0 0 + + + 0.35 + + + + + /vrx/wavefield/parameters + + + + + link + true + 6 + 1 + + -471 206 + -471 200 + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 37 + + 3.7 + 3.0 + 2 + 12 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.7853982 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.6 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + + + wamv + wildlife + 10 + 10 + 300 + 10 + + + + + crocodile::link + avoid + + + platypus1::link + circumnavigate_clockwise + + + platypus2::link + circumnavigate_clockwise + + + 10.0 + 30.0 + /vrx/wildlife/animal + 0.33 + + + + diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife5.sdf new file mode 100644 index 000000000..a932b4afc --- /dev/null +++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife5.sdf @@ -0,0 +1,634 @@ + + + + + + + 0.004 + 1.0 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + + + false + 0.3 0.3 0.3 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + platform + platform + + + + + crocodile1 + -552 191 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -552 191 + -522 192 + + + + + + + crocodile2 + -523 228 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.80 0.40 0.15 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -523 228 + -503 227 + + + + + + + platypus + -502 262 0 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/platypus + + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 0 0 0 0 + + + 0.75 0.35 0.16 + + + + + /vrx/wavefield/parameters + + + + + link + true + 18 + 1.5 + + -502 262 + -502 272 + + + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + + + blue_projectile + -545 60 0.03 0 0 0 + blue_projectile + + 1000 + 0.0 + 25.0 + 2.0 + + link + 0 0 -0.02 0 0 0 + + + 0.0285 + + + + + /vrx/wavefield/parameters + + + + + + + + + wamv + wamv/base_link + .5 .5 .33 + + + 359 + + 6.35 + 4.1 + 2 + 11 + + 10 + /vrx/debug/wind/speed + /vrx/debug/wind/direction + + + + + + params { + key: "direction" + value { + type: DOUBLE + double_value: 3.141593 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 6.0 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + + + + + + + + wamv + wildlife + 10 + 10 + 300 + 10 + + + + + crocodile1::link + avoid + + + crocodile2::link + avoid + + + platypus::link + circumnavigate_clockwise + + + 10.0 + 30.0 + /vrx/wildlife/animal + 0.1 + + + +