diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/CMakeLists.txt b/submitted_models/cerberus_kolibri_sensor_config_1/CMakeLists.txt new file mode 100644 index 00000000..0003d27c --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) +find_package(ignition-cmake2 REQUIRED) +project(KolibriController) + +find_package(ignition-plugin1 REQUIRED COMPONENTS register) +find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log) + +set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) +find_package(ignition-gazebo4 REQUIRED) +add_library(KolibriController SHARED voliro_controller_plugin/kolibri_controller.cc ) +set_property(TARGET KolibriController PROPERTY CXX_STANDARD 17) +target_link_libraries(KolibriController + PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} + PRIVATE ignition-gazebo4::ignition-gazebo4) + +install(FILES ../../../../devel/lib/libKolibriController.so + DESTINATION lib) diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/README.md b/submitted_models/cerberus_kolibri_sensor_config_1/README.md new file mode 100644 index 00000000..54149a16 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/README.md @@ -0,0 +1,17 @@ +# darpa_virtual_model_submit +Simulation model for the Kolibri Mapping OMAV submitted to the DARPA SubT Challenge for team CERBERUS. + +## workspace setup +Follow these step to setup the DARPA Subt Virtual Environment: + +https://github.com/osrf/subt/wiki/Catkin%20System%20Setup + +Needs to be slightly adjusted for 20.04. + +## launch the simulation +ign launch -v 4 competition.ign circuit:=tunnel worldName:=tunnel_circuit_practice_01 robotName1:=kolibri robotConfig1:=CERBERUS_KOLIBRI_SENSOR_CONFIG_1 localModel:=true + + +rostopic pub -r 10 /kolibri/cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 1.0}}' + + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/description.launch b/submitted_models/cerberus_kolibri_sensor_config_1/launch/description.launch new file mode 100644 index 00000000..a70eb890 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/launch/description.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/example.ign b/submitted_models/cerberus_kolibri_sensor_config_1/launch/example.ign new file mode 100644 index 00000000..a0e34efd --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/launch/example.ign @@ -0,0 +1,170 @@ + + + +<% + require_relative 'spawner' + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path("../", File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + + + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> +<%= rosExecutables(robotName, $worldName) %> + + + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_kolibri_sensor_config_1/launch/spawner.rb new file mode 100644 index 00000000..66d3e946 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/launch/spawner.rb @@ -0,0 +1,72 @@ +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + true + true + false + false + false + true + true + 60 + + + false + false + false + false + #{$enableGroundTruth} + true + false + + + + /model/#{_name}/gas_detected + 10 + gas + + + linear_battery + 22.2 + 22.2 + -3.1424 + 90.0 + 90.0 + 0.061523 + 1.9499 + + 0.58 + true + + + + + + HEREDOC +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait cerberus_kolibri_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name} + + + roslaunch --wait cerberus_kolibri_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} uav:=1 laser_scan:=0 top_scan:=1 bottom_scan:=1 rgbd_cam:=1 + + HEREDOC +end diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/cerberus_kolibri_sensor_config_1/launch/vehicle_topics.launch new file mode 100644 index 00000000..c57ff5d1 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/launch/vehicle_topics.launch @@ -0,0 +1,218 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/materials/textures/led.png b/submitted_models/cerberus_kolibri_sensor_config_1/materials/textures/led.png new file mode 100644 index 00000000..c9f83402 Binary files /dev/null and b/submitted_models/cerberus_kolibri_sensor_config_1/materials/textures/led.png differ diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/materials/textures/spotlight.png b/submitted_models/cerberus_kolibri_sensor_config_1/materials/textures/spotlight.png new file mode 100644 index 00000000..dd699c95 Binary files /dev/null and b/submitted_models/cerberus_kolibri_sensor_config_1/materials/textures/spotlight.png differ diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/meshes/1238.png b/submitted_models/cerberus_kolibri_sensor_config_1/meshes/1238.png new file mode 100644 index 00000000..116d829b Binary files /dev/null and b/submitted_models/cerberus_kolibri_sensor_config_1/meshes/1238.png differ diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/meshes/propeller_ccw.dae b/submitted_models/cerberus_kolibri_sensor_config_1/meshes/propeller_ccw.dae new file mode 100644 index 00000000..1f2679e4 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/meshes/propeller_ccw.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Fr. Dez 19 16:06:25 2014 + Fr. 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0.5 0.5
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0.5 0.5
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0.5 0.5
+ + + 728 + 544 + R8G8B8 + + + 0.02 + 100 + + + gaussian + 0 + 0.007 + + + + + + -.3 0.1 -0.05 0 0.090000 2.35619449 + 1 + 20 + + 1.9 + + + 1108.952913 + 1110.658360 + 729.533992 + 544.985715 + 1 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 728 + 544 + R8G8B8 + + + 0.02 + 100 + + + gaussian + 0 + 0.007 + + + + + + -.3 0.1 -0.02 0 0.090000 2.35619449 + 1 + 20 + + 1.9 + + + 1108.952913 + 1110.658360 + 729.533992 + 544.985715 + 1 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 728 + 544 + R8G8B8 + + + 0.02 + 100 + + + gaussian + 0 + 0.007 + + + + + + + -.3 -0.1 -0.05 0 0.090000 -2.35619449 + 1 + 20 + + 1.9 + + + 1108.952913 + 1110.658360 + 729.533992 + 544.985715 + 1 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 728 + 544 + R8G8B8 + + + 0.02 + 100 + + + gaussian + 0 + 0.007 + + + + + + + + + + + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/package.xml b/submitted_models/cerberus_kolibri_sensor_config_1/package.xml new file mode 100644 index 00000000..4c0b7020 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/package.xml @@ -0,0 +1,18 @@ + + + cerberus_kolibri_sensor_config_1 + 0.1.0 + + The cerberus_kolibri_sensor_config_1 package, a customized Voliro OMAV outfitted with an OS0 lidar, 6 cameras and imu. The package is loosely derived from the cerberus_m100_sensor_config_1 and cerberus_anymal packages. + + Olov Andersson + Olov Andersson + + BSD + + catkin + roslaunch + urdf + xacro + + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/specifications.md b/submitted_models/cerberus_kolibri_sensor_config_1/specifications.md new file mode 100644 index 00000000..febdbc5f --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/specifications.md @@ -0,0 +1,84 @@ + + +# CERBERUS-Kolibri +This specifications.md file is a description and proof of virtual model validation for the CERBERUS Kolibri omnidirectional tri-copter with Sensor Configuration 1. This robot may be launched using a `roslaunch` command with the variable name `CERBERUS_KOLIBRI_SENSOR_CONFIG_1`. + +## Description +The Kolibri is an autonomous omnidirectional tricopter for mapping with 6 cameras and an OS-0 lidar. The platform is a customized version of a Voliro - a novel third-party OMAV, that we customized with a state-of-the-art autonomy stack. + +## Usage Instructions +Install the SubT workspace according to https://github.com/osrf/subt/wiki/Catkin%20System%20Setup + +The vehicle can be launched with the following command: +``` +ign launch -v 4 competition.ign circuit:=tunnel worldName:=tunnel_circuit_practice_01 robotName1:=kolibri robotConfig1:=CERBERUS_KOLIBRI_SENSOR_CONFIG_1 localModel:=true enableGroundTruth:=true +``` +The velocity of the robot can be controlled with following command: +``` +rostopic pub -r 10 /kolibri/cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 1.0}}' + +``` + +## Usage Rights +The software included in this package is released under a [BSD 3-Clause license](LICENSE). + + +### Cost and Mass +The Kolibri has an estimated cost of $30,000. + +It weighs approximately 5.7kg. [Link](https://drive.google.com/file/d/1aj7BvCyJDGn6sZN3biW6XQO5a408WAZe/view?usp=sharing) + +### Sensors +This Kolibri with sensor configuration 1 includes the following sensors. + +The following specific sensors are declared payloads of this vehicle: +* IMU - Bosch BMI085, modeled by `imu` plugin +* LIDAR - Ouster OS0, modeled by `gpu_ray` plugin +* B&W/Color Cameras - Sony IMX287, modeled by `camera` plugin + +### Control +This Kolibri is controlled by a twist controller package inside the simulation environment. + +### Motion Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics. +* _x_ linear velocity 0.53 m/s (*) +* _y_ linear velocity 0.46 m/s (*) +* _z_ linear velocity 0.46 m/s (*) +* _x_ linear acceleration 0.96 m/s2 +* _y_ linear acceleration 1.07 m/s2 +* _z_ linear acceleration 3.5 m/s2 +* _x_ angular velocity 0 rad/s (**) +* _y_ angular velocity 0 rad/s (**) +* _z_ angular velocity 1.05 rad/s (*) +* _x_ angular acceleration 0 rad/s2 +* _y_ angular acceleration 0 rad/s2 +* _z_ angular acceleration 0.5 rad/s2 + +(*) The values above were derived from giving max RC stick input, but since the platform was originally designed for aerial manipulation, the stick inputs are very slow. Since it was difficult to satisfy the test requirements using our existing autonomy stack, we decided to go with this measurement even though it is very pessimistic. +(**) The OMAV does not roll, and pitching the body was disabled for our customized SubT version due to odometry drift. + +The constraints can be found in the following location within the simulation model controller plugin: +Lines 47-52 in the file src/subt/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.hh. + +### Endurance Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation +Guide], this vehicle has the following endurance characteristics. + +* Battery life of 650 seconds (with 12Ah battery as specified in the Platform Qualification). We plan to test endurance with larger battery payloads. + +### Diversions from Physical Hardware of Aerial Scout +* A camera model is used but of course camera sensors are hard to model exactly. The field of view and the resolution are the models matched. +* The controller in the simulation model is different from the one in the real platform. The real controller is a complex third-party IP which we do not have access to. Since this is a unique OMAV, replicating that controller was not deemed feasible. Additionally, since it is an omnidirectional MAV that does not need to roll or pitch, it is well approximated by a simple rigid body under the identified acceleration constraints. On the time scales of navigation, its unmodeled actuator dynamics are negliable. + + +## Kolibri Validation and Specification Links +* Original OMAV manufucturer: [Link](http://voliro.com) +* LIDAR - Ouster OS0: [Link](https://www.dataspeedinc.com/app/uploads/2020/05/Ouster-OS0-Lidar-Datasheet.pdf) +* Six Grayscale and Color Cameras - Sony IMX287: [Link](https://www.sony-semicon.co.jp/products/common/pdf/IMX273_287_296_297_Flyer.pdf) +* IMU - Bosch BMI085 IMU: [Link](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi085-ds001.pdf) + +* Linear and Angular Acceleration and Speed Validation Video: [Link](https://drive.google.com/file/d/181paS8Xs5BYX2FdfhRD7w-OfjpCqRHmQ/view?usp=sharing) +* Linear and Angular Acceleration and Speed Validation Data: [Link](https://drive.google.com/file/d/1vFJhYtik9gus2S0WheV2vLFC43g0EBC4/view?usp=sharing) +* Battery Endurance Validation Video: [Link](https://drive.google.com/file/d/1xXlvUX7FYis6Ne-7e-RfSsRtH_Abe9jK/view?usp=sharing) +* Battery Endurance Validation Data: [Link](https://drive.google.com/file/d/1xXlvUX7FYis6Ne-7e-RfSsRtH_Abe9jK/view?usp=sharing) diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.cc b/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.cc new file mode 100644 index 00000000..27106001 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.cc @@ -0,0 +1,85 @@ +#include "kolibri_controller.hh" +#include + +using namespace ignition; +using namespace gazebo; +using namespace kolibri_controller; + +math::Vector3d target_linear(0.,0.,0.); +math::Vector3d target_angular(0.,0.,0.); + +void cmd_callback(const ignition::msgs::Twist &_msg){ + target_linear = math::Vector3d(_msg.linear().x(),_msg.linear().y(),_msg.linear().z()); + target_angular = math::Vector3d(_msg.angular().x(),_msg.angular().y(),_msg.angular().z()); +} + + +KolibriController::KolibriController() { +} + +KolibriController::~KolibriController() { +} + +void KolibriController::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { + EntityComponentManager &_ecm_non_const = const_cast(_ecm); + + if(_info.paused) + return; + + // Since it's an OMAV we can use a simple approximation of the platform dynamics + 3rd party control system + + // Velocity constraints + target_linear.Min(_max_vel); + target_linear.Max(-_max_vel); + target_angular.Min(_max_angular_vel); + target_angular.Max(-_max_angular_vel); + + auto acc_linear = _K_prop*(target_linear - _linear_vel); + auto acc_angular = _K_prop2*(target_angular - _angular_vel); + + // Acceleration constraints + acc_linear.Min(_max_acc); + acc_linear.Max(-_max_acc); + acc_angular.Min(_max_angular_acc); + acc_angular.Max(-_max_angular_acc); + + auto u_linear = (acc_linear+math::Vector3d(0.,0.,9.8))*_mass; // It's an OMAV that does not roll or pitch, resulting in very simple motion. + auto u_angular = acc_angular*math::Vector3d(_ixx,_iyy,_izz); + //std::cout << " u_linear: " << u_linear << " u_angular: " << u_angular << "\n"; + this->base_link.AddWorldWrench(_ecm_non_const, u_linear, u_angular); + +} + +void KolibriController::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { + + if(this->base_link.WorldPose(_ecm).has_value()){ + _linear_vel = this->base_link.WorldLinearVelocity(_ecm).value(); + _angular_vel = this->base_link.WorldAngularVelocity(_ecm).value(); + } +} + +void KolibriController::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) { + + ignition::gazebo::Model model = Model(_entity); + + ignmsg << "\n\n\nPlugin loaded model: " << model.Name(_ecm) << "\n\n\n"; + + this->base_link = ignition::gazebo::Link(model.LinkByName(_ecm,"base_link")); + + ignmsg<_nh.Subscribe("/model/kolibri/cmd_vel", cmd_callback)) { + ignerr << "Error subscribing to topic [" << "/kolibri/cmd_vel" << "]" << std::endl; + } + + if (_sdf->HasElement("mass")) _mass = _sdf->Get("mass"); + if (_sdf->HasElement("ixx")) _ixx = _sdf->Get("ixx"); + if (_sdf->HasElement("iyy")) _iyy = _sdf->Get("iyy"); + if (_sdf->HasElement("izz")) _izz = _sdf->Get("izz"); + _linear_vel = math::Vector3d(0,0,0); + _angular_vel = math::Vector3d(0,0,0); +} + diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.hh b/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.hh new file mode 100644 index 00000000..0b0d1f05 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/voliro_controller_plugin/kolibri_controller.hh @@ -0,0 +1,64 @@ +//#include +#include +#include +#include +#include +#include +#include + + +using namespace ignition; +using namespace gazebo; + +namespace kolibri_controller +{ + class KolibriController: + // This class is a system. + public System, + // This class also implements the ISystemPostUpdate interface. + public ISystemConfigure, + public ISystemPreUpdate, + public ISystemPostUpdate + { + public: KolibriController(); + public: ~KolibriController() override; + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) override; + public: void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm); + public: void PostUpdate(const UpdateInfo &_info, + const EntityComponentManager &_ecm) override; + + + private: + ignition::gazebo::Link base_link; +// math::Vector3d tgt_vel=math::Vector3d(1,1,1); +// math::Vector3d tgt_twist=math::Vector3d(1,1,1); + math::Vector3d _linear_vel; + math::Vector3d _angular_vel; + + ignition::transport::Node _nh; + + double _K_prop = 10.0; + double _K_prop2 = 5.0; + double _mass = 5.7, _ixx = 0.59, _iyy = 0.59, _izz = 0.95; + + // Velocity and acceleration constraints + const math::Vector3d _max_vel = math::Vector3d(0.53, 0.46, 0.46); + const math::Vector3d _max_angular_vel = math::Vector3d(0., 0., 1.06); // Platform cannot roll. Pitch was disabled in the SubT Systems track version due to odometry reliability issues. + + const math::Vector3d _max_acc = math::Vector3d(0.96, 1.07, 3.5); + const math::Vector3d _max_angular_acc = math::Vector3d(0., 0., 0.5); + + }; +} + +#include +// Include a line in your source file for each interface implemented. +IGNITION_ADD_PLUGIN( + kolibri_controller::KolibriController, + System, + kolibri_controller::KolibriController::ISystemConfigure, + kolibri_controller::KolibriController::ISystemPreUpdate, + kolibri_controller::KolibriController::ISystemPostUpdate) diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/worlds/example.sdf b/submitted_models/cerberus_kolibri_sensor_config_1/worlds/example.sdf new file mode 100644 index 00000000..73451cc9 --- /dev/null +++ b/submitted_models/cerberus_kolibri_sensor_config_1/worlds/example.sdf @@ -0,0 +1,183 @@ + + + + + 0.004 + 1.0 + + + + 0.2 0.2 0.2 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1 + 0.9 + 1 + 0.001 + + 0.0 0.0 -1.0 + + + + 0 0 4 0 0 0 + + 1000 + 0 + 0.1 + 0.005 + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + 0 0 4 0 0 0 + + 1000 + 0.1 + 0.2 + 0.005 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + + true + staging_area + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area + + + + + barrier_0_-1 + 8.0 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_0_1 + 8.0 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_1_-1 + 3.7 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_1_1 + 3.7 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_2_-1 + -0.5999999999999996 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_2_1 + -0.5999999999999996 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_3_-1 + -4.899999999999999 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_3_1 + -4.899999999999999 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_4_-1 + -9.2 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_4_1 + -9.2 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-9.5_-2 + 10.5 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-9.5_2 + 10.5 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-32_-2 + -12 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-32_-1 + -12 -4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-32_0 + -12 0.0 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-32_1 + -12 4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + barrier_-32_2 + -12 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier + + + + + + true + base_station + -8 0 0 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station + + +