Gazebo files

<?xml version="1.0" encoding="UTF-8"?>

<launch>

  <arg name="world" default="empty"/> 

  <arg name="paused" default="false"/>

  <arg name="use_sim_time" default="true"/>

  <arg name="gui" default="true"/>

  <arg name="headless" default="false"/>

  <arg name="debug" default="false"/>

   <include file="$(find gazebo_ros)/launch/empty_world.launch">

    <!--arg name="world_name" value="$(find lawnmow_gazebo)/worlds/lawnmow.world"/-->

    <arg name="world_name" value="$(find lawnmow_gazebo)/worlds/turtlebot_playground.world"/>

    <arg name="paused" value="$(arg paused)"/>

    <arg name="use_sim_time" value="$(arg use_sim_time)"/>

    <arg name="gui" value="$(arg gui)"/>

    <arg name="headless" value="$(arg headless)"/>

    <arg name="debug" value="$(arg debug)"/>

  </include>

  <param name="robot_description" command="$(find xacro)/xacro.py '$(find lawnmow_description)/urdf/lawnmow.xacro'"/>

  <node name="lawnmow_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"

   args="-urdf -param robot_description -model lawnmow" />

</launch>

<?xml version="1.0" ?>

<sdf version="1.4">

  <!-- We use a custom world for the robot so that the camera angle is launched correctly -->

  <world name="default">

    <include>

      <uri>model://ground_plane</uri>

    </include>

    <!-- Global light source -->

    <include>

      <uri>model://sun</uri>

    </include>

    <!-- Focus camera on tall pendulum -->

    <gui fullscreen='0'>

      <camera name='user_camera'>

        <pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose>

        <view_controller>orbit</view_controller>

      </camera>

    </gui>

  </world>

</sdf>

<sdf version='1.4'>

  <world name='default'>

    <light name='sun' type='directional'>

      <cast_shadows>1</cast_shadows>

      <pose>0 0 10 0 -0 0</pose>

      <diffuse>0.8 0.8 0.8 1</diffuse>

      <specular>0.2 0.2 0.2 1</specular>

      <attenuation>

        <range>1000</range>

        <constant>0.9</constant>

        <linear>0.01</linear>

        <quadratic>0.001</quadratic>

      </attenuation>

      <direction>0.5 0.1 -0.9</direction>

    </light>

    <scene>

      <ambient>0.4 0.4 0.4 1</ambient>

      <background>0.7 0.7 0.7 1</background>

      <shadows>1</shadows>

    </scene>

    <physics type='ode'>

      <max_step_size>0.01</max_step_size>

      <real_time_factor>1</real_time_factor>

      <real_time_update_rate>100</real_time_update_rate>

      <gravity>0 0 -9.8</gravity>

    </physics>

    <model name='bookshelf'>

      <static>1</static>

      <link name='link'>

        <inertial>

          <mass>1</mass>

        </inertial>

        <collision name='back'>

          <pose>0 0.005 0.6 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.9 0.01 1.2</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual1'>

          <pose>0 0.005 0.6 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.9 0.01 1.2</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <collision name='left_side'>

          <pose>0.45 -0.195 0.6 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.02 0.4 1.2</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual2'>

          <pose>0.45 -0.195 0.6 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.02 0.4 1.2</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <collision name='right_side'>

          <pose>-0.45 -0.195 0.6 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.02 0.4 1.2</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual3'>

          <pose>-0.45 -0.195 0.6 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.02 0.4 1.2</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <collision name='bottom'>

          <pose>0 -0.195 0.03 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.06</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual4'>

          <pose>0 -0.195 0.03 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.06</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <collision name='top'>

          <pose>0 -0.195 1.19 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.02</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual5'>

          <pose>0 -0.195 1.19 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.02</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <collision name='low_shelf'>

          <pose>0 -0.195 0.43 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.02</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual6'>

          <pose>0 -0.195 0.43 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.02</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <collision name='high_shelf'>

          <pose>0 -0.195 0.8 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.02</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual7'>

          <pose>0 -0.195 0.8 0 -0 0</pose>

          <geometry>

            <box>

              <size>0.88 0.4 0.02</size>

            </box>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Wood</name>

            </script>

          </material>

        </visual>

        <velocity_decay>

          <linear>0</linear>

          <angular>0</angular>

        </velocity_decay>

        <self_collide>0</self_collide>

        <kinematic>0</kinematic>

        <gravity>1</gravity>

      </link>

      <pose>0 1.53026 0 0 -0 0</pose>

    </model>

    <model name='jersey_barrier'>

      <static>1</static>

      <link name='link'>

        <visual name='visual'>

          <geometry>

            <mesh>

              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>

            </mesh>

          </geometry>

        </visual>

        <collision name='upright'>

          <pose>0 0 0.5715 0 -0 0</pose>

          <geometry>

            <box>

              <size>4.06542 0.3063 1.143</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <collision name='base'>

          <pose>0 0 0.032258 0 -0 0</pose>

          <geometry>

            <box>

              <size>4.06542 0.8107 0.064516</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <collision name='base2'>

          <pose>0 0 0.1 0 -0 0</pose>

          <geometry>

            <box>

              <size>4.06542 0.65 0.1</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <collision name='base3'>

          <pose>0 0 0.2 0 -0 0</pose>

          <geometry>

            <box>

              <size>4.06542 0.5 0.1</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <collision name='left-angle'>

          <pose>0 -0.224 0.2401 0.9 -0 0</pose>

          <geometry>

            <box>

              <size>4.06542 0.5 0.064516</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <collision name='right-angle'>

          <pose>0 0.224 0.2401 -0.9 0 0</pose>

          <geometry>

            <box>

              <size>4.06542 0.5 0.064516</size>

            </box>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <velocity_decay>

          <linear>0</linear>

          <angular>0</angular>

        </velocity_decay>

        <self_collide>0</self_collide>

        <kinematic>0</kinematic>

        <gravity>1</gravity>

      </link>

      <pose>-4 -1 0 0 -0 -0.7</pose>

    </model>

    <model name='ground_plane_0'>

      <static>1</static>

      <link name='link'>

        <collision name='collision'>

          <geometry>

            <plane>

              <normal>0 0 1</normal>

              <size>100 100</size>

            </plane>

          </geometry>

          <surface>

            <friction>

              <ode>

                <mu>100</mu>

                <mu2>50</mu2>

              </ode>

            </friction>

            <bounce/>

            <contact>

              <ode/>

            </contact>

          </surface>

          <max_contacts>10</max_contacts>

        </collision>

        <visual name='visual'>

          <cast_shadows>0</cast_shadows>

          <geometry>

            <plane>

              <normal>0 0 1</normal>

              <size>100 100</size>

            </plane>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Grey</name>

            </script>

          </material>

        </visual>

        <velocity_decay>

          <linear>0</linear>

          <angular>0</angular>

        </velocity_decay>

        <self_collide>0</self_collide>

        <kinematic>0</kinematic>

        <gravity>1</gravity>

      </link>

      <pose>0.497681 0 0 0 -0 0</pose>

    </model>

    <state world_name='default'>

      <sim_time>0 0</sim_time>

      <real_time>0 44986</real_time>

      <wall_time>1377677575 940727583</wall_time>

      <model name='Dumpster'>

        <pose>1 -3.44458 0 0 -0 0</pose>

        <link name='link'>

          <pose>1 -3.44458 0 0 -0 0</pose>

          <velocity>0 0 0 0 -0 0</velocity>

          <acceleration>0 0 0 0 -0 0</acceleration>

          <wrench>0 0 0 0 -0 0</wrench>

        </link>

      </model>

      <model name='cube_20k'>

        <pose>1.41131 -1 0 0 -0 0.9</pose>

        <link name='link'>

          <pose>1.41131 -1 0.5 0 -0 0.9</pose>

          <velocity>0 0 0 0 -0 0</velocity>

          <acceleration>0 0 0 0 -0 0</acceleration>

          <wrench>0 0 0 0 -0 0</wrench>

        </link>

      </model>

      <model name='unit_cylinder_1'>

        <pose>-2 -3.4888 0.5 0 -0 0</pose>

        <link name='link'>

          <pose>-2 -3.4888 0.5 0 -0 0</pose>

          <velocity>0 0 0 0 -0 0</velocity>

          <acceleration>0 0 0 0 -0 0</acceleration>

          <wrench>0 0 0 0 -0 0</wrench>

        </link>

      </model>

    </state>

    <gui fullscreen='0'>

      <camera name='user_camera'>

        <pose>1.33336 -0.422442 27.6101 3e-06 1.5698 3.04015</pose>

        <view_controller>orbit</view_controller>

      </camera>

    </gui>

    <model name='unit_cylinder_1'>

      <pose>-2 -3.4888 0.5 0 -0 0</pose>

      <link name='link'>

        <inertial>

          <mass>1</mass>

          <inertia>

            <ixx>1</ixx>

            <ixy>0</ixy>

            <ixz>0</ixz>

            <iyy>1</iyy>

            <iyz>0</iyz>

            <izz>1</izz>

          </inertia>

        </inertial>

        <collision name='collision'>

          <geometry>

            <cylinder>

              <radius>0.5</radius>

              <length>1</length>

            </cylinder>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual'>

          <geometry>

            <cylinder>

              <radius>0.5</radius>

              <length>1</length>

            </cylinder>

          </geometry>

          <material>

            <script>

              <uri>file://media/materials/scripts/gazebo.material</uri>

              <name>Gazebo/Grey</name>

            </script>

          </material>

        </visual>

        <velocity_decay>

          <linear>0</linear>

          <angular>0</angular>

        </velocity_decay>

        <self_collide>0</self_collide>

        <kinematic>0</kinematic>

        <gravity>1</gravity>

      </link>

      <static>0</static>

    </model>

    <model name='Dumpster'>

      <link name='link'>

        <collision name='collision'>

          <geometry>

            <mesh>

              <uri>model://dumpster/meshes/dumpster.dae</uri>

            </mesh>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual'>

          <geometry>

            <mesh>

              <uri>model://dumpster/meshes/dumpster.dae</uri>

            </mesh>

          </geometry>

          <material>

            <script>

              <uri>model://dumpster/materials/scripts</uri>

              <uri>model://dumpster/materials/textures</uri>

              <name>Dumpster/Diffuse</name>

            </script>

          </material>

        </visual>

        <velocity_decay>

          <linear>0</linear>

          <angular>0</angular>

        </velocity_decay>

        <self_collide>0</self_collide>

        <inertial>

          <inertia>

            <ixx>1</ixx>

            <ixy>0</ixy>

            <ixz>0</ixz>

            <iyy>1</iyy>

            <iyz>0</iyz>

            <izz>1</izz>

          </inertia>

          <mass>1</mass>

        </inertial>

        <kinematic>0</kinematic>

        <gravity>1</gravity>

      </link>

      <pose>1 -3.44458 0 0 -0 -0.3</pose>

      <static>0</static>

    </model>

    <model name='cube_20k'>

      <link name='link'>

        <pose>0 0 0.5 0 -0 0</pose>

        <collision name='collision'>

          <geometry>

            <mesh>

              <uri>model://cube_20k/meshes/cube_20k.stl</uri>

              <scale>0.5 0.5 0.5</scale>

            </mesh>

          </geometry>

          <max_contacts>10</max_contacts>

          <surface>

            <bounce/>

            <friction>

              <ode/>

            </friction>

            <contact>

              <ode/>

            </contact>

          </surface>

        </collision>

        <visual name='visual'>

          <geometry>

            <mesh>

              <uri>model://cube_20k/meshes/cube_20k.stl</uri>

              <scale>0.5 0.5 0.5</scale>

            </mesh>

          </geometry>

        </visual>

        <velocity_decay>

          <linear>0</linear>

          <angular>0</angular>

        </velocity_decay>

        <self_collide>0</self_collide>

        <inertial>

          <inertia>

            <ixx>1</ixx>

            <ixy>0</ixy>

            <ixz>0</ixz>

            <iyy>1</iyy>

            <iyz>0</iyz>

            <izz>1</izz>

          </inertia>

          <mass>1</mass>

        </inertial>

        <kinematic>0</kinematic>

        <gravity>1</gravity>

      </link>

      <pose>1.41131 -1 0 0 -0 0.9</pose>

      <static>0</static>

    </model>

  </world>

</sdf>