SHERPA/sherpa_ros2_ws
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WIP: added sherpa

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This commit is contained in:
Timo Schneider
2025-04-06 21:49:38 +02:00
parent 1b7ccf22fc
commit e2de961537
21 changed files with 2385 additions and 0 deletions
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54
src/sherpa/worlds/empty.world Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<world name="empty">
<light name="sun" type="directional">
<pose>0 0 20 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1.0</diffuse>
<specular>0.8 0.8 0.8 1.0</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.05</linear>
<quadratic>0.01</quadratic>
</attenuation>
<cast_shadows>true</cast_shadows>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>1000 1000</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>0.8</mu>
<mu2>0.6</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>1000 1000</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</world>
</sdf>