commit 41371883198b8f2586ae5dfe2b813ec4888249e6 Author: Quella777 <2892744389@qq.com.com> Date: Mon Aug 25 15:56:45 2025 +0800 init diff --git a/src/fishboot_description/CMakeLists.txt b/src/fishboot_description/CMakeLists.txt new file mode 100644 index 0000000..5ccd736 --- /dev/null +++ b/src/fishboot_description/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(fishboot_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/fishboot_description/LICENSE b/src/fishboot_description/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/src/fishboot_description/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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b/src/fishboot_description/World/customroom_world @@ -0,0 +1,638 @@ + + + + 1 + 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 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + -0.705 -3.1225 0 0 -0 0 + + + + + 8 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 8 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0 0.8025 0 0 -0 0 + 0 + 0 + 0 + + + + + + 4 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 4 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 3.925 -1.1225 0 0 -0 -1.5708 + 0 + 0 + 0 + + + + + + 1.25 0.15 2.5 + + + 0 0 1.25 0 -0 0 + 10 + + + + + + + + + + + + + + + 0 0 1.25 0 -0 0 + + + 1.25 0.15 2.5 + + + + + 1 1 1 1 + 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0 0 0 0 -0 0 + + + -0.405 1.35415 0 0 0 -1.5708 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -1.58 0.429153 0 0 -0 3.14159 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -2.14 -0.390847 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -0.465 -0.690847 0 0 0 -1.5708 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + 11.5698 3.3087 10.4582 0 0.641797 -2.97099 + orbit + perspective + + + + diff --git a/src/fishboot_description/World/room/model.config b/src/fishboot_description/World/room/model.config new file mode 100644 index 0000000..6222143 --- /dev/null +++ b/src/fishboot_description/World/room/model.config @@ -0,0 +1,11 @@ + + + room + 1.0 + model.sdf + + + + + + diff --git a/src/fishboot_description/World/room/model.sdf b/src/fishboot_description/World/room/model.sdf new file mode 100644 index 0000000..e8e7341 --- /dev/null +++ b/src/fishboot_description/World/room/model.sdf @@ -0,0 +1,297 @@ + + + + -0.705 -3.1225 0 0 -0 0 + + + + + 8 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2.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -1.58 -1.0175 0 0 -0 3.14159 + + + + + + 3.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3.5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.14 -1.8375 0 0 -0 0 + + + + + + 0.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 0.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.465 -2.1375 0 0 -0 -1.5708 + + 1 + + diff --git a/src/fishboot_description/package.xml b/src/fishboot_description/package.xml new file mode 100644 index 0000000..1b13ea9 --- /dev/null +++ b/src/fishboot_description/package.xml @@ -0,0 +1,18 @@ + + + + fishboot_description + 0.0.0 + TODO: Package description + quella + Apache-2.0 + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/fishboot_description/urdf/first_robot.gv b/src/fishboot_description/urdf/first_robot.gv new file mode 100644 index 0000000..6d190c9 --- /dev/null +++ b/src/fishboot_description/urdf/first_robot.gv @@ -0,0 +1,8 @@ +digraph G { +node [shape=box]; +"base_link" [label="base_link"]; +"imu_link" [label="imu_link"]; +node [shape=ellipse, color=blue, fontcolor=blue]; +"base_link" -> "imu_joint" [label="xyz: 0 0 0.03 \nrpy: 0 -0 0"] +"imu_joint" -> "imu_link" +} diff --git a/src/fishboot_description/urdf/first_robot.pdf b/src/fishboot_description/urdf/first_robot.pdf new file mode 100644 index 0000000..067e8a7 Binary files /dev/null and b/src/fishboot_description/urdf/first_robot.pdf differ diff --git a/src/fishboot_description/urdf/first_robot.urdf b/src/fishboot_description/urdf/first_robot.urdf new file mode 100644 index 0000000..8ae9789 --- /dev/null +++ b/src/fishboot_description/urdf/first_robot.urdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file