From 41371883198b8f2586ae5dfe2b813ec4888249e6 Mon Sep 17 00:00:00 2001 From: Quella777 <2892744389@qq.com.com> Date: Mon, 25 Aug 2025 15:56:45 +0800 Subject: [PATCH] init --- src/fishboot_description/CMakeLists.txt | 26 + src/fishboot_description/LICENSE | 202 ++++++ .../World/customroom_world | 638 ++++++++++++++++++ .../World/room/model.config | 11 + src/fishboot_description/World/room/model.sdf | 297 ++++++++ src/fishboot_description/package.xml | 18 + src/fishboot_description/urdf/first_robot.gv | 8 + src/fishboot_description/urdf/first_robot.pdf | Bin 0 -> 8525 bytes .../urdf/first_robot.urdf | 46 ++ 9 files changed, 1246 insertions(+) create mode 100644 src/fishboot_description/CMakeLists.txt create mode 100644 src/fishboot_description/LICENSE create mode 100644 src/fishboot_description/World/customroom_world create mode 100644 src/fishboot_description/World/room/model.config create mode 100644 src/fishboot_description/World/room/model.sdf create mode 100644 src/fishboot_description/package.xml create mode 100644 src/fishboot_description/urdf/first_robot.gv create mode 100644 src/fishboot_description/urdf/first_robot.pdf create mode 100644 src/fishboot_description/urdf/first_robot.urdf 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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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/fishboot_description/World/customroom_world b/src/fishboot_description/World/customroom_world new file mode 100644 index 0000000..74376b3 --- /dev/null +++ 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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