Merge pull request #245 from YoujianWu/master

Add slope world.

rm_gazebo/launch/slope.launch

@@ -0,0 +1,32 @@
+<launch>
+    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, auto, hero, engineer]"/>
+
+    <arg name="x_pos" default="0.0"/>
+    <arg name="y_pos" default="0.0"/>
+    <arg name="z_pos" default="0.0"/>
+
+    <arg name="load_chassis" default="true"/>
+    <arg name="load_gimbal" default="true"/>
+    <arg name="load_shooter" default="true"/>
+    <arg name="load_arm" default="true"/>
+    <arg name="paused" default="false"/>
+
+    <rosparam file="$(find rm_gazebo)/config/imus.yaml" command="load" if="$(arg load_gimbal)"/>
+    <param name="robot_description" command="$(find xacro)/xacro $(find rm_description)/urdf/$(arg robot_type)/$(arg robot_type).urdf.xacro
+         load_chassis:=$(arg load_chassis) load_gimbal:=$(arg load_gimbal) load_shooter:=$(arg load_shooter)
+         load_arm:=$(arg load_arm)
+         use_simulation:=true roller_type:=simple
+"/>
+
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find rm_gazebo)/worlds/slope.world"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>r
+        <arg name="gui" value="true"/>
+    </include>
+
+    <!-- push robot_description to factory and spawn robot in gazebo -->
+    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" clear_params="true"
+          args="-z 0.5 -param robot_description -urdf -model $(arg robot_type)" output="screen"/>
+
+</launch>

rm_gazebo/worlds/slope.world

@@ -0,0 +1,73 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.5">
+    <world name="default">
+        <!-- Target real time factor is the product of max_step_size and real_time_update_rate -->
+        <!-- Negative real_time_update_rate means that Gazebo will run as fast as possible -->
+        <physics type="ode">
+            <!--      <type>world</type>-->
+            <max_step_size>0.001</max_step_size>
+            <real_time_update_rate>1000</real_time_update_rate>
+        </physics>
+
+        <include>
+            <uri>model://ground_plane</uri>
+        </include>
+
+        <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>
+
+        <model name='slope'>
+            <static>1</static>
+            <static>1</static>
+            <link name='slope_link'>
+                <pose>-2 -0.6 0.05 0 0 0</pose>
+                <visual name='visual'>
+                    <geometry>
+                        <mesh>
+                            <uri>model://rm_gazebo/worlds/place/slope.stl</uri>
+                            <scale>1 1 1</scale>
+                        </mesh>
+                    </geometry>
+                </visual>
+                <collision name='collision'>
+                    <geometry>
+                        <mesh>
+                            <uri>model://rm_gazebo/worlds/place/slope.stl</uri>
+                            <scale>1 1 1</scale>
+                        </mesh>
+                    </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>
+            <static>1</static>
+        </model>
+    </world>
+</sdf>