🗺️과제 : World 만들기

population을 이용하여 World를 제작해 보았다.

population의 다양한 패턴을 사용하여 물체를 배치해보았다.
random , grid , linear 과 같은 패턴이 존재하는데,
각각의 tag의 사용법을 좀더 익힐 수 있었다.

만든 world에 robot을 소환시켜 camera 토픽에 어떤식으로 보이는지 확인하였다.

🚗실행화면

아래의 링크에서 카메라 토픽의 화면을 확인 할 수 있다.

실습 영상 -> https://www.youtube.com/watch?v=zjq92hpUuFU&ab_channel=Nodazi

🌍world 코드

🌍test_world.world

<?xml version="1.0" ?>
<sdf version="1.5">
    <world name="default">

        <!-- A global light source -->
        <include>
            <uri>model://sun</uri>
        </include>

        <!-- A ground plane -->
        <include>
            <uri>model://ground_plane</uri>
        </include>

        <!-- ground -->
        <population name="ground">
            <model name="ground">
                <include>
                <static>true</static>
                <uri>model://asphalt_plane</uri>
                </include>
            </model>
            <pose>0 0 0.01 0 0 0</pose>
            <distribution>
                <type>grid</type>
                <rows>2</rows>
                <cols>2</cols>
                <step>20 20 0.0</step>
            </distribution>

        </population>

        <!-- brick_box_3x1x3 walls -->
        <!-- +X brick_box_3x1x3 -->
        <population name="brick_box_3x1x3">
            <model name="brick_box_3x1x3_1">
                <include>
                    <static>true</static>
                    <uri>model://brick_box_3x1x3</uri>
                </include>
            </model>
            <pose>1.5 12.5 0.3 0 0 0</pose>
            <box>
                <size>30 30 0.01</size>
            </box>
            <model_count>10</model_count>
            <distribution>
                <type>linear-x</type>
            </distribution>
        </population>

		<!-- -X brick_box_3x1x3 -->
        <population name="brick_box_3x1x3">
            <model name="brick_box_3x1x3_2">
                <include>
                    <static>true</static>
                    <uri>model://brick_box_3x1x3</uri>
                </include>
            </model>
            <pose>1.5 -12.5 0.3 0 0 0</pose>
            <box>
                <size>30 30 0.01</size>
            </box>
            <model_count>10</model_count>
            <distribution>
                <type>linear-x</type>
            </distribution>
        </population>

		<!-- +Y brick_box_3x1x3 -->
        <population name="brick_box_3x1x3">
            <model name="brick_box_3x1x3_3">
                <include>
                    <static>true</static>
                    <uri>model://brick_box_3x1x3</uri>
                    <pose>0 0 0 0 0 1.57</pose>
                </include>
            </model>
            <pose>14.5 1.5 0.3 0 0 0</pose>
            <box>
                <size>24 24 0.01</size>
            </box>
            <model_count>8</model_count>
            <distribution>
                <type>linear-y</type>
            </distribution>
        </population>

		<!-- +Y brick_box_3x1x3 -->
        <population name="brick_box_3x1x3">
            <model name="brick_box_3x1x3_4">
                <include>
                    <static>true</static>
                    <uri>model://brick_box_3x1x3</uri>
                    <pose>0 0 0 0 0 1.57</pose>
                </include>
            </model>
            <pose>-14.5 1.5 0.3 0 0 0</pose>
            <box>
                <size>24 24 0.01</size>
            </box>
            <model_count>8</model_count>
            <distribution>
                <type>linear-y</type>
            </distribution>
        </population>

        <!-- random models population -->
        <population name="construction_barrel_population">
            <model name="construction_barrel">
                <include>
                <static>false</static>
                <uri>model://construction_barrel</uri>
                </include>
            </model>
            <pose>8.5 5 0.2 0 0 0</pose>
            <box>
                <size>10 5 0.01</size>
            </box>
            <model_count>15</model_count>
            <distribution>
                <type>uniform</type>
            </distribution>
        </population>

        <!-- coke_can_random -->
        <population name="coke_can_random">
            <model name="coke_can">
                <include>
                <static>false</static>
                <uri>model://coke_can</uri>
                </include>
            </model>
            <pose>-8.5 -5 0.2 0 0 0</pose>
            <box>
                <size>5 5 0.01</size>
            </box>
            <model_count>100</model_count>
            <distribution>
                <type>random</type>
            </distribution>
        </population>

        <!-- dumpster -->
        <population name="dumpster">
            <model name="dumpster">
                <include>
                    <static>false</static>
                    <uri>model://dumpster</uri>
                    <pose>0 0 0 0 0 1.57</pose>
                </include>
            </model>
            <pose>-11.8 -4 0.1 0 0 0</pose>
            <box>
                <size>10 12 0.01</size>
            </box>
            <model_count>4</model_count>
            <distribution>
                <type>linear-y</type>
            </distribution>
        </population>

        <!-- double_pendulum_with_base -->
        <population name="double_pendulum_with_base_random">
            <model name="double_pendulum_with_base">
                <include>
                <static>false</static>
                <uri>model://double_pendulum_with_base</uri>
                </include>
            </model>
            <pose>8.5 -5 0.2 0 0 0</pose>
            <box>
                <size>10 10 0.01</size>
            </box>
            <model_count>10</model_count>
            <distribution>
                <type>random</type>
            </distribution>
        </population>
    </world>
</sdf>