diff --git a/SubjuGator/command/subjugator_launch/launch/gazebo.launch b/SubjuGator/command/subjugator_launch/launch/gazebo.launch index d533a134c..33451733e 100644 --- a/SubjuGator/command/subjugator_launch/launch/gazebo.launch +++ b/SubjuGator/command/subjugator_launch/launch/gazebo.launch @@ -1,8 +1,13 @@ - - - + + + + + + + + @@ -11,8 +16,13 @@ - - + + + + + + + diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_a.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_a.launch new file mode 100644 index 000000000..9d3e162e6 --- /dev/null +++ b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_a.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_b.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_b.launch new file mode 100644 index 000000000..97e15c538 --- /dev/null +++ b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_b.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_c.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_c.launch new file mode 100644 index 000000000..76953ad81 --- /dev/null +++ b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_c.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_d.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_d.launch new file mode 100644 index 000000000..bcbcb8b2b --- /dev/null +++ b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_d.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/launch/duck.launch b/SubjuGator/simulation/subjugator_gazebo/launch/duck.launch index 657fc0f6c..de4ef9709 100644 --- a/SubjuGator/simulation/subjugator_gazebo/launch/duck.launch +++ b/SubjuGator/simulation/subjugator_gazebo/launch/duck.launch @@ -6,13 +6,23 @@ + + + + + + + args="$(find subjugator_gazebo)/worlds/$(arg world_file) --verbose" /> + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/launch/spawn.launch b/SubjuGator/simulation/subjugator_gazebo/launch/spawn.launch index a318c0c0f..f0b5aeec6 100644 --- a/SubjuGator/simulation/subjugator_gazebo/launch/spawn.launch +++ b/SubjuGator/simulation/subjugator_gazebo/launch/spawn.launch @@ -2,6 +2,10 @@ - - + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/03_OceanTemp.png b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/03_OceanTemp.png new file mode 100644 index 000000000..fd80e276b Binary files /dev/null and b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/03_OceanTemp.png differ diff --git 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+ + + + + + + + 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.sdf b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.sdf new file mode 100644 index 000000000..ed35e910d --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.sdf @@ -0,0 +1,37 @@ + + + + true + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + 0 0 0 0 -0 0 + + + file://bin_2024/bin.dae + + + + + 0 0 0 0 -0 0 + + + file://bin_2024/bin.dae + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/model.config new file mode 100644 index 000000000..db9275026 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/model.config @@ -0,0 +1,13 @@ + + Bin 2024 + 1.0 + bin.sdf + + + Keith Khadar + + + + This is the model for Task 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2842 5689 1017 2843 52 919 2844 5685 1016 2845 1774 1023 2846 1535 917 2847 5685 1016 2848 1536 918 2849 1535 917 2850 5687 1024 2851 5686 1019 2852 1534 916 2853 1546 1025 2854 5687 1024 2855 5687 1024 2856 1547 1026 2857 5690 1020 2858 1547 1026 2859 5693 1027 2860 5690 1020 2861 1548 1028 2862 1297 1029 2863 5693 1027 2864 5693 1027 2865 1298 1030 2866 5692 1022 2867 5691 1021 2868 1298 1030 2869 1299 1031 2870 1776 1032 2871 1299 1031 2872 67 1033 2873 1775 1034 2874 5691 1021 2875 1776 1032 2876 1774 1023 2877 5688 1018 2878 1775 1034 2879 5694 1035 2880 5698 1036 2881 5697 1037 2882 5695 1038 2883 5699 1039 2884 5698 1036 2885 5697 1037 2886 5701 1040 2887 5700 1041 2888 5698 1036 2889 5702 1042 2890 5701 1040 2891 60 936 2892 5694 1035 2893 3565 1043 2894 3348 934 2895 5695 1038 2896 5694 1035 2897 3347 933 2898 5696 1044 2899 5695 1038 2900 3346 932 2901 3355 1004 2902 5696 1044 2903 5696 1044 2904 3356 1015 2905 5699 1039 2906 5699 1039 2907 3357 1013 2908 5702 1042 2909 5702 1042 2910 74 1014 2911 3151 1045 2912 5701 1040 2913 3151 1045 2914 3152 1046 2915 5700 1041 2916 3152 1046 2917 3153 1047 2918 3567 1048 2919 3153 1047 2920 75 1049 2921 3566 1050 2922 5700 1041 2923 3567 1048 2924 3565 1043 2925 5697 1037 2926 3566 1050 2927 5703 1051 2928 5707 1052 2929 5706 1053 2930 5704 1054 2931 5708 1055 2932 5707 1052 2933 5706 1053 2934 5710 1056 2935 5709 1057 2936 5707 1052 2937 5711 1058 2938 5710 1056 2939 53 952 2940 5703 1051 2941 1996 1059 2942 1764 950 2943 5704 1054 2944 5703 1051 2945 1763 949 2946 5705 1060 2947 5704 1054 2948 1762 948 2949 1774 1023 2950 5705 1060 2951 5705 1060 2952 1775 1034 2953 5708 1055 2954 5708 1055 2955 1776 1032 2956 5711 1058 2957 5711 1058 2958 67 1033 2959 1549 1061 2960 5710 1056 2961 1549 1061 2962 1550 1062 2963 5709 1057 2964 1550 1062 2965 1551 1063 2966 1998 1064 2967 1551 1063 2968 68 1065 2969 1997 1066 2970 5709 1057 2971 1998 1064 2972 1996 1059 2973 5706 1053 2974 1997 1066 2975 5712 1067 2976 5716 1068 2977 5715 1069 2978 5713 1070 2979 5717 1071 2980 5716 1068 2981 5716 1068 2982 5718 1072 2983 5715 1069 2984 5716 1068 2985 5720 1073 2986 5719 1074 2987 61 968 2988 5712 1067 2989 3799 1075 2990 3561 966 2991 5713 1070 2992 5712 1067 2993 3560 965 2994 5714 1076 2995 5713 1070 2996 3559 964 2997 3565 1043 2998 5714 1076 2999 5714 1076 3000 3566 1050 3001 5717 1071 3002 5717 1071 3003 3567 1048 3004 5720 1073 3005 3567 1048 3006 3361 1077 3007 5720 1073 3008 5720 1073 3009 3362 1078 3010 5719 1074 3011 5719 1074 3012 3363 1079 3013 5718 1072 3014 5718 1072 3015 76 1080 3016 3801 1081 3017 5715 1069 3018 3801 1081 3019 3800 1082 3020 5712 1067 3021 3800 1082 3022 3799 1075 3023 5721 1083 3024 5725 1084 3025 5724 1085 3026 5722 1086 3027 5726 1087 3028 5725 1084 3029 5724 1085 3030 5728 1088 3031 5727 1089 3032 5725 1084 3033 5729 1090 3034 5728 1088 3035 54 760 3036 5721 1083 3037 2224 1091 3038 1986 981 3039 5722 1086 3040 5721 1083 3041 1985 980 3042 5723 1092 3043 5722 1086 3044 1984 979 3045 1996 1059 3046 5723 1092 3047 5723 1092 3048 1997 1066 3049 5726 1087 3050 5726 1087 3051 1998 1064 3052 5729 1090 3053 5729 1090 3054 68 1065 3055 1780 1093 3056 5728 1088 3057 1780 1093 3058 1781 1094 3059 5727 1089 3060 1781 1094 3061 1782 1095 3062 2226 1096 3063 1782 1095 3064 69 1097 3065 2225 1098 3066 5727 1089 3067 2226 1096 3068 2224 1091 3069 5724 1085 3070 2225 1098 3071 5731 1099 3072 5733 1100 3073 5730 1101 3074 5732 1102 3075 5734 1103 3076 5731 1099 3077 5734 1103 3078 5736 1104 3079 5733 1100 3080 5735 1105 3081 5737 1106 3082 5734 1103 3083 3786 994 3084 4021 1107 3085 62 995 3086 3785 993 3087 5730 1101 3088 3786 994 3089 3784 992 3090 5731 1099 3091 3785 993 3092 61 968 3093 5732 1102 3094 3784 992 3095 3799 1075 3096 5735 1105 3097 5732 1102 3098 3800 1082 3099 5738 1108 3100 5735 1105 3101 3801 1081 3102 3571 1109 3103 5738 1108 3104 5738 1108 3105 3572 1110 3106 5737 1106 3107 5737 1106 3108 3573 1111 3109 5736 1104 3110 5736 1104 3111 77 1112 3112 4023 1113 3113 5733 1100 3114 4023 1113 3115 4022 1114 3116 5730 1101 3117 4022 1114 3118 4021 1107 3119 5739 1115 3120 5743 1116 3121 5742 1117 3122 5740 1118 3123 5744 1119 3124 5743 1116 3125 5742 1117 3126 5746 1120 3127 5745 1121 3128 5743 1116 3129 5747 1122 3130 5746 1120 3131 55 764 3132 5739 1115 3133 2461 1123 3134 2220 763 3135 5740 1118 3136 5739 1115 3137 2219 762 3138 5741 1124 3139 5740 1118 3140 2218 761 3141 2224 1091 3142 5741 1124 3143 5741 1124 3144 2225 1098 3145 5744 1119 3146 5744 1119 3147 2226 1096 3148 5747 1122 3149 5747 1122 3150 69 1097 3151 2002 1125 3152 5746 1120 3153 2002 1125 3154 2003 1126 3155 5745 1121 3156 2003 1126 3157 2004 1127 3158 2463 1128 3159 2004 1127 3160 70 1129 3161 2462 1130 3162 5745 1121 3163 2463 1128 3164 2461 1123 3165 5742 1117 3166 2462 1130 3167 5749 1131 3168 5751 1132 3169 5748 1133 3170 5750 1134 3171 5752 1135 3172 5749 1131 3173 5752 1135 3174 5754 1136 3175 5751 1132 3176 5753 1137 3177 5755 1138 3178 5752 1135 3179 4014 782 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11097 10704 31681 4744 8179 31682 4740 10679 31683 11098 10707 31684 11097 10704 31685 4739 10678 31686 11099 10712 31687 11098 10707 31688 4738 10677 31689 4741 10713 31690 11099 10712 31691 11099 10712 31692 4742 10714 31693 11102 10708 31694 11102 10708 31695 4743 10715 31696 11105 10711 31697 11105 10711 31698 669 10716 31699 4747 10717 31700 11104 10709 31701 4747 10717 31702 4748 10718 31703 11103 10710 31704 4748 10718 31705 4749 10719 31706 11103 10710 31707 670 8185 31708 4746 8184 31709 11100 10706 31710 4746 8184 31711 4745 8182 31712 4744 8179 31713 11100 10706 31714 4745 8182 31715 11106 10720 31716 11110 10721 31717 11109 10722 31718 11107 10723 31719 11111 10724 31720 11110 10721 31721 11109 10722 31722 11113 10725 31723 11112 10726 31724 11110 10721 31725 11114 10727 31726 11113 10725 31727 670 8185 31728 11106 10720 31729 4756 8183 31730 4749 10719 31731 11107 10723 31732 11106 10720 31733 4748 10718 31734 11108 10728 31735 11107 10723 31736 4747 10717 31737 4753 10729 31738 11108 10728 31739 11108 10728 31740 4754 10730 31741 11111 10724 31742 11111 10724 31743 4755 10731 31744 11114 10727 31745 11114 10727 31746 671 10732 31747 4762 10733 31748 11113 10725 31749 4762 10733 31750 4763 10734 31751 11112 10726 31752 4763 10734 31753 4764 10735 31754 11112 10726 31755 672 8189 31756 4758 8188 31757 11109 10722 31758 4758 8188 31759 4757 8186 31760 4756 8183 31761 11109 10722 31762 4757 8186 31763 11115 10736 31764 11119 10737 31765 11118 10738 31766 11116 10739 31767 11120 10740 31768 11119 10737 31769 11118 10738 31770 11122 10741 31771 11121 10742 31772 11119 10737 31773 11123 10743 31774 11122 10741 31775 568 9694 31776 11115 10736 31777 1545 9724 31778 4750 10744 31779 11116 10739 31780 11115 10736 31781 4751 10745 31782 11117 10746 31783 11116 10739 31784 4752 10747 31785 4743 10715 31786 11117 10746 31787 11117 10746 31788 4742 10714 31789 11120 10740 31790 11120 10740 31791 4741 10713 31792 11123 10743 31793 11123 10743 31794 667 10676 31795 4737 10703 31796 11122 10741 31797 4737 10703 31798 4736 10701 31799 11121 10742 31800 4736 10701 31801 4735 10700 31802 1543 9715 31803 4735 10700 31804 561 9714 31805 1544 9725 31806 11121 10742 31807 1543 9715 31808 1545 9724 31809 11118 10738 31810 1544 9725 31811 11124 10748 31812 11128 10749 31813 11127 10750 31814 11125 10751 31815 11129 10752 31816 11128 10749 31817 11127 10750 31818 11131 10753 31819 11130 10754 31820 11128 10749 31821 11132 10755 31822 11131 10753 31823 567 9674 31824 11124 10748 31825 1987 9704 31826 4759 10756 31827 11125 10751 31828 11124 10748 31829 4760 10757 31830 11126 10758 31831 11125 10751 31832 4761 10759 31833 4755 10731 31834 11126 10758 31835 11126 10758 31836 4754 10730 31837 11129 10752 31838 11129 10752 31839 4753 10729 31840 11132 10755 31841 11132 10755 31842 669 10716 31843 4752 10747 31844 11131 10753 31845 4752 10747 31846 4751 10745 31847 11130 10754 31848 4751 10745 31849 4750 10744 31850 1989 9695 31851 4750 10744 31852 568 9694 31853 1988 9705 31854 11130 10754 31855 1989 9695 31856 1987 9704 31857 11127 10750 31858 1988 9705 31859 11133 10760 31860 11137 10761 31861 11136 10762 31862 11134 10763 31863 11138 10764 31864 11137 10761 31865 11136 10762 31866 11140 10765 31867 11139 10766 31868 11137 10761 31869 11141 10767 31870 11140 10765 31871 672 8189 31872 11133 10760 31873 4768 8187 31874 4764 10735 31875 11134 10763 31876 11133 10760 31877 4763 10734 31878 11135 10768 31879 11134 10763 31880 4762 10733 31881 4765 10769 31882 11135 10768 31883 11135 10768 31884 4766 10770 31885 11138 10764 31886 11138 10764 31887 4767 10771 31888 11141 10767 31889 11141 10767 31890 673 10772 31891 4774 10773 31892 11140 10765 31893 4774 10773 31894 4775 10774 31895 11139 10766 31896 4775 10774 31897 4776 10775 31898 11139 10766 31899 674 8193 31900 4770 8192 31901 11136 10762 31902 4770 8192 31903 4769 8190 31904 4768 8187 31905 11136 10762 31906 4769 8190 31907 11142 10776 31908 11146 10777 31909 11145 10778 31910 11143 10779 31911 11147 10780 31912 11146 10777 31913 11145 10778 31914 11149 10781 31915 11148 10782 31916 11146 10777 31917 11150 10783 31918 11149 10781 31919 569 9654 31920 11142 10776 31921 1992 9684 31922 4771 10784 31923 11143 10779 31924 11142 10776 31925 4772 10785 31926 11144 10786 31927 11143 10779 31928 4773 10787 31929 4767 10771 31930 11144 10786 31931 11144 10786 31932 4766 10770 31933 11147 10780 31934 11147 10780 31935 4765 10769 31936 11150 10783 31937 11150 10783 31938 671 10732 31939 4761 10759 31940 11149 10781 31941 4761 10759 31942 4760 10757 31943 11148 10782 31944 4760 10757 31945 4759 10756 31946 1990 9675 31947 4759 10756 31948 567 9674 31949 1991 9685 31950 11148 10782 31951 1990 9675 31952 1992 9684 31953 11145 10778 31954 1991 9685 31955 11151 10788 31956 11155 10789 31957 11154 10790 31958 11152 10791 31959 11156 10792 31960 11155 10789 31961 11154 10790 31962 11158 10793 31963 11157 10794 31964 11155 10789 31965 11159 10795 31966 11158 10793 31967 674 8193 31968 11151 10788 31969 4780 8191 31970 4776 10775 31971 11152 10791 31972 11151 10788 31973 4775 10774 31974 11153 10796 31975 11152 10791 31976 4774 10773 31977 4777 10797 31978 11153 10796 31979 11153 10796 31980 4778 10798 31981 11156 10792 31982 11156 10792 31983 4779 10799 31984 11159 10795 31985 11159 10795 31986 675 8477 31987 4783 10800 31988 11158 10793 31989 4783 10800 31990 4784 10801 31991 11157 10794 31992 4784 10801 31993 4785 10802 31994 11157 10794 31995 676 8196 31996 4782 8195 31997 11154 10790 31998 4782 8195 31999 4781 8197 32000 4780 8191 32001 11154 10790 32002 4781 8197 32003 11160 10803 32004 11164 10804 32005 11163 10805 32006 11161 10806 32007 11165 10807 32008 11164 10804 32009 11163 10805 32010 11167 10808 32011 11166 10809 32012 11164 10804 32013 11168 10810 32014 11167 10808 32015 676 8196 32016 11160 10803 32017 1468 8194 32018 4785 10802 32019 11161 10806 32020 11160 10803 32021 4784 10801 32022 11162 10811 32023 11161 10806 32024 4783 10800 32025 4375 8476 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1949 183 35778 5223 163 35779 5226 167 35780 1948 170 35781 5220 161 35782 5223 163 35783 5230 184 35784 5233 188 35785 5232 185 35786 5231 187 35787 5234 190 35788 5233 188 35789 5233 188 35790 5236 191 35791 5235 189 35792 5234 190 35793 5237 197 35794 5236 191 35795 1224 192 35796 5229 186 35797 2835 193 35798 1223 195 35799 5230 184 35800 5229 186 35801 1222 196 35802 5231 187 35803 5230 184 35804 0 151 35805 742 150 35806 5231 187 35807 742 150 35808 743 160 35809 5234 190 35810 743 160 35811 744 159 35812 5237 197 35813 744 159 35814 8 158 35815 2629 198 35816 5237 197 35817 2629 198 35818 2630 199 35819 5236 191 35820 2630 199 35821 2631 200 35822 5235 189 35823 2631 200 35824 9 201 35825 5232 185 35826 5235 189 35827 2833 202 35828 5229 186 35829 5232 185 35830 2834 203 35831 5238 204 35832 5239 207 35833 5242 205 35834 5239 207 35835 5240 215 35836 5243 208 35837 5241 206 35838 5242 205 35839 5245 209 35840 5242 205 35841 5243 208 35842 5246 211 35843 478 212 35844 1908 213 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a/SubjuGator/simulation/subjugator_gazebo/models/mapping_torpedoes_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/mapping_torpedoes_2024/model.config new file mode 100644 index 000000000..5228945d5 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/mapping_torpedoes_2024/model.config @@ -0,0 +1,13 @@ + + Mapping Torpedoes 2024 + 1.0 + mapping_torpedoes.sdf + + + Keith Khadar + + + + This is the model for Task 04 Mapping for RoboSub 2024. + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/nautilus_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/nautilus_2024/model.config new file mode 100644 index 000000000..ca0e40b09 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/nautilus_2024/model.config @@ -0,0 +1,13 @@ + + Nautilus 2024 + 1.0 + nautilus.sdf + + + Keith Khadar + + + + This is the model for Task 05 Collect Samples for RoboSub 2024. + + diff --git 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/nautilus_2024/nautilus.sdf b/SubjuGator/simulation/subjugator_gazebo/models/nautilus_2024/nautilus.sdf new file mode 100644 index 000000000..71656a5f4 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/nautilus_2024/nautilus.sdf @@ -0,0 +1,37 @@ + + + + true + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + 0 0 0 0 -0 0 + + + file://nautilus_2024/nautilus.dae + + + + + 0 0 0 0 -0 0 + + + file://nautilus_2024/nautilus.dae + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/model.config new file mode 100644 index 000000000..a3e6d9e1d --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/model.config @@ -0,0 +1,13 @@ + + Cctogon 2024 + 1.0 + octogon.sdf + + + Keith Khadar + + + + This is the model for Task 05 Collect Samples for RoboSub 2024. + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/octogon.dae b/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/octogon.dae new file mode 100644 index 000000000..d1f1edd57 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/octogon.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 3.6.2 commit date:2023-08-16, commit time:16:43, hash:e53e55951e7a + + 2024-06-08T11:59:25 + 2024-06-08T11:59:25 + + Z_UP + + + + + + + 0.160016 -1.356744 0.01344364 0.160016 -1.358707 0.0178129 0.160016 -1.357657 0.01277017 0.160016 -1.359915 0.0169205 0.160016 -1.359324 0.01115262 0.160016 -1.362125 0.01477724 0.160016 -1.360743 0.009214282 0.160016 -1.364005 0.01220893 0.160016 -1.361874 0.007010817 0.160016 -1.365504 0.009289383 0.160016 -1.362684 0.00460571 0.160016 -1.366577 0.006102561 0.160016 -1.36315 0.002068042 0.160016 -1.367193 0.002740204 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/octogon.sdf b/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/octogon.sdf new file mode 100644 index 000000000..4e23de52b --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/octogon_2024/octogon.sdf @@ -0,0 +1,37 @@ + + + + true + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + 0 0 0 0 -0 0 + + + file://octogon_2024/octogon.dae + + + + + 0 0 0 0 -0 0 + + + file://octogon_2024/octogon.dae + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/markers/PathMarkers2018.png b/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/PathMarkers2018.png similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/markers/PathMarkers2018.png rename to SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/PathMarkers2018.png diff --git a/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/model.config new file mode 100644 index 000000000..b216a402e --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/model.config @@ -0,0 +1,13 @@ + + Pathmarker 2024 + 1.0 + pathmarker.sdf + + + Keith Khadar + + + + This is the model for the path markers for RoboSub 2024. + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/pathmarker.dae b/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/pathmarker.dae new file mode 100644 index 000000000..69007edf0 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/pathmarker_2024/pathmarker.dae @@ -0,0 +1,148 @@ + + + + + Blender User + Blender 3.6.2 commit date:2023-08-16, commit time:16:43, hash:e53e55951e7a + + 2024-06-07T15:03:53 + 2024-06-07T15:03:53 + + Z_UP + + + + + + + PathMarkers2018_png + + + + + 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b/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/Slide3.png differ diff --git a/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/Slide4.png b/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/Slide4.png new file mode 100644 index 000000000..46b47e01d Binary files /dev/null and b/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/Slide4.png differ diff --git a/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/model.config new file mode 100644 index 000000000..f6c80352c --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/model.config @@ -0,0 +1,13 @@ + + StartGate 2024 + 1.0 + startgate.sdf + + + Cameron Brown + + + + This is the model for the Start Gate for RoboSub 2024. + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/startgate_2024/startgate.dae 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b/SubjuGator/simulation/subjugator_gazebo/models/tubeworm_2024/model.config @@ -0,0 +1,13 @@ + + Tubeworm 2024 + 1.0 + tubeworm.sdf + + + Keith Khadar + + + + This is the model for Task 05 Collect Samples for RoboSub 2024. + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/tubeworm_2024/tubeworm.dae b/SubjuGator/simulation/subjugator_gazebo/models/tubeworm_2024/tubeworm.dae new file mode 100644 index 000000000..35367454b --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/tubeworm_2024/tubeworm.dae @@ -0,0 +1,101 @@ + + + + + Blender User + Blender 3.6.2 commit date:2023-08-16, commit time:16:43, hash:e53e55951e7a + + 2024-06-07T15:04:05 + 2024-06-07T15:04:05 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8000001 0.003515395 0 1 + + + 1.45 + + + + + + + + + + + + + + + + + 0.01482278 0 0.05846309 0.01476967 -0.001260697 0.05846309 0.01476967 -0.001260697 -0.05854833 0.0143432 -0.0037449 0.05846309 0.0143432 -0.0037449 -0.05854833 0.01350361 -0.006121575 0.05846309 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file://woollett_pool_2024/WoollettPool.dae + + + + + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/model.config new file mode 100644 index 000000000..4a45f6671 --- /dev/null +++ b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/model.config @@ -0,0 +1,13 @@ + + Woollett Pool 2024 + 1.0 + WoollettPool.sdf + + + Keith Khadar + + + + This is the model for pool for RoboSub 2024. + + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/02_makeGrade_tommyGun.png b/SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/02_makeGrade_tommyGun.png similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/02_makeGrade_tommyGun.png rename to SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/02_makeGrade_tommyGun.png diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/Bootlegger_Buoy.dae b/SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/Bootlegger_Buoy.dae similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/Bootlegger_Buoy.dae rename to SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/Bootlegger_Buoy.dae diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/Bootlegger_Buoy.sdf b/SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/Bootlegger_Buoy.sdf similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/Bootlegger_Buoy.sdf rename to SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/Bootlegger_Buoy.sdf diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/model.config b/SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/model.config similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/Bootlegger_Poster/model.config rename to SubjuGator/simulation/subjugator_gazebo/old_models/Bootlegger_Poster/model.config diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae b/SubjuGator/simulation/subjugator_gazebo/old_models/Chevron/chevvie.dae similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/Chevron/chevvie.dae rename to SubjuGator/simulation/subjugator_gazebo/old_models/Chevron/chevvie.dae diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config b/SubjuGator/simulation/subjugator_gazebo/old_models/Chevron/model.config similarity index 100% rename from SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.config rename to SubjuGator/simulation/subjugator_gazebo/old_models/Chevron/model.config diff --git a/SubjuGator/simulation/subjugator_gazebo/models/Chevron/model.sdf 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