From 538abba08a51b0603a321a42f9bf6443dfc57d38 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Thu, 29 Aug 2019 16:07:46 +0900
Subject: [PATCH 01/15] Reconstruct config files for gazebo

---
 rois_description/config/audio/cat.mp3         |    Bin 24000 -> 0 bytes
 rois_description/meshes/bases/burger_base.stl |    Bin 0 -> 4826284 bytes
 rois_description/meshes/sensors/astra.dae     | 256759 +++++++++++++++
 rois_description/meshes/sensors/astra.jpg     |    Bin 0 -> 65411 bytes
 rois_description/meshes/sensors/lds.stl       |    Bin 0 -> 728384 bytes
 rois_description/meshes/sensors/r200.dae      |    890 +
 rois_description/meshes/sensors/r200.jpg      |    Bin 0 -> 2508 bytes
 rois_description/meshes/wheels/left_tire.stl  |    Bin 0 -> 1083684 bytes
 rois_description/meshes/wheels/right_tire.stl |    Bin 0 -> 1083684 bytes
 .../{config => }/robot/fifth_robot.urdf       |      0
 .../{config => }/robot/sample.urdf            |      0
 .../robot/turtlebot3_burger.urdf.xacro        |    165 +
 rois_description/urdf/common_properties.xacro |     44 +
 .../urdf/turtlebot3_burger.gazebo.xacro       |    135 +
 .../urdf/turtlebot3_burger.urdf.xacro         |    165 +
 ...urtlebot3_burger_for_autorace.gazebo.xacro |    169 +
 .../turtlebot3_burger_for_autorace.urdf.xacro |    194 +
 .../{config => }/world/sample.sdf             |      0
 .../{config => }/world/sound_test.sdf         |      0
 .../{config => }/world/tana_world.sdf         |      0
 .../config}/controller.yaml                   |      0
 rois_gazebo/launch/setup_gazebo.launch        |      6 +-
 22 files changed, 258524 insertions(+), 3 deletions(-)
 delete mode 100644 rois_description/config/audio/cat.mp3
 create mode 100644 rois_description/meshes/bases/burger_base.stl
 create mode 100644 rois_description/meshes/sensors/astra.dae
 create mode 100644 rois_description/meshes/sensors/astra.jpg
 create mode 100644 rois_description/meshes/sensors/lds.stl
 create mode 100644 rois_description/meshes/sensors/r200.dae
 create mode 100644 rois_description/meshes/sensors/r200.jpg
 create mode 100644 rois_description/meshes/wheels/left_tire.stl
 create mode 100644 rois_description/meshes/wheels/right_tire.stl
 rename rois_description/{config => }/robot/fifth_robot.urdf (100%)
 rename rois_description/{config => }/robot/sample.urdf (100%)
 create mode 100644 rois_description/robot/turtlebot3_burger.urdf.xacro
 create mode 100644 rois_description/urdf/common_properties.xacro
 create mode 100644 rois_description/urdf/turtlebot3_burger.gazebo.xacro
 create mode 100644 rois_description/urdf/turtlebot3_burger.urdf.xacro
 create mode 100644 rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro
 create mode 100644 rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro
 rename rois_description/{config => }/world/sample.sdf (100%)
 rename rois_description/{config => }/world/sound_test.sdf (100%)
 rename rois_description/{config => }/world/tana_world.sdf (100%)
 rename {rois_description/config/robot => rois_gazebo/config}/controller.yaml (100%)

diff --git a/rois_description/config/audio/cat.mp3 b/rois_description/config/audio/cat.mp3
deleted file mode 100644
index 3a17d8e3b4240280737df9301f13bfae48018939..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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index 00000000..eb1ea6be
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1943 1116 673 1944 1118 672 1945 1117 670 1946 1115 676 1947 1121 672 1948 1117 673 1949 1118 676 1950 1121 674 1951 1119 672 1952 1117 676 1953 1121 675 1954 1120 674 1955 1119 677 1956 1122 675 1957 1120 676 1958 1121 679 1959 1124 675 1960 1120 677 1961 1122 679 1962 1124 678 1963 1123 675 1964 1120 681 1965 1126 678 1966 1123 679 1967 1124 681 1968 1126 680 1969 1125 678 1970 1123 648 1971 1093 680 1972 1125 681 1973 1126 686 1974 1131 682 1975 1132 683 1976 1128 682 1977 1127 684 1978 1129 685 1979 1130 682 1980 1133 686 1981 1131 684 1982 1134 702 1983 1150 687 1984 1135 688 1985 1136 692 1986 1140 689 1987 1137 690 1988 1138 692 1989 1140 691 1990 1139 689 1991 1137 694 1992 1142 691 1993 1139 692 1994 1140 694 1995 1142 693 1996 1141 691 1997 1139 696 1998 1144 693 1999 1141 694 2000 1142 696 2001 1144 695 2002 1143 693 2003 1141 698 2004 1146 695 2005 1143 696 2006 1144 698 2007 1146 697 2008 1145 695 2009 1143 700 2010 1148 697 2011 1145 698 2012 1146 700 2013 1148 699 2014 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947 2728 1772 945 2729 1658 950 2730 1773 947 2731 1774 948 2732 1661 950 2733 1775 949 2734 1776 947 2735 1660 952 2736 1777 949 2737 1778 950 2738 1663 952 2739 1779 951 2740 1780 949 2741 1662 954 2742 1781 951 2743 1782 952 2744 1665 954 2745 1783 953 2746 1784 951 2747 1664 956 2748 1785 953 2749 1786 954 2750 1667 956 2751 1787 955 2752 1788 953 2753 1666 958 2754 1789 955 2755 1790 956 2756 1669 958 2757 1791 957 2758 1792 955 2759 1668 960 2760 1793 957 2761 1794 958 2762 1671 960 2763 1795 959 2764 1796 957 2765 1670 962 2766 1797 959 2767 1798 960 2768 1673 962 2769 1799 961 2770 1800 959 2771 1672 964 2772 1801 961 2773 1802 962 2774 1675 964 2775 1803 963 2776 1804 961 2777 1674 902 2778 1805 963 2779 1806 964 2780 1677 902 2781 1615 965 2782 1678 963 2783 1676 998 2784 1839 966 2785 1807 967 2786 1808 971 2787 1812 968 2788 1809 969 2789 1810 971 2790 1812 970 2791 1811 968 2792 1809 973 2793 1814 970 2794 1811 971 2795 1812 973 2796 1814 972 2797 1813 970 2798 1811 975 2799 1816 972 2800 1813 973 2801 1814 975 2802 1816 974 2803 1815 972 2804 1813 977 2805 1818 974 2806 1815 975 2807 1816 977 2808 1818 976 2809 1817 974 2810 1815 979 2811 1820 976 2812 1817 977 2813 1818 979 2814 1820 978 2815 1819 976 2816 1817 981 2817 1822 978 2818 1819 979 2819 1820 981 2820 1822 980 2821 1821 978 2822 1819 983 2823 1824 980 2824 1821 981 2825 1822 983 2826 1824 982 2827 1823 980 2828 1821 985 2829 1826 982 2830 1823 983 2831 1824 985 2832 1826 984 2833 1825 982 2834 1823 987 2835 1828 984 2836 1825 985 2837 1826 987 2838 1828 986 2839 1827 984 2840 1825 990 2841 1831 986 2842 1827 987 2843 1828 990 2844 1831 988 2845 1829 986 2846 1827 990 2847 1831 989 2848 1830 988 2849 1829 991 2850 1832 989 2851 1830 990 2852 1831 994 2853 1835 989 2854 1830 991 2855 1832 994 2856 1835 992 2857 1833 989 2858 1830 994 2859 1835 993 2860 1834 992 2861 1833 996 2862 1837 993 2863 1834 994 2864 1835 996 2865 1837 995 2866 1836 993 2867 1834 997 2868 1838 995 2869 1836 996 2870 1837 999 2871 1840 995 2872 1836 997 2873 1838 999 2874 1840 998 2875 1839 995 2876 1836 966 2877 1807 998 2878 1839 999 2879 1840 1002 2880 1843 1000 2881 1841 1001 2882 1842 1000 2883 1841 1002 2884 1843 1003 2885 1844 1006 2886 1847 1004 2887 1845 1005 2888 1846 1004 2889 1845 1006 2890 1847 1007 2891 1848 1010 2892 1851 1008 2893 1849 1009 2894 1850 1008 2895 1849 1010 2896 1851 1011 2897 1852 1014 2898 1855 1012 2899 1853 1013 2900 1854 1012 2901 1853 1014 2902 1855 1015 2903 1856 1018 2904 1859 1016 2905 1857 1017 2906 1858 1016 2907 1857 1018 2908 1859 1019 2909 1860 1022 2910 1863 1020 2911 1861 1021 2912 1862 1020 2913 1861 1022 2914 1863 1023 2915 1864 1026 2916 1867 1024 2917 1865 1025 2918 1866 1024 2919 1865 1026 2920 1867 1027 2921 1868 1030 2922 1871 1028 2923 1869 1029 2924 1870 1028 2925 1869 1030 2926 1871 1031 2927 1872</p></triangles>
+      </mesh>
+    </geometry>
+    <geometry id="-DC_Brep_ncl1_12-lib" name="-DC_Brep_ncl1_12Mesh">
+      <mesh>
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+    <animation id="-DC_Brep_ncl1_16-anim" name="-DC_Brep_ncl1_16"><animation><source id="-DC_Brep_ncl1_16-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_16-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_20-anim" name="-DC_Brep_ncl1_20"><animation><source id="-DC_Brep_ncl1_20-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_20-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_28-anim" name="-DC_Brep_ncl1_28"><animation><source id="-DC_Brep_ncl1_28-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_28-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_24-anim" name="-DC_Brep_ncl1_24"><animation><source id="-DC_Brep_ncl1_24-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_24-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_25-anim" name="-DC_Brep_ncl1_25"><animation><source id="-DC_Brep_ncl1_25-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_25-Matrix-animation-input-array" count="0">
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diff --git a/rois_description/meshes/sensors/lds.stl b/rois_description/meshes/sensors/lds.stl
new file mode 100644
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diff --git a/rois_description/meshes/sensors/r200.dae b/rois_description/meshes/sensors/r200.dae
new file mode 100644
index 00000000..c1ebc6ab
--- /dev/null
+++ b/rois_description/meshes/sensors/r200.dae
@@ -0,0 +1,890 @@
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diff --git a/rois_description/meshes/wheels/right_tire.stl b/rois_description/meshes/wheels/right_tire.stl
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HcmV?d00001

diff --git a/rois_description/config/robot/fifth_robot.urdf b/rois_description/robot/fifth_robot.urdf
similarity index 100%
rename from rois_description/config/robot/fifth_robot.urdf
rename to rois_description/robot/fifth_robot.urdf
diff --git a/rois_description/config/robot/sample.urdf b/rois_description/robot/sample.urdf
similarity index 100%
rename from rois_description/config/robot/sample.urdf
rename to rois_description/robot/sample.urdf
diff --git a/rois_description/robot/turtlebot3_burger.urdf.xacro b/rois_description/robot/turtlebot3_burger.urdf.xacro
new file mode 100644
index 00000000..1fe7619b
--- /dev/null
+++ b/rois_description/robot/turtlebot3_burger.urdf.xacro
@@ -0,0 +1,165 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find rois_description)/urdf/common_properties.xacro"/>
+  <xacro:include filename="$(find rois_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://rois_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+               iyy="2.1193702e-03" iyz="-5.0120904e-06"
+               izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://rois_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://rois_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="caster_back_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://rois_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+</robot>
diff --git a/rois_description/urdf/common_properties.xacro b/rois_description/urdf/common_properties.xacro
new file mode 100644
index 00000000..b26a8532
--- /dev/null
+++ b/rois_description/urdf/common_properties.xacro
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+
+<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Init colour -->  
+  <material name="black">
+      <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+</robot>
diff --git a/rois_description/urdf/turtlebot3_burger.gazebo.xacro b/rois_description/urdf/turtlebot3_burger.gazebo.xacro
new file mode 100644
index 00000000..817e7981
--- /dev/null
+++ b/rois_description/urdf/turtlebot3_burger.gazebo.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="laser_visual" default="false"/>
+  <xacro:arg name="imu_visual"   default="false"/>
+
+  <gazebo reference="base_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+
+  <gazebo reference="wheel_left_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>500000.0</kp>
+    <kd>10.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo reference="wheel_right_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>500000.0</kp>
+    <kd>10.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo reference="caster_back_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>1.0</maxVel>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo reference="imu_link">
+    <sensor type="imu" name="imu">
+      <always_on>true</always_on>
+      <visualize>$(arg imu_visual)</visualize>
+    </sensor>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+      <commandTopic>cmd_vel</commandTopic>
+      <odometryTopic>odom</odometryTopic>
+      <odometryFrame>odom</odometryFrame>
+      <odometrySource>world</odometrySource>
+      <publishOdomTF>true</publishOdomTF>
+      <robotBaseFrame>base_footprint</robotBaseFrame>
+      <publishWheelTF>false</publishWheelTF>
+      <publishTf>true</publishTf>
+      <publishWheelJointState>true</publishWheelJointState>
+      <legacyMode>false</legacyMode>
+      <updateRate>30</updateRate>
+      <leftJoint>wheel_left_joint</leftJoint>
+      <rightJoint>wheel_right_joint</rightJoint>
+      <wheelSeparation>0.160</wheelSeparation>
+      <wheelDiameter>0.066</wheelDiameter>
+      <wheelAcceleration>1</wheelAcceleration>
+      <wheelTorque>10</wheelTorque>
+      <rosDebugLevel>na</rosDebugLevel>
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+      <alwaysOn>true</alwaysOn>
+      <bodyName>imu_link</bodyName>
+      <frameName>imu_link</frameName>
+      <topicName>imu</topicName>
+      <serviceName>imu_service</serviceName>
+      <gaussianNoise>0.0</gaussianNoise>
+      <updateRate>200</updateRate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </plugin>
+  </gazebo>
+
+  <gazebo reference="base_scan">
+    <material>Gazebo/FlatBlack</material>
+    <sensor type="ray" name="lds_lfcd_sensor">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>$(arg laser_visual)</visualize>
+      <update_rate>5</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>360</samples>
+            <resolution>1</resolution>
+            <min_angle>0.0</min_angle>
+            <max_angle>6.28319</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.120</min>
+          <max>3.5</max>
+          <resolution>0.015</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+        <topicName>scan</topicName>
+        <frameName>base_scan</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/rois_description/urdf/turtlebot3_burger.urdf.xacro b/rois_description/urdf/turtlebot3_burger.urdf.xacro
new file mode 100644
index 00000000..d0667594
--- /dev/null
+++ b/rois_description/urdf/turtlebot3_burger.urdf.xacro
@@ -0,0 +1,165 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+               iyy="2.1193702e-03" iyz="-5.0120904e-06"
+               izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="caster_back_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+</robot>
diff --git a/rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro b/rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro
new file mode 100644
index 00000000..9ea29801
--- /dev/null
+++ b/rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro
@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_for_autorace_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="laser_visual" default="false"/>
+  <xacro:arg name="camera_visual" default="false"/>
+  <xacro:arg name="imu_visual"   default="false"/>
+
+  <gazebo reference="base_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+
+  <gazebo reference="wheel_left_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>500000.0</kp>
+    <kd>10.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo reference="wheel_right_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>500000.0</kp>
+    <kd>10.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo reference="caster_back_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>1.0</maxVel>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo reference="imu_link">
+    <sensor type="imu" name="imu">
+      <always_on>true</always_on>
+      <visualize>$(arg imu_visual)</visualize>
+    </sensor>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+      <commandTopic>cmd_vel</commandTopic>
+      <odometryTopic>odom</odometryTopic>
+      <odometryFrame>odom</odometryFrame>
+      <odometrySource>world</odometrySource>
+      <publishOdomTF>true</publishOdomTF>
+      <robotBaseFrame>base_footprint</robotBaseFrame>
+      <publishWheelTF>false</publishWheelTF>
+      <publishTf>true</publishTf>
+      <publishWheelJointState>true</publishWheelJointState>
+      <legacyMode>false</legacyMode>
+      <updateRate>30</updateRate>
+      <leftJoint>wheel_left_joint</leftJoint>
+      <rightJoint>wheel_right_joint</rightJoint>
+      <wheelSeparation>0.160</wheelSeparation>
+      <wheelDiameter>0.066</wheelDiameter>
+      <wheelAcceleration>1</wheelAcceleration>
+      <wheelTorque>10</wheelTorque>
+      <rosDebugLevel>na</rosDebugLevel>
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+      <alwaysOn>true</alwaysOn>
+      <bodyName>imu_link</bodyName>
+      <topicName>imu</topicName>
+      <serviceName>imu_service</serviceName>
+      <gaussianNoise>0.0</gaussianNoise>
+      <updateRate>200</updateRate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </plugin>
+  </gazebo>
+
+  <gazebo reference="base_scan">
+    <material>Gazebo/FlatBlack</material>
+    <sensor type="ray" name="lds_lfcd_sensor">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>$(arg laser_visual)</visualize>
+      <update_rate>5</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>360</samples>
+            <resolution>1</resolution>
+            <min_angle>0.0</min_angle>
+            <max_angle>6.28319</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.120</min>
+          <max>3.5</max>
+          <resolution>0.015</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+        <topicName>scan</topicName>
+        <frameName>base_scan</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+  <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
+  <gazebo reference="camera_rgb_frame">
+    <sensor type="camera" name="Pi Camera">
+      <always_on>true</always_on>
+      <visualize>$(arg camera_visual)</visualize>
+      <camera>
+          <horizontal_fov>1.085595</horizontal_fov>
+          <image>
+              <width>320</width>
+              <height>240</height>
+              <format>R8G8B8</format>
+          </image>
+          <clip>
+              <near>0.03</near>
+              <far>100</far>
+          </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>camera</cameraName>
+        <frameName>camera_rgb_optical_frame</frameName>
+        <imageTopicName>image</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
diff --git a/rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro b/rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro
new file mode 100644
index 00000000..e647f37f
--- /dev/null
+++ b/rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro
@@ -0,0 +1,194 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger_for_autorace" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.gazebo.xacro"/>
+
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+               iyy="2.1193702e-03" iyz="-5.0120904e-06"
+               izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+      </inertial>
+  </link>
+
+  <joint name="caster_back_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="imu_link"/>
+
+  <joint name="scan_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.040 -0.011 0.130" rpy="0 0.174 0"/>
+    <parent link="base_link"/>
+    <child link="camera_link"/>
+  </joint>
+
+  <link name="camera_link">
+    <collision>
+      <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.030 0.027"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <link name="camera_rgb_frame"/>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/rois_description/config/world/sample.sdf b/rois_description/world/sample.sdf
similarity index 100%
rename from rois_description/config/world/sample.sdf
rename to rois_description/world/sample.sdf
diff --git a/rois_description/config/world/sound_test.sdf b/rois_description/world/sound_test.sdf
similarity index 100%
rename from rois_description/config/world/sound_test.sdf
rename to rois_description/world/sound_test.sdf
diff --git a/rois_description/config/world/tana_world.sdf b/rois_description/world/tana_world.sdf
similarity index 100%
rename from rois_description/config/world/tana_world.sdf
rename to rois_description/world/tana_world.sdf
diff --git a/rois_description/config/robot/controller.yaml b/rois_gazebo/config/controller.yaml
similarity index 100%
rename from rois_description/config/robot/controller.yaml
rename to rois_gazebo/config/controller.yaml
diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 21927dae..51ad46b3 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -1,13 +1,13 @@
 <launch>
   <arg 
     name="model" 
-    default="$(find rois_description)/config/robot/fifth_robot.urdf" />
+    default="$(find rois_description)/robot/fifth_robot.urdf" />
   <arg 
     name="rvizconfig" 
     default="$(find urdf_tutorial)/rviz/urdf.rviz" />
   <arg 
     name="world_name"
-    default="$(find rois_description)/config/world/tana_world.sdf" />
+    default="$(find rois_description)/world/tana_world.sdf" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg 
@@ -25,7 +25,7 @@
     pkg="gazebo_ros" 
     args="-file $(arg model) -urdf -z 1 -model sample" />
 
-  <rosparam file="$(find rois_description)/config/robot/controller.yaml" />
+  <rosparam file="$(find rois_gazebo)/config/controller.yaml" />
 
   <node 
     name="controller_spawner" 
-- 
GitLab


From fd15172222654105f4a5b7e9135107a698352760 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Thu, 29 Aug 2019 18:23:11 +0900
Subject: [PATCH 02/15] Modify setup_gazebo for turtlebot

---
 rois_gazebo/launch/setup_gazebo.launch | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 51ad46b3..7cdfb898 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg 
     name="model" 
-    default="$(find rois_description)/robot/fifth_robot.urdf" />
+    default="$(find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro" />
   <arg 
     name="rvizconfig" 
     default="$(find urdf_tutorial)/rviz/urdf.rviz" />
@@ -15,17 +15,17 @@
       value="$(arg world_name)" />
   </include>
 
+  <!-- <rosparam file="$(find rois_gazebo)/config/controller.yaml" /> -->
+
   <param 
     name="robot_description" 
-    command="$(find xacro)/xacro.py $(arg model)" />
+    command="$(find xacro)/xacro --inorder $(arg model)" />
 
   <node 
-    name="spawn_urdf" 
-    type="spawn_model" 
     pkg="gazebo_ros" 
-    args="-file $(arg model) -urdf -z 1 -model sample" />
-
-  <rosparam file="$(find rois_gazebo)/config/controller.yaml" />
+    type="spawn_model" 
+    name="spawn_urdf" 
+    args="-urdf -model turtlebot3_burger -param robot_description" />
 
   <node 
     name="controller_spawner" 
-- 
GitLab


From 3a8db991c7303f21e999c79d4ccc48c8c16b7b08 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Thu, 29 Aug 2019 18:28:19 +0900
Subject: [PATCH 03/15] Modify urdf to own file

---
 rois_gazebo/launch/setup_gazebo.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 7cdfb898..e28b8ca7 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg 
     name="model" 
-    default="$(find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro" />
+    default="$(find rois_description)/robot/turtlebot3_burger.urdf.xacro" />
   <arg 
     name="rvizconfig" 
     default="$(find urdf_tutorial)/rviz/urdf.rviz" />
-- 
GitLab


From b20f35d3d08140fc7e485cc229f09dd238886215 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Fri, 30 Aug 2019 16:06:26 +0900
Subject: [PATCH 04/15] Remake custom urdf
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

turtlebot 使うのが思いの外大変そうだった
---
 rois_description/robot/roisbot.urdf.xacro | 258 ++++++++++++++++++++++
 rois_description/robot/sample.urdf        |  19 --
 rois_gazebo/config/controller.yaml        |   2 +-
 rois_gazebo/launch/setup_gazebo.launch    |   4 +-
 4 files changed, 261 insertions(+), 22 deletions(-)
 create mode 100644 rois_description/robot/roisbot.urdf.xacro
 delete mode 100644 rois_description/robot/sample.urdf

diff --git a/rois_description/robot/roisbot.urdf.xacro b/rois_description/robot/roisbot.urdf.xacro
new file mode 100644
index 00000000..726fc5ac
--- /dev/null
+++ b/rois_description/robot/roisbot.urdf.xacro
@@ -0,0 +1,258 @@
+<?xml version="1.0"?>
+<robot name="roisbot">
+  <link name="base_link">
+    
+    <visual>
+      <geometry>
+        <box size="0.300 0.250 0.20"/>
+      </geometry>
+    </visual>
+    
+    <collision>
+      <geometry>
+        <box size="0.300 0.250 0.10"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0"/>
+      <mass value="0.500"/>
+      <inertia ixx="0.0020833333" ixy="0" ixz="0" iyy="0.0070833333" iyz="0" izz="0.0083333333"/>
+    </inertial>
+  </link>
+  
+  <link name="right_wheel_link">
+    <visual>
+      <geometry>
+        <cylinder radius="0.07" length="0.03"/>
+      </geometry>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <material name="black"/>
+    </visual>
+    
+    <collision>
+      <geometry>
+        <cylinder radius="0.07" length="0.03"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0"/>
+      <mass value="0.500"/>
+      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
+    </inertial>
+    
+  </link>
+  
+  <joint name="right_wheel_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="right_wheel_link"/>
+    <origin rpy="-1.5707 0 0" xyz="0.136 -0.130 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  
+  <link name="left_wheel_link">
+    <visual>
+      <geometry>
+        <cylinder radius="0.07" length="0.03"/>
+      </geometry>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <material name="black"/>
+    </visual>
+    
+    <collision>
+      <geometry>
+        <cylinder radius="0.07" length="0.03"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0"/>
+      <mass value="0.500"/>
+      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
+    </inertial>
+    
+  </link>
+  
+  <joint name="left_wheel_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="left_wheel_link"/>
+    <origin rpy="1.5707 0 0" xyz="0.136 0.130 0"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  
+  <link name="caster_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.07"/>
+      </geometry>
+    </visual>
+    
+    <collision>
+      <geometry>
+        <sphere radius="0.07"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0"/>
+      <mass value="0.500"/>
+      <inertia ixx="0.00025" ixy="0" ixz="0" iyy="0.00025"  iyz="0" izz="0.00025"/>
+    </inertial>
+    
+  </link>
+  
+  <joint name="caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_link"/>
+    <origin xyz="-0.200 0  0"/>
+  </joint>
+  
+  <!-- ===============  Transmission =============== -->
+  <transmission name="right_wheel_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_wheel_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_wheel_motor">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      <mechanicalReduction>15</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="left_wheel_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_wheel_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_wheel_motor">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      <mechanicalReduction>15</mechanicalReduction>
+    </actuator>
+  </transmission>
+  
+  <!-- =============== Sensor =============== -->
+  <!-- =============== Velodyne =============== -->
+  <link name="velodyne_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1 0.1 0.1"/>
+      </geometry>
+      <material name="Blue" />
+    </visual>
+  </link>
+  <joint name="velodyne_joint" type="fixed">
+    <origin xyz="0.1 0 0.7" rpy="0 0 0" />
+    <parent link="base_link"/>
+    <child link="velodyne_link" />
+  </joint>
+
+  <gazebo reference="velodyne_link">
+    <material>Gazebo/Blue</material>
+    <turnGravityOff>false</turnGravityOff>
+    <sensor type="ray" name="velodyne_sensor">
+      <pose>0.2 0 0 0 0 0</pose>
+      <update_rate>5</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>200</samples>
+            <resolution>1</resolution>
+            <min_angle>-3.14</min_angle>
+            <max_angle> 3.14</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>35</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.26166</min_angle>
+            <max_angle> 0.26166</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.30</min>
+          <max>131</max>
+          <resolution>0.001</resolution>
+        </range>
+      </ray>
+      <plugin name="gazebo_ros_velodyne_controller" filename="libgazebo_ros_velodyne_laser.so">
+        <topicName>/velodyne_points</topicName>
+        <frameName>velodyne_link</frameName>
+        <min_range>0.9</min_range>
+        <max_range>130</max_range>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+  <!-- =============== Imu =============== -->
+  <link name="imu_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.02 0.02 0.02"/>
+      </geometry>
+      <material name="Blue" />
+    </visual>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="0.16 0 0" rpy="0 0 0" />
+    <parent link="base_link"/>
+    <child link="imu_link" />
+  </joint>
+
+  <gazebo reference="imu_link">
+    <material>Gazebo/Blue</material>
+    <gravity>true</gravity>
+    <sensor name="imu_sensor" type="imu">
+      <always_on>true</always_on>
+      <update_rate>1000</update_rate>
+      <visualize>true</visualize>
+      <topic>__default_topic__</topic>
+      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+        <topicName>imu</topicName>
+        <bodyName>imu_link</bodyName>
+        <updateRateHZ>1000.0</updateRateHZ>
+        <gaussianNoise>0.0</gaussianNoise>
+        <xyzOffset>0 0 0</xyzOffset>
+        <rpyOffset>0 0 0</rpyOffset>
+        <frameName>imu_link</frameName>
+      </plugin>
+      <pose>0 0 0 0 0 0</pose>
+    </sensor>
+  </gazebo>
+  
+  <!-- =============== Gazebo =============== -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotNamespace>roisbot</robotNamespace>
+    </plugin>
+  </gazebo>
+  
+  <gazebo reference="base_link">
+    <selfCollide>true</selfCollide>
+    <material>Gazebo/Gray</material>
+    <mu1 value="0.05" />
+    <mu2 value="0.05" />
+  </gazebo>
+
+  <gazebo reference="right_wheel_link">
+    <selfCollide>true</selfCollide>
+    <material>Gazebo/Green</material>
+    <mu1 value="0.8" />
+    <mu2 value="0.8" />
+  </gazebo>
+  
+  <gazebo reference="left_wheel_link">
+    <selfCollide>true</selfCollide>
+    <material>Gazebo/Red</material>
+    <mu1 value="0.8" />
+    <mu2 value="0.8" />
+  </gazebo>
+  
+  <gazebo reference="caster_link">
+    <selfCollide>true</selfCollide>
+    <material>Gazebo/Black</material>
+    <!-- This caster is no frictional resistance. -->
+    <mu1 value="0.0" />
+    <mu2 value="0.0" />
+  </gazebo>
+</robot>
diff --git a/rois_description/robot/sample.urdf b/rois_description/robot/sample.urdf
deleted file mode 100644
index 5b8a1d49..00000000
--- a/rois_description/robot/sample.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="sample_robot">
-  <link name="base_link" />
-
-  <joint name="body_joint" type="fixed">
-    <parent link="base_link"/>
-    <child  link="body_link"/>
-  </joint>
-  <link name="body_link">
-    <visual>
-      <geometry>
-        <box size="0.3 0.3 0.2"/>
-      </geometry>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <material name="red">
-        <color rgba="1.0 0.0 0.0 2.0"/>
-      </material>
-    </visual>
-  </link>
-</robot>
diff --git a/rois_gazebo/config/controller.yaml b/rois_gazebo/config/controller.yaml
index 242eccb9..18872b18 100644
--- a/rois_gazebo/config/controller.yaml
+++ b/rois_gazebo/config/controller.yaml
@@ -1,4 +1,4 @@
-sample:
+roisbot:
   joint_state_controller:
     type: joint_state_controller/JointStateController
     publish_rate: 50
diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index e28b8ca7..05616683 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg 
     name="model" 
-    default="$(find rois_description)/robot/turtlebot3_burger.urdf.xacro" />
+    default="$(find rois_description)/robot/roisbot.urdf.xacro" />
   <arg 
     name="rvizconfig" 
     default="$(find urdf_tutorial)/rviz/urdf.rviz" />
@@ -25,7 +25,7 @@
     pkg="gazebo_ros" 
     type="spawn_model" 
     name="spawn_urdf" 
-    args="-urdf -model turtlebot3_burger -param robot_description" />
+    args="-urdf -model roisbot -param robot_description" />
 
   <node 
     name="controller_spawner" 
-- 
GitLab


From a1f9d02659aef934ad89c815a9c30e4001b00011 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Fri, 30 Aug 2019 18:03:10 +0900
Subject: [PATCH 05/15] Remake urdf links and joints

---
 rois_description/robot/roisbot.urdf.xacro | 141 ++++++++++------------
 rois_gazebo/config/controller.yaml        |   2 +-
 rois_gazebo/launch/setup_gazebo.launch    |   6 +-
 rois_gazebo/launch/teleop_keyboard.launch |   2 +-
 4 files changed, 66 insertions(+), 85 deletions(-)

diff --git a/rois_description/robot/roisbot.urdf.xacro b/rois_description/robot/roisbot.urdf.xacro
index 726fc5ac..6eebbba0 100644
--- a/rois_description/robot/roisbot.urdf.xacro
+++ b/rois_description/robot/roisbot.urdf.xacro
@@ -1,113 +1,131 @@
 <?xml version="1.0"?>
-<robot name="roisbot">
+<robot name="roisbot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <property name="M_PI"         value="3.14159265" />
+  <property name="base_length"  value="0.8" />
+  <property name="base_width"   value="0.5" />
+  <property name="base_height"  value="1.2" />
+  <property name="wheel_radius" value="0.2" />
+  <property name="wheel_length" value="0.1" />
+  <property name="lrf_size"     value="0.1" />
+
+  <link name="base_footprint">
+    <internal>
+      <origin xyz="0 0 -${wheel_radius*0.5}" />
+    </internal>
+  </link>
+
   <link name="base_link">
-    
     <visual>
       <geometry>
-        <box size="0.300 0.250 0.20"/>
+        <box size="${base_length} ${base_width} ${base_height}"/>
       </geometry>
     </visual>
-    
     <collision>
       <geometry>
-        <box size="0.300 0.250 0.10"/>
+        <box size="${base_length} ${base_width} ${base_height}"/>
       </geometry>
     </collision>
-    
     <inertial>
       <origin xyz="0 0 0"/>
       <mass value="0.500"/>
       <inertia ixx="0.0020833333" ixy="0" ixz="0" iyy="0.0070833333" iyz="0" izz="0.0083333333"/>
     </inertial>
   </link>
-  
+
+  <joint name="base_link_joint" type="fixed">
+    <origin xyz="0 0 ${base_height*0.5+wheel_radius*0.5-0.1}"/>
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+  </joint>
+
+
   <link name="right_wheel_link">
     <visual>
       <geometry>
-        <cylinder radius="0.07" length="0.03"/>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
       </geometry>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <material name="black"/>
     </visual>
-    
+
     <collision>
       <geometry>
-        <cylinder radius="0.07" length="0.03"/>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
       </geometry>
     </collision>
-    
+
     <inertial>
       <origin xyz="0 0 0"/>
       <mass value="0.500"/>
       <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
     </inertial>
-    
+
   </link>
-  
+
   <joint name="right_wheel_joint" type="continuous">
-    <parent link="base_link"/>
+    <parent link="base_footprint"/>
     <child link="right_wheel_link"/>
-    <origin rpy="-1.5707 0 0" xyz="0.136 -0.130 0"/>
-    <axis xyz="0 0 1"/>
+    <origin rpy="${M_PI*0.5} 0 0" xyz="${base_length*0.5-0.1} -${base_width*0.5+wheel_length} 0"/>
+    <axis xyz="0 0 -1"/>
   </joint>
-  
+
   <link name="left_wheel_link">
     <visual>
       <geometry>
-        <cylinder radius="0.07" length="0.03"/>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
       </geometry>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <material name="black"/>
     </visual>
-    
+
     <collision>
       <geometry>
-        <cylinder radius="0.07" length="0.03"/>
+        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
       </geometry>
     </collision>
-    
+
     <inertial>
       <origin xyz="0 0 0"/>
       <mass value="0.500"/>
       <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
     </inertial>
-    
+
   </link>
-  
+
   <joint name="left_wheel_joint" type="continuous">
-    <parent link="base_link"/>
+    <parent link="base_footprint"/>
     <child link="left_wheel_link"/>
-    <origin rpy="1.5707 0 0" xyz="0.136 0.130 0"/>
+    <origin rpy="${M_PI*0.5} 0 0" xyz="${base_length*0.5-0.1} ${base_width*0.5+wheel_length} 0"/>
     <axis xyz="0 0 -1"/>
   </joint>
-  
+
   <link name="caster_link">
     <visual>
       <geometry>
-        <sphere radius="0.07"/>
+        <sphere radius="${wheel_radius*0.5}"/>
       </geometry>
     </visual>
-    
+
     <collision>
       <geometry>
-        <sphere radius="0.07"/>
+        <sphere radius="${wheel_radius*0.5}"/>
       </geometry>
     </collision>
-    
+
     <inertial>
       <origin xyz="0 0 0"/>
       <mass value="0.500"/>
       <inertia ixx="0.00025" ixy="0" ixz="0" iyy="0.00025"  iyz="0" izz="0.00025"/>
     </inertial>
-    
+
   </link>
-  
+
   <joint name="caster_joint" type="fixed">
-    <parent link="base_link"/>
+    <parent link="base_footprint"/>
     <child link="caster_link"/>
-    <origin xyz="-0.200 0  0"/>
+    <origin xyz="-${base_length*0.5-wheel_radius*0.5} 0  -${wheel_radius*0.5}"/>
   </joint>
-  
+
   <!-- ===============  Transmission =============== -->
   <transmission name="right_wheel_trans">
     <type>transmission_interface/SimpleTransmission</type>
@@ -129,21 +147,21 @@
       <mechanicalReduction>15</mechanicalReduction>
     </actuator>
   </transmission>
-  
+
   <!-- =============== Sensor =============== -->
   <!-- =============== Velodyne =============== -->
   <link name="velodyne_link">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.1 0.1 0.1"/>
+        <box size="${lrf_size} ${lrf_size} ${lrf_size}"/>
       </geometry>
       <material name="Blue" />
     </visual>
   </link>
   <joint name="velodyne_joint" type="fixed">
-    <origin xyz="0.1 0 0.7" rpy="0 0 0" />
-    <parent link="base_link"/>
+    <origin xyz="${(base_length+lrf_size)*0.5} 0 ${base_height*0.5}" rpy="0 0 0" />
+    <parent link="base_footprint"/>
     <child link="velodyne_link" />
   </joint>
 
@@ -183,53 +201,16 @@
     </sensor>
   </gazebo>
 
-  <!-- =============== Imu =============== -->
-  <link name="imu_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.02 0.02 0.02"/>
-      </geometry>
-      <material name="Blue" />
-    </visual>
-  </link>
-  <joint name="imu_joint" type="fixed">
-    <origin xyz="0.16 0 0" rpy="0 0 0" />
-    <parent link="base_link"/>
-    <child link="imu_link" />
-  </joint>
-
-  <gazebo reference="imu_link">
-    <material>Gazebo/Blue</material>
-    <gravity>true</gravity>
-    <sensor name="imu_sensor" type="imu">
-      <always_on>true</always_on>
-      <update_rate>1000</update_rate>
-      <visualize>true</visualize>
-      <topic>__default_topic__</topic>
-      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
-        <topicName>imu</topicName>
-        <bodyName>imu_link</bodyName>
-        <updateRateHZ>1000.0</updateRateHZ>
-        <gaussianNoise>0.0</gaussianNoise>
-        <xyzOffset>0 0 0</xyzOffset>
-        <rpyOffset>0 0 0</rpyOffset>
-        <frameName>imu_link</frameName>
-      </plugin>
-      <pose>0 0 0 0 0 0</pose>
-    </sensor>
-  </gazebo>
-  
   <!-- =============== Gazebo =============== -->
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
       <robotNamespace>roisbot</robotNamespace>
     </plugin>
   </gazebo>
-  
+
   <gazebo reference="base_link">
     <selfCollide>true</selfCollide>
-    <material>Gazebo/Gray</material>
+    <material>Gazebo/White</material>
     <mu1 value="0.05" />
     <mu2 value="0.05" />
   </gazebo>
@@ -240,14 +221,14 @@
     <mu1 value="0.8" />
     <mu2 value="0.8" />
   </gazebo>
-  
+
   <gazebo reference="left_wheel_link">
     <selfCollide>true</selfCollide>
     <material>Gazebo/Red</material>
     <mu1 value="0.8" />
     <mu2 value="0.8" />
   </gazebo>
-  
+
   <gazebo reference="caster_link">
     <selfCollide>true</selfCollide>
     <material>Gazebo/Black</material>
diff --git a/rois_gazebo/config/controller.yaml b/rois_gazebo/config/controller.yaml
index 18872b18..aadda1cf 100644
--- a/rois_gazebo/config/controller.yaml
+++ b/rois_gazebo/config/controller.yaml
@@ -24,7 +24,7 @@ roisbot:
     cmd_vel_timeout: 1.0
      
     # Base frame_id
-    base_frame_id: base_link #default: base_link
+    base_frame_id: base_footprint #default: base_link
      
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 05616683..74f66987 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -15,7 +15,7 @@
       value="$(arg world_name)" />
   </include>
 
-  <!-- <rosparam file="$(find rois_gazebo)/config/controller.yaml" /> -->
+  <rosparam file="$(find rois_gazebo)/config/controller.yaml" />
 
   <param 
     name="robot_description" 
@@ -31,7 +31,7 @@
     name="controller_spawner" 
     type="spawner" 
     pkg="controller_manager" 
-    ns="sample"
+    ns="roisbot"
     args="joint_state_controller diff_drive_controller" 
     output="screen" />
 
@@ -39,7 +39,7 @@
     name="robot_state_publisher" 
     type="robot_state_publisher" 
     pkg="robot_state_publisher" 
-    ns="sample" 
+    ns="roisbot" 
     respawn="false" 
     output="screen" />
 
diff --git a/rois_gazebo/launch/teleop_keyboard.launch b/rois_gazebo/launch/teleop_keyboard.launch
index bfe91a95..51bfe065 100644
--- a/rois_gazebo/launch/teleop_keyboard.launch
+++ b/rois_gazebo/launch/teleop_keyboard.launch
@@ -5,6 +5,6 @@
     pkg="teleop_twist_keyboard">
     <remap
       from="cmd_vel"
-      to="/sample/diff_drive_controller/cmd_vel" />
+      to="/roisbot/diff_drive_controller/cmd_vel" />
   </node>
 </launch>
-- 
GitLab


From aaeba7860450fac35697d728d6f5c5615bb4f493 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Fri, 30 Aug 2019 18:12:30 +0900
Subject: [PATCH 06/15] Modify URDF for LRF

---
 rois_description/robot/roisbot.urdf.xacro | 35 ++++++++++-------------
 1 file changed, 15 insertions(+), 20 deletions(-)

diff --git a/rois_description/robot/roisbot.urdf.xacro b/rois_description/robot/roisbot.urdf.xacro
index 6eebbba0..73ec984f 100644
--- a/rois_description/robot/roisbot.urdf.xacro
+++ b/rois_description/robot/roisbot.urdf.xacro
@@ -149,8 +149,8 @@
   </transmission>
 
   <!-- =============== Sensor =============== -->
-  <!-- =============== Velodyne =============== -->
-  <link name="velodyne_link">
+  <!-- =============== lrf =============== -->
+  <link name="lrf_link">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
@@ -159,42 +159,37 @@
       <material name="Blue" />
     </visual>
   </link>
-  <joint name="velodyne_joint" type="fixed">
+  <joint name="lrf_joint" type="fixed">
     <origin xyz="${(base_length+lrf_size)*0.5} 0 ${base_height*0.5}" rpy="0 0 0" />
     <parent link="base_footprint"/>
-    <child link="velodyne_link" />
+    <child link="lrf_link" />
   </joint>
 
-  <gazebo reference="velodyne_link">
+  <gazebo reference="lrf_link">
     <material>Gazebo/Blue</material>
     <turnGravityOff>false</turnGravityOff>
-    <sensor type="ray" name="velodyne_sensor">
+    <sensor type="ray" name="lrf_sensor">
       <pose>0.2 0 0 0 0 0</pose>
-      <update_rate>5</update_rate>
+      <visualize>true</visualize>
+      <update_rate>40</update_rate>
       <ray>
         <scan>
           <horizontal>
-            <samples>200</samples>
+            <samples>500</samples>
             <resolution>1</resolution>
-            <min_angle>-3.14</min_angle>
-            <max_angle> 3.14</max_angle>
+            <min_angle>-${M_PI*3/4}</min_angle>
+            <max_angle>${M_PI*3/4}</max_angle>
           </horizontal>
-          <vertical>
-            <samples>35</samples>
-            <resolution>1</resolution>
-            <min_angle>-0.26166</min_angle>
-            <max_angle> 0.26166</max_angle>
-          </vertical>
         </scan>
         <range>
           <min>0.30</min>
           <max>131</max>
-          <resolution>0.001</resolution>
+          <resolution>0.01</resolution>
         </range>
       </ray>
-      <plugin name="gazebo_ros_velodyne_controller" filename="libgazebo_ros_velodyne_laser.so">
-        <topicName>/velodyne_points</topicName>
-        <frameName>velodyne_link</frameName>
+      <plugin name="gazebo_ros_lrf_controller" filename="libgazebo_ros_laser.so">
+        <topicName>/scan</topicName>
+        <frameName>lrf_link</frameName>
         <min_range>0.9</min_range>
         <max_range>130</max_range>
       </plugin>
-- 
GitLab


From a8cbcb5853893fa612bb472a6ba717e57f6f45de Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Fri, 30 Aug 2019 22:06:58 +0900
Subject: [PATCH 07/15] Add custom rviz config

---
 rois_gazebo/launch/setup_gazebo.launch |   5 +-
 rois_gazebo/rviz/roisbot.rviz          | 234 +++++++++++++++++++++++++
 2 files changed, 236 insertions(+), 3 deletions(-)
 create mode 100644 rois_gazebo/rviz/roisbot.rviz

diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 74f66987..6062f334 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -4,7 +4,7 @@
     default="$(find rois_description)/robot/roisbot.urdf.xacro" />
   <arg 
     name="rvizconfig" 
-    default="$(find urdf_tutorial)/rviz/urdf.rviz" />
+    default="$(find rois_gazebo)/rviz/roisbot.rviz" />
   <arg 
     name="world_name"
     default="$(find rois_description)/world/tana_world.sdf" />
@@ -47,6 +47,5 @@
     name="rviz" 
     type="rviz" 
     pkg="rviz" 
-    args="-d $(arg rvizconfig)" 
-    required="true" />
+    args="-d $(arg rvizconfig)" />
 </launch>
diff --git a/rois_gazebo/rviz/roisbot.rviz b/rois_gazebo/rviz/roisbot.rviz
new file mode 100644
index 00000000..8271ba79
--- /dev/null
+++ b/rois_gazebo/rviz/roisbot.rviz
@@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 547
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lrf_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        caster_link:
+          Value: true
+        left_wheel_link:
+          Value: true
+        lrf_link:
+          Value: true
+        odom:
+          Value: true
+        right_wheel_link:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_footprint:
+          base_link:
+            {}
+          caster_link:
+            {}
+          left_wheel_link:
+            {}
+          lrf_link:
+            {}
+          right_wheel_link:
+            {}
+        odom:
+          {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.486889839172363
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5803970098495483
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.29858118295669556
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 882
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000161000002bffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000047000002bf000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000047000002bf000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000037100fffffffb0000000800540069006d0065010000000000000450000000000000000000000358000002bf00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1216
+  X: 67
+  Y: 34
-- 
GitLab


From aec6514cf0c51b85f94f48516a91776551de2144 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Sat, 31 Aug 2019 15:43:09 +0900
Subject: [PATCH 08/15] Remove unnecessary models

---
 rois_description/meshes/bases/burger_base.stl |    Bin 4826284 -> 0 bytes
 rois_description/meshes/sensors/astra.dae     | 256759 ---------------
 rois_description/meshes/sensors/astra.jpg     |    Bin 65411 -> 0 bytes
 rois_description/meshes/sensors/lds.stl       |    Bin 728384 -> 0 bytes
 rois_description/meshes/sensors/r200.dae      |    890 -
 rois_description/meshes/sensors/r200.jpg      |    Bin 2508 -> 0 bytes
 rois_description/meshes/wheels/left_tire.stl  |    Bin 1083684 -> 0 bytes
 rois_description/meshes/wheels/right_tire.stl |    Bin 1083684 -> 0 bytes
 rois_description/robot/fifth_robot.urdf       |    258 -
 .../robot/turtlebot3_burger.urdf.xacro        |    165 -
 rois_description/urdf/common_properties.xacro |     44 -
 .../urdf/turtlebot3_burger.gazebo.xacro       |    135 -
 .../urdf/turtlebot3_burger.urdf.xacro         |    165 -
 ...urtlebot3_burger_for_autorace.gazebo.xacro |    169 -
 .../turtlebot3_burger_for_autorace.urdf.xacro |    194 -
 rois_description/world/sample.sdf             |     68 -
 rois_description/world/sound_test.sdf         |     13 -
 17 files changed, 258860 deletions(-)
 delete mode 100644 rois_description/meshes/bases/burger_base.stl
 delete mode 100644 rois_description/meshes/sensors/astra.dae
 delete mode 100644 rois_description/meshes/sensors/astra.jpg
 delete mode 100644 rois_description/meshes/sensors/lds.stl
 delete mode 100644 rois_description/meshes/sensors/r200.dae
 delete mode 100644 rois_description/meshes/sensors/r200.jpg
 delete mode 100644 rois_description/meshes/wheels/left_tire.stl
 delete mode 100644 rois_description/meshes/wheels/right_tire.stl
 delete mode 100644 rois_description/robot/fifth_robot.urdf
 delete mode 100644 rois_description/robot/turtlebot3_burger.urdf.xacro
 delete mode 100644 rois_description/urdf/common_properties.xacro
 delete mode 100644 rois_description/urdf/turtlebot3_burger.gazebo.xacro
 delete mode 100644 rois_description/urdf/turtlebot3_burger.urdf.xacro
 delete mode 100644 rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro
 delete mode 100644 rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro
 delete mode 100644 rois_description/world/sample.sdf
 delete mode 100644 rois_description/world/sound_test.sdf

diff --git a/rois_description/meshes/bases/burger_base.stl b/rois_description/meshes/bases/burger_base.stl
deleted file mode 100644
index 2329a00e9bf95fdf55dc3f01acc1ebeb1b2a56de..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/rois_description/meshes/sensors/astra.dae b/rois_description/meshes/sensors/astra.dae
deleted file mode 100644
index eb1ea6be..00000000
--- a/rois_description/meshes/sensors/astra.dae
+++ /dev/null
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1943 1116 673 1944 1118 672 1945 1117 670 1946 1115 676 1947 1121 672 1948 1117 673 1949 1118 676 1950 1121 674 1951 1119 672 1952 1117 676 1953 1121 675 1954 1120 674 1955 1119 677 1956 1122 675 1957 1120 676 1958 1121 679 1959 1124 675 1960 1120 677 1961 1122 679 1962 1124 678 1963 1123 675 1964 1120 681 1965 1126 678 1966 1123 679 1967 1124 681 1968 1126 680 1969 1125 678 1970 1123 648 1971 1093 680 1972 1125 681 1973 1126 686 1974 1131 682 1975 1132 683 1976 1128 682 1977 1127 684 1978 1129 685 1979 1130 682 1980 1133 686 1981 1131 684 1982 1134 702 1983 1150 687 1984 1135 688 1985 1136 692 1986 1140 689 1987 1137 690 1988 1138 692 1989 1140 691 1990 1139 689 1991 1137 694 1992 1142 691 1993 1139 692 1994 1140 694 1995 1142 693 1996 1141 691 1997 1139 696 1998 1144 693 1999 1141 694 2000 1142 696 2001 1144 695 2002 1143 693 2003 1141 698 2004 1146 695 2005 1143 696 2006 1144 698 2007 1146 697 2008 1145 695 2009 1143 700 2010 1148 697 2011 1145 698 2012 1146 700 2013 1148 699 2014 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diff --git a/rois_description/meshes/sensors/lds.stl b/rois_description/meshes/sensors/lds.stl
deleted file mode 100644
index 80a5fe33563aaa73d1cae521e82d0699ad525f4a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/rois_description/meshes/sensors/r200.dae b/rois_description/meshes/sensors/r200.dae
deleted file mode 100644
index c1ebc6ab..00000000
--- a/rois_description/meshes/sensors/r200.dae
+++ /dev/null
@@ -1,890 +0,0 @@
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diff --git a/rois_description/robot/fifth_robot.urdf b/rois_description/robot/fifth_robot.urdf
deleted file mode 100644
index 16dd7796..00000000
--- a/rois_description/robot/fifth_robot.urdf
+++ /dev/null
@@ -1,258 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sample">
-  <link name="base_link">
-    
-    <visual>
-      <geometry>
-        <box size="0.300 0.250 0.20"/>
-      </geometry>
-    </visual>
-    
-    <collision>
-      <geometry>
-        <box size="0.300 0.250 0.10"/>
-      </geometry>
-    </collision>
-    
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="0.500"/>
-      <inertia ixx="0.0020833333" ixy="0" ixz="0" iyy="0.0070833333" iyz="0" izz="0.0083333333"/>
-    </inertial>
-  </link>
-  
-  <link name="right_wheel_link">
-    <visual>
-      <geometry>
-        <cylinder radius="0.07" length="0.03"/>
-      </geometry>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <material name="black"/>
-    </visual>
-    
-    <collision>
-      <geometry>
-        <cylinder radius="0.07" length="0.03"/>
-      </geometry>
-    </collision>
-    
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="0.500"/>
-      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
-    </inertial>
-    
-  </link>
-  
-  <joint name="right_wheel_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="right_wheel_link"/>
-    <origin rpy="-1.5707 0 0" xyz="0.136 -0.130 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  
-  <link name="left_wheel_link">
-    <visual>
-      <geometry>
-        <cylinder radius="0.07" length="0.03"/>
-      </geometry>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <material name="black"/>
-    </visual>
-    
-    <collision>
-      <geometry>
-        <cylinder radius="0.07" length="0.03"/>
-      </geometry>
-    </collision>
-    
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="0.500"/>
-      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
-    </inertial>
-    
-  </link>
-  
-  <joint name="left_wheel_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="left_wheel_link"/>
-    <origin rpy="1.5707 0 0" xyz="0.136 0.130 0"/>
-    <axis xyz="0 0 -1"/>
-  </joint>
-  
-  <link name="caster_link">
-    <visual>
-      <geometry>
-        <sphere radius="0.07"/>
-      </geometry>
-    </visual>
-    
-    <collision>
-      <geometry>
-        <sphere radius="0.07"/>
-      </geometry>
-    </collision>
-    
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="0.500"/>
-      <inertia ixx="0.00025" ixy="0" ixz="0" iyy="0.00025"  iyz="0" izz="0.00025"/>
-    </inertial>
-    
-  </link>
-  
-  <joint name="caster_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_link"/>
-    <origin xyz="-0.200 0  0"/>
-  </joint>
-  
-  <!-- ===============  Transmission =============== -->
-  <transmission name="right_wheel_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_wheel_joint">
-      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_wheel_motor">
-      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-      <mechanicalReduction>15</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="left_wheel_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_wheel_joint">
-      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_wheel_motor">
-      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-      <mechanicalReduction>15</mechanicalReduction>
-    </actuator>
-  </transmission>
-  
-  <!-- =============== Sensor =============== -->
-  <!-- =============== Velodyne =============== -->
-  <link name="velodyne_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-      <material name="Blue" />
-    </visual>
-  </link>
-  <joint name="velodyne_joint" type="fixed">
-    <origin xyz="0.1 0 0.7" rpy="0 0 0" />
-    <parent link="base_link"/>
-    <child link="velodyne_link" />
-  </joint>
-
-  <gazebo reference="velodyne_link">
-    <material>Gazebo/Blue</material>
-    <turnGravityOff>false</turnGravityOff>
-    <sensor type="ray" name="velodyne_sensor">
-      <pose>0.2 0 0 0 0 0</pose>
-      <update_rate>5</update_rate>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>200</samples>
-            <resolution>1</resolution>
-            <min_angle>-3.14</min_angle>
-            <max_angle> 3.14</max_angle>
-          </horizontal>
-          <vertical>
-            <samples>35</samples>
-            <resolution>1</resolution>
-            <min_angle>-0.26166</min_angle>
-            <max_angle> 0.26166</max_angle>
-          </vertical>
-        </scan>
-        <range>
-          <min>0.30</min>
-          <max>131</max>
-          <resolution>0.001</resolution>
-        </range>
-      </ray>
-      <plugin name="gazebo_ros_velodyne_controller" filename="libgazebo_ros_velodyne_laser.so">
-        <topicName>/velodyne_points</topicName>
-        <frameName>velodyne_link</frameName>
-        <min_range>0.9</min_range>
-        <max_range>130</max_range>
-      </plugin>
-    </sensor>
-  </gazebo>
-
-  <!-- =============== Imu =============== -->
-  <link name="imu_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.02 0.02 0.02"/>
-      </geometry>
-      <material name="Blue" />
-    </visual>
-  </link>
-  <joint name="imu_joint" type="fixed">
-    <origin xyz="0.16 0 0" rpy="0 0 0" />
-    <parent link="base_link"/>
-    <child link="imu_link" />
-  </joint>
-
-  <gazebo reference="imu_link">
-    <material>Gazebo/Blue</material>
-    <gravity>true</gravity>
-    <sensor name="imu_sensor" type="imu">
-      <always_on>true</always_on>
-      <update_rate>1000</update_rate>
-      <visualize>true</visualize>
-      <topic>__default_topic__</topic>
-      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
-        <topicName>imu</topicName>
-        <bodyName>imu_link</bodyName>
-        <updateRateHZ>1000.0</updateRateHZ>
-        <gaussianNoise>0.0</gaussianNoise>
-        <xyzOffset>0 0 0</xyzOffset>
-        <rpyOffset>0 0 0</rpyOffset>
-        <frameName>imu_link</frameName>
-      </plugin>
-      <pose>0 0 0 0 0 0</pose>
-    </sensor>
-  </gazebo>
-  
-  <!-- =============== Gazebo =============== -->
-  <gazebo>
-    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-      <robotNamespace>sample</robotNamespace>
-    </plugin>
-  </gazebo>
-  
-  <gazebo reference="base_link">
-    <selfCollide>true</selfCollide>
-    <material>Gazebo/Gray</material>
-    <mu1 value="0.05" />
-    <mu2 value="0.05" />
-  </gazebo>
-
-  <gazebo reference="right_wheel_link">
-    <selfCollide>true</selfCollide>
-    <material>Gazebo/Green</material>
-    <mu1 value="0.8" />
-    <mu2 value="0.8" />
-  </gazebo>
-  
-  <gazebo reference="left_wheel_link">
-    <selfCollide>true</selfCollide>
-    <material>Gazebo/Red</material>
-    <mu1 value="0.8" />
-    <mu2 value="0.8" />
-  </gazebo>
-  
-  <gazebo reference="caster_link">
-    <selfCollide>true</selfCollide>
-    <material>Gazebo/Black</material>
-    <!-- This caster is no frictional resistance. -->
-    <mu1 value="0.0" />
-    <mu2 value="0.0" />
-  </gazebo>
-</robot>
diff --git a/rois_description/robot/turtlebot3_burger.urdf.xacro b/rois_description/robot/turtlebot3_burger.urdf.xacro
deleted file mode 100644
index 1fe7619b..00000000
--- a/rois_description/robot/turtlebot3_burger.urdf.xacro
+++ /dev/null
@@ -1,165 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find rois_description)/urdf/common_properties.xacro"/>
-  <xacro:include filename="$(find rois_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://rois_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.140 0.140 0.143"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="8.2573504e-01"/>
-      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
-               iyy="2.1193702e-03" iyz="-5.0120904e-06"
-               izz="2.0064271e-03" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://rois_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://rois_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_link"/>
-    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://rois_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-</robot>
diff --git a/rois_description/urdf/common_properties.xacro b/rois_description/urdf/common_properties.xacro
deleted file mode 100644
index b26a8532..00000000
--- a/rois_description/urdf/common_properties.xacro
+++ /dev/null
@@ -1,44 +0,0 @@
-<?xml version="1.0" ?>
-
-<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <!-- Init colour -->  
-  <material name="black">
-      <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="dark">
-    <color rgba="0.3 0.3 0.3 1.0"/>
-  </material>
-  <material name="light_black">
-    <color rgba="0.4 0.4 0.4 1.0"/>
-  </material>
-
-  <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-
-  <material name="grey">
-    <color rgba="0.5 0.5 0.5 1.0"/>
-  </material>
-
-  <material name="orange">
-    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
-  </material>
-
-  <material name="brown">
-    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
-  </material>
-
-  <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-</robot>
diff --git a/rois_description/urdf/turtlebot3_burger.gazebo.xacro b/rois_description/urdf/turtlebot3_burger.gazebo.xacro
deleted file mode 100644
index 817e7981..00000000
--- a/rois_description/urdf/turtlebot3_burger.gazebo.xacro
+++ /dev/null
@@ -1,135 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:arg name="laser_visual" default="false"/>
-  <xacro:arg name="imu_visual"   default="false"/>
-
-  <gazebo reference="base_link">
-    <material>Gazebo/DarkGrey</material>
-  </gazebo>
-
-  <gazebo reference="wheel_left_link">
-    <mu1>0.1</mu1>
-    <mu2>0.1</mu2>
-    <kp>500000.0</kp>
-    <kd>10.0</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>0.1</maxVel>
-    <fdir1>1 0 0</fdir1>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo reference="wheel_right_link">
-    <mu1>0.1</mu1>
-    <mu2>0.1</mu2>
-    <kp>500000.0</kp>
-    <kd>10.0</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>0.1</maxVel>
-    <fdir1>1 0 0</fdir1>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo reference="caster_back_link">
-    <mu1>0.1</mu1>
-    <mu2>0.1</mu2>
-    <kp>1000000.0</kp>
-    <kd>100.0</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>1.0</maxVel>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo reference="imu_link">
-    <sensor type="imu" name="imu">
-      <always_on>true</always_on>
-      <visualize>$(arg imu_visual)</visualize>
-    </sensor>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo>
-    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
-      <commandTopic>cmd_vel</commandTopic>
-      <odometryTopic>odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
-      <odometrySource>world</odometrySource>
-      <publishOdomTF>true</publishOdomTF>
-      <robotBaseFrame>base_footprint</robotBaseFrame>
-      <publishWheelTF>false</publishWheelTF>
-      <publishTf>true</publishTf>
-      <publishWheelJointState>true</publishWheelJointState>
-      <legacyMode>false</legacyMode>
-      <updateRate>30</updateRate>
-      <leftJoint>wheel_left_joint</leftJoint>
-      <rightJoint>wheel_right_joint</rightJoint>
-      <wheelSeparation>0.160</wheelSeparation>
-      <wheelDiameter>0.066</wheelDiameter>
-      <wheelAcceleration>1</wheelAcceleration>
-      <wheelTorque>10</wheelTorque>
-      <rosDebugLevel>na</rosDebugLevel>
-    </plugin>
-  </gazebo>
-
-  <gazebo>
-    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
-      <alwaysOn>true</alwaysOn>
-      <bodyName>imu_link</bodyName>
-      <frameName>imu_link</frameName>
-      <topicName>imu</topicName>
-      <serviceName>imu_service</serviceName>
-      <gaussianNoise>0.0</gaussianNoise>
-      <updateRate>200</updateRate>
-      <imu>
-        <noise>
-          <type>gaussian</type>
-          <rate>
-            <mean>0.0</mean>
-            <stddev>2e-4</stddev>
-            <bias_mean>0.0000075</bias_mean>
-            <bias_stddev>0.0000008</bias_stddev>
-          </rate>
-          <accel>
-            <mean>0.0</mean>
-            <stddev>1.7e-2</stddev>
-            <bias_mean>0.1</bias_mean>
-            <bias_stddev>0.001</bias_stddev>
-          </accel>
-        </noise>
-      </imu>
-    </plugin>
-  </gazebo>
-
-  <gazebo reference="base_scan">
-    <material>Gazebo/FlatBlack</material>
-    <sensor type="ray" name="lds_lfcd_sensor">
-      <pose>0 0 0 0 0 0</pose>
-      <visualize>$(arg laser_visual)</visualize>
-      <update_rate>5</update_rate>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>360</samples>
-            <resolution>1</resolution>
-            <min_angle>0.0</min_angle>
-            <max_angle>6.28319</max_angle>
-          </horizontal>
-        </scan>
-        <range>
-          <min>0.120</min>
-          <max>3.5</max>
-          <resolution>0.015</resolution>
-        </range>
-        <noise>
-          <type>gaussian</type>
-          <mean>0.0</mean>
-          <stddev>0.01</stddev>
-        </noise>
-      </ray>
-      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
-        <topicName>scan</topicName>
-        <frameName>base_scan</frameName>
-      </plugin>
-    </sensor>
-  </gazebo>
-
-</robot>
diff --git a/rois_description/urdf/turtlebot3_burger.urdf.xacro b/rois_description/urdf/turtlebot3_burger.urdf.xacro
deleted file mode 100644
index d0667594..00000000
--- a/rois_description/urdf/turtlebot3_burger.urdf.xacro
+++ /dev/null
@@ -1,165 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
-  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.140 0.140 0.143"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="8.2573504e-01"/>
-      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
-               iyy="2.1193702e-03" iyz="-5.0120904e-06"
-               izz="2.0064271e-03" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_link"/>
-    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-</robot>
diff --git a/rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro b/rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro
deleted file mode 100644
index 9ea29801..00000000
--- a/rois_description/urdf/turtlebot3_burger_for_autorace.gazebo.xacro
+++ /dev/null
@@ -1,169 +0,0 @@
-<?xml version="1.0"?>
-<robot name="turtlebot3_burger_for_autorace_sim" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:arg name="laser_visual" default="false"/>
-  <xacro:arg name="camera_visual" default="false"/>
-  <xacro:arg name="imu_visual"   default="false"/>
-
-  <gazebo reference="base_link">
-    <material>Gazebo/DarkGrey</material>
-  </gazebo>
-
-  <gazebo reference="wheel_left_link">
-    <mu1>0.1</mu1>
-    <mu2>0.1</mu2>
-    <kp>500000.0</kp>
-    <kd>10.0</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>0.1</maxVel>
-    <fdir1>1 0 0</fdir1>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo reference="wheel_right_link">
-    <mu1>0.1</mu1>
-    <mu2>0.1</mu2>
-    <kp>500000.0</kp>
-    <kd>10.0</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>0.1</maxVel>
-    <fdir1>1 0 0</fdir1>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo reference="caster_back_link">
-    <mu1>0.1</mu1>
-    <mu2>0.1</mu2>
-    <kp>1000000.0</kp>
-    <kd>100.0</kd>
-    <minDepth>0.001</minDepth>
-    <maxVel>1.0</maxVel>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo reference="imu_link">
-    <sensor type="imu" name="imu">
-      <always_on>true</always_on>
-      <visualize>$(arg imu_visual)</visualize>
-    </sensor>
-    <material>Gazebo/FlatBlack</material>
-  </gazebo>
-
-  <gazebo>
-    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
-      <commandTopic>cmd_vel</commandTopic>
-      <odometryTopic>odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
-      <odometrySource>world</odometrySource>
-      <publishOdomTF>true</publishOdomTF>
-      <robotBaseFrame>base_footprint</robotBaseFrame>
-      <publishWheelTF>false</publishWheelTF>
-      <publishTf>true</publishTf>
-      <publishWheelJointState>true</publishWheelJointState>
-      <legacyMode>false</legacyMode>
-      <updateRate>30</updateRate>
-      <leftJoint>wheel_left_joint</leftJoint>
-      <rightJoint>wheel_right_joint</rightJoint>
-      <wheelSeparation>0.160</wheelSeparation>
-      <wheelDiameter>0.066</wheelDiameter>
-      <wheelAcceleration>1</wheelAcceleration>
-      <wheelTorque>10</wheelTorque>
-      <rosDebugLevel>na</rosDebugLevel>
-    </plugin>
-  </gazebo>
-
-  <gazebo>
-    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
-      <alwaysOn>true</alwaysOn>
-      <bodyName>imu_link</bodyName>
-      <topicName>imu</topicName>
-      <serviceName>imu_service</serviceName>
-      <gaussianNoise>0.0</gaussianNoise>
-      <updateRate>200</updateRate>
-      <imu>
-        <noise>
-          <type>gaussian</type>
-          <rate>
-            <mean>0.0</mean>
-            <stddev>2e-4</stddev>
-            <bias_mean>0.0000075</bias_mean>
-            <bias_stddev>0.0000008</bias_stddev>
-          </rate>
-          <accel>
-            <mean>0.0</mean>
-            <stddev>1.7e-2</stddev>
-            <bias_mean>0.1</bias_mean>
-            <bias_stddev>0.001</bias_stddev>
-          </accel>
-        </noise>
-      </imu>
-    </plugin>
-  </gazebo>
-
-  <gazebo reference="base_scan">
-    <material>Gazebo/FlatBlack</material>
-    <sensor type="ray" name="lds_lfcd_sensor">
-      <pose>0 0 0 0 0 0</pose>
-      <visualize>$(arg laser_visual)</visualize>
-      <update_rate>5</update_rate>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>360</samples>
-            <resolution>1</resolution>
-            <min_angle>0.0</min_angle>
-            <max_angle>6.28319</max_angle>
-          </horizontal>
-        </scan>
-        <range>
-          <min>0.120</min>
-          <max>3.5</max>
-          <resolution>0.015</resolution>
-        </range>
-        <noise>
-          <type>gaussian</type>
-          <mean>0.0</mean>
-          <stddev>0.01</stddev>
-        </noise>
-      </ray>
-      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
-        <topicName>scan</topicName>
-        <frameName>base_scan</frameName>
-      </plugin>
-    </sensor>
-  </gazebo>
-
-  <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
-  <gazebo reference="camera_rgb_frame">
-    <sensor type="camera" name="Pi Camera">
-      <always_on>true</always_on>
-      <visualize>$(arg camera_visual)</visualize>
-      <camera>
-          <horizontal_fov>1.085595</horizontal_fov>
-          <image>
-              <width>320</width>
-              <height>240</height>
-              <format>R8G8B8</format>
-          </image>
-          <clip>
-              <near>0.03</near>
-              <far>100</far>
-          </clip>
-      </camera>
-      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
-        <alwaysOn>true</alwaysOn>
-        <updateRate>30.0</updateRate>
-        <cameraName>camera</cameraName>
-        <frameName>camera_rgb_optical_frame</frameName>
-        <imageTopicName>image</imageTopicName>
-        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
-        <hackBaseline>0.07</hackBaseline>
-        <distortionK1>0.0</distortionK1>
-        <distortionK2>0.0</distortionK2>
-        <distortionK3>0.0</distortionK3>
-        <distortionT1>0.0</distortionT1>
-        <distortionT2>0.0</distortionT2>
-      </plugin>
-    </sensor>
-  </gazebo>
-
-</robot>
diff --git a/rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro b/rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro
deleted file mode 100644
index e647f37f..00000000
--- a/rois_description/urdf/turtlebot3_burger_for_autorace.urdf.xacro
+++ /dev/null
@@ -1,194 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger_for_autorace" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
-  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.gazebo.xacro"/>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.140 0.140 0.143"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="8.2573504e-01"/>
-      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
-               iyy="2.1193702e-03" iyz="-5.0120904e-06"
-               izz="2.0064271e-03" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_link"/>
-    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.040 -0.011 0.130" rpy="0 0.174 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-  <link name="camera_link">
-    <collision>
-      <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.015 0.030 0.027"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-
-</robot>
diff --git a/rois_description/world/sample.sdf b/rois_description/world/sample.sdf
deleted file mode 100644
index ab81c350..00000000
--- a/rois_description/world/sample.sdf
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.5">
-  <world name="default">
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <audio>
-      <device>default</device>
-    </audio>
-    <model name="box">
-      <pose>0 0 10.5 0 0 0</pose>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <script>Gazebo/WoodPallet</script>
-          </material>
-        </visual>
-        <audio_source>
-          <uri>file://media/audio/cheer.mp3</uri>
-          <pitch>2.0</pitch>
-          <gain>1.0</gain>
-          <loop>false</loop>
-          <contact>
-            <collision>collision</collision>
-          </contact>
-        </audio_source>
-      </link>
-    </model>
-    <model name="sphere">
-      <pose>0 1.5 0.5 0 0 0</pose>
-      <link name="link">
-        <audio_sink />
-        <collision name="collision">
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-          <material>
-            <script>Gazebo/WoodPallet</script>
-          </material>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>
diff --git a/rois_description/world/sound_test.sdf b/rois_description/world/sound_test.sdf
deleted file mode 100644
index 970927bb..00000000
--- a/rois_description/world/sound_test.sdf
+++ /dev/null
@@ -1,13 +0,0 @@
-<?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>
-    </world>
-</sdf>
-- 
GitLab


From 04d3b240eccf6d6d7bfb7dabfc8e9f92013f62da Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Sun, 1 Sep 2019 19:50:45 +0900
Subject: [PATCH 09/15] Add lab-corridor model

---
 rois_description/world/model.sdf | 884 +++++++++++++++++++++++++++++++
 1 file changed, 884 insertions(+)
 create mode 100644 rois_description/world/model.sdf

diff --git a/rois_description/world/model.sdf b/rois_description/world/model.sdf
new file mode 100644
index 00000000..05285d0f
--- /dev/null
+++ b/rois_description/world/model.sdf
@@ -0,0 +1,884 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='tmp'>
+    <model name='lab_corridor'>
+      <model name='lab_corridor'>
+        <pose frame=''>0 -0 0 0 -0 0</pose>
+        <link name='Wall_37'>
+          <collision name='Wall_37_Collision'>
+            <geometry>
+              <box>
+                <size>24.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_37_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>24.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>0 8.5 0 0 -0 0</pose>
+        </link>
+        <link name='Wall_38'>
+          <pose frame=''>12 0 0 0 -0 -1.5708</pose>
+          <visual name='Wall_38_Visual_0'>
+            <pose frame=''>-4.75832 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>7.63336 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_38_Collision_0'>
+            <geometry>
+              <box>
+                <size>7.63336 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-4.75832 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_38_Visual_1'>
+            <pose frame=''>4.81668 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>7.51664 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_38_Collision_1'>
+            <geometry>
+              <box>
+                <size>7.51664 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>4.81668 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_38_Visual_2'>
+            <pose frame=''>0.058362 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>2 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_38_Collision_2'>
+            <geometry>
+              <box>
+                <size>2 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0.058362 0 2.25 0 -0 0</pose>
+          </collision>
+        </link>
+        <link name='Wall_39'>
+          <collision name='Wall_39_Collision'>
+            <geometry>
+              <box>
+                <size>24.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_39_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>24.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>0 -8.5 0 0 -0 3.14159</pose>
+        </link>
+        <link name='Wall_40'>
+          <pose frame=''>-12 0 0 0 -0 1.5708</pose>
+          <visual name='Wall_40_Visual_0'>
+            <pose frame=''>-4.79923 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>7.55153 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_40_Collision_0'>
+            <geometry>
+              <box>
+                <size>7.55153 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-4.79923 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_40_Visual_1'>
+            <pose frame=''>4.77577 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>7.59847 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_40_Collision_1'>
+            <geometry>
+              <box>
+                <size>7.59847 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>4.77577 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_40_Visual_2'>
+            <pose frame=''>-0.023469 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>2 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_40_Collision_2'>
+            <geometry>
+              <box>
+                <size>2 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-0.023469 0 2.25 0 -0 0</pose>
+          </collision>
+        </link>
+        <link name='Wall_42'>
+          <pose frame=''>0 2.5 0 0 -0 0</pose>
+          <visual name='Wall_42_Visual_0'>
+            <pose frame=''>-9.74003 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>4.66993 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_0'>
+            <geometry>
+              <box>
+                <size>4.66993 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-9.74003 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_1'>
+            <pose frame=''>-6.20095 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.608243 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_1'>
+            <geometry>
+              <box>
+                <size>0.608243 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-6.20095 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_2'>
+            <pose frame=''>2.18783 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>4.56931 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_2'>
+            <geometry>
+              <box>
+                <size>4.56931 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>2.18783 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_3'>
+            <pose frame=''>6.00591 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>1.26685 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_3'>
+            <geometry>
+              <box>
+                <size>1.26685 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>6.00591 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_4'>
+            <pose frame=''>9.80717 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>4.53566 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_4'>
+            <geometry>
+              <box>
+                <size>4.53566 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>9.80717 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_5'>
+            <pose frame=''>-6.95507 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_5'>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-6.95507 0 2.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_6'>
+            <pose frame=''>-2.99682 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>5.8 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_6'>
+            <geometry>
+              <box>
+                <size>5.8 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-2.99682 0 2.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_7'>
+            <pose frame=''>4.92249 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_7'>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>4.92249 0 2.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_42_Visual_8'>
+            <pose frame=''>7.08934 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_42_Collision_8'>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>7.08934 0 2.25 0 -0 0</pose>
+          </collision>
+        </link>
+        <link name='Wall_44'>
+          <pose frame=''>0 -2.5 0 0 -0 0</pose>
+          <visual name='Wall_44_Visual_0'>
+            <pose frame=''>-9.78016 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>4.58968 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_0'>
+            <geometry>
+              <box>
+                <size>4.58968 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-9.78016 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_1'>
+            <pose frame=''>-6.2371 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.696447 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_1'>
+            <geometry>
+              <box>
+                <size>0.696447 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-6.2371 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_2'>
+            <pose frame=''>2.17174 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>4.52123 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_2'>
+            <geometry>
+              <box>
+                <size>4.52123 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>2.17174 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_3'>
+            <pose frame=''>6.0661 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>1.46748 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_3'>
+            <geometry>
+              <box>
+                <size>1.46748 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>6.0661 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_4'>
+            <pose frame=''>9.88742 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>4.37515 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_4'>
+            <geometry>
+              <box>
+                <size>4.37515 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>9.88742 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_5'>
+            <pose frame=''>-7.03532 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_5'>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-7.03532 0 2.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_6'>
+            <pose frame=''>-2.98887 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>5.8 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_6'>
+            <geometry>
+              <box>
+                <size>5.8 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>-2.98887 0 2.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_7'>
+            <pose frame=''>4.88236 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_7'>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>4.88236 0 2.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_44_Visual_8'>
+            <pose frame=''>7.24985 0 2.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <collision name='Wall_44_Collision_8'>
+            <geometry>
+              <box>
+                <size>0.9 0.15 0.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>7.24985 0 2.25 0 -0 0</pose>
+          </collision>
+        </link>
+        <link name='Wall_46'>
+          <collision name='Wall_46_Collision'>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_46_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>-6 5.5 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_48'>
+          <collision name='Wall_48_Collision'>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_48_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>-6 -5.5 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_50'>
+          <collision name='Wall_50_Collision'>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_50_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>0 5.5 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_52'>
+          <collision name='Wall_52_Collision'>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_52_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>0 -5.5 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_54'>
+          <collision name='Wall_54_Collision'>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_54_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>6 5.5 0 0 -0 -1.5708</pose>
+        </link>
+        <link name='Wall_56'>
+          <collision name='Wall_56_Collision'>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+          </collision>
+          <visual name='Wall_56_Visual'>
+            <pose frame=''>0 0 1.25 0 -0 0</pose>
+            <geometry>
+              <box>
+                <size>6.15 0.15 2.5</size>
+              </box>
+            </geometry>
+            <material>
+              <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Wood</name>
+              </script>
+              <ambient>1 1 1 1</ambient>
+            </material>
+            <meta>
+              <layer>0</layer>
+            </meta>
+          </visual>
+          <pose frame=''>6 -5.5 0 0 -0 -1.5708</pose>
+        </link>
+        <static>1</static>
+      </model>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-0 -0 0 0 -0 0</pose>
+    </model>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
-- 
GitLab


From f7d8c45801653c75f9d48fab84c7a3a60c0fee71 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Sun, 1 Sep 2019 19:59:55 +0900
Subject: [PATCH 10/15] Increase min range of LRF

To avoid to detect itself
---
 rois_description/robot/roisbot.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rois_description/robot/roisbot.urdf.xacro b/rois_description/robot/roisbot.urdf.xacro
index 73ec984f..5d198be3 100644
--- a/rois_description/robot/roisbot.urdf.xacro
+++ b/rois_description/robot/roisbot.urdf.xacro
@@ -182,7 +182,7 @@
           </horizontal>
         </scan>
         <range>
-          <min>0.30</min>
+          <min>0.50</min>
           <max>131</max>
           <resolution>0.01</resolution>
         </range>
-- 
GitLab


From 9f7977f1c30b023186f4df2735f64daeccfbcf60 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Sun, 1 Sep 2019 22:54:25 +0900
Subject: [PATCH 11/15] Add launch file to generate 2d-map

---
 rois_gazebo/launch/generate_2dmap.launch |  38 ++++
 rois_gazebo/rviz/2dmapping.rviz          | 246 +++++++++++++++++++++++
 2 files changed, 284 insertions(+)
 create mode 100644 rois_gazebo/launch/generate_2dmap.launch
 create mode 100644 rois_gazebo/rviz/2dmapping.rviz

diff --git a/rois_gazebo/launch/generate_2dmap.launch b/rois_gazebo/launch/generate_2dmap.launch
new file mode 100644
index 00000000..97de679e
--- /dev/null
+++ b/rois_gazebo/launch/generate_2dmap.launch
@@ -0,0 +1,38 @@
+<launch>
+  <arg 
+    name="model" 
+    default="$(find rois_description)/robot/roisbot.urdf.xacro" />
+
+  <param 
+    name="/use_sim_time"
+    value="true" />
+
+  <param 
+    name="robot_description" 
+    command="$(find xacro)/xacro --inorder $(arg model)" />
+
+  <node 
+    pkg="gmapping" 
+    type="slam_gmapping" 
+    name="gmapping" />
+
+  <node 
+    pkg="gazebo_ros" 
+    type="spawn_model" 
+    name="spawn_urdf" 
+    args="-urdf -model roisbot -param robot_description" />
+
+  <node 
+    pkg="rviz" 
+    type="rviz" 
+    name="rviz" 
+    args="-d $(find rois_gazebo)/rviz/2dmapping.rviz" />
+
+  <node 
+    pkg="rosbag" 
+    type="play" 
+    name="playbag"
+    args="--clock $(arg bagfile)" 
+    output="screen" />
+</launch>
+
diff --git a/rois_gazebo/rviz/2dmapping.rviz b/rois_gazebo/rviz/2dmapping.rviz
new file mode 100644
index 00000000..e47ca6ff
--- /dev/null
+++ b/rois_gazebo/rviz/2dmapping.rviz
@@ -0,0 +1,246 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 547
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lrf_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        caster_link:
+          Value: true
+        left_wheel_link:
+          Value: true
+        lrf_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        right_wheel_link:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                {}
+              caster_link:
+                {}
+              left_wheel_link:
+                {}
+              lrf_link:
+                {}
+              right_wheel_link:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 27.4172420501709
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.133585214614868
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 882
+  Hide Left Dock: true
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000161000002bffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000047000002bf000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000047000002bf000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000037100fffffffb0000000800540069006d00650100000000000004500000000000000000000004c0000002bf00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1216
+  X: 67
+  Y: 34
-- 
GitLab


From 5ab1863a9f55448feb07c6b82a7930d690daa2aa Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Sun, 1 Sep 2019 23:27:54 +0900
Subject: [PATCH 12/15] Modify robot controller config

---
 rois_gazebo/config/controller.yaml | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/rois_gazebo/config/controller.yaml b/rois_gazebo/config/controller.yaml
index aadda1cf..2a4a72f9 100644
--- a/rois_gazebo/config/controller.yaml
+++ b/rois_gazebo/config/controller.yaml
@@ -13,8 +13,8 @@ roisbot:
     # Wheel separation and diameter. These are both optional.
     # diff_drive_controller will attempt to read either one or both from the
     # URDF if not specified as a parameter
-    wheel_separation : 0.32
-    wheel_radius : 0.07
+    wheel_separation : 0.7
+    wheel_radius : 0.2
  
     # Wheel separation and radius multipliers
     wheel_separation_multiplier: 1.0 # default: 1.0
@@ -31,16 +31,16 @@ roisbot:
     linear:
       x:
         has_velocity_limits    : true
-        max_velocity           : 0.55  # m/s
-        min_velocity           : -0.55 # m/s
+        max_velocity           :  1.0  # m/s
+        min_velocity           : -1.0  # m/s
         has_acceleration_limits: true
-        max_acceleration       : 0.25  # m/s^2
-        min_acceleration       : -0.25 # m/s^2
+        max_acceleration       :  1.0  # m/s^2
+        min_acceleration       : -1.0  # m/s^2
     angular:
       z:
         has_velocity_limits    : true
-        max_velocity           : 0.3  # rad/s
-        min_velocity           : -0.3
+        max_velocity           :  0.5  # rad/s
+        min_velocity           : -0.5
         has_acceleration_limits: true
-        max_acceleration       : 0.3  # rad/s^2
-        min_acceleration       : -0.3
+        max_acceleration       :  0.5  # rad/s^2
+        min_acceleration       : -0.5
-- 
GitLab


From 161e7841ac7ee64e80e4239490692b99d8d15140 Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Mon, 2 Sep 2019 12:52:30 +0900
Subject: [PATCH 13/15] Remake world model of lab

---
 rois_description/world/lab_corridor.sdf | 1530 +++++++++++++++++++++++
 rois_description/world/model.sdf        |  884 -------------
 2 files changed, 1530 insertions(+), 884 deletions(-)
 create mode 100644 rois_description/world/lab_corridor.sdf
 delete mode 100644 rois_description/world/model.sdf

diff --git a/rois_description/world/lab_corridor.sdf b/rois_description/world/lab_corridor.sdf
new file mode 100644
index 00000000..0ac7829d
--- /dev/null
+++ b/rois_description/world/lab_corridor.sdf
@@ -0,0 +1,1530 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>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='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='tmp'>
+      <model name='lab_corridor'>
+        <model name='lab_corridor'>
+          <pose frame=''>0 -0 0 0 -0 0</pose>
+          <link name='Wall_37'>
+            <collision name='Wall_37_Collision'>
+              <geometry>
+                <box>
+                  <size>24.15 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>0 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_37_Visual'>
+              <pose frame=''>0 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>24.15 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <pose frame=''>0 8.5 0 0 -0 0</pose>
+            <self_collide>0</self_collide>
+            <enable_wind>0</enable_wind>
+            <kinematic>0</kinematic>
+          </link>
+          <link name='Wall_38'>
+            <pose frame=''>12 0 0 0 -0 -1.5708</pose>
+            <visual name='Wall_38_Visual_0'>
+              <pose frame=''>-4.75832 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>7.63336 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_38_Collision_0'>
+              <geometry>
+                <box>
+                  <size>7.63336 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>-4.75832 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_38_Visual_1'>
+              <pose frame=''>4.81668 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>7.51664 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_38_Collision_1'>
+              <geometry>
+                <box>
+                  <size>7.51664 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>4.81668 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_38_Visual_2'>
+              <pose frame=''>0.058362 0 2.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>2 0.15 0.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_38_Collision_2'>
+              <geometry>
+                <box>
+                  <size>2 0.15 0.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>0.058362 0 2.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <self_collide>0</self_collide>
+            <enable_wind>0</enable_wind>
+            <kinematic>0</kinematic>
+          </link>
+          <link name='Wall_39'>
+            <collision name='Wall_39_Collision'>
+              <geometry>
+                <box>
+                  <size>24.15 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>0 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_39_Visual'>
+              <pose frame=''>0 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>24.15 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <pose frame=''>0 -8.5 0 0 -0 3.14159</pose>
+            <self_collide>0</self_collide>
+            <enable_wind>0</enable_wind>
+            <kinematic>0</kinematic>
+          </link>
+          <link name='Wall_40'>
+            <pose frame=''>-12 0 0 0 -0 1.5708</pose>
+            <visual name='Wall_40_Visual_0'>
+              <pose frame=''>-4.79923 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>7.55153 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_40_Collision_0'>
+              <geometry>
+                <box>
+                  <size>7.55153 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>-4.79923 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_40_Visual_1'>
+              <pose frame=''>4.77577 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>7.59847 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_40_Collision_1'>
+              <geometry>
+                <box>
+                  <size>7.59847 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>4.77577 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_40_Visual_2'>
+              <pose frame=''>-0.023469 0 2.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>2 0.15 0.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_40_Collision_2'>
+              <geometry>
+                <box>
+                  <size>2 0.15 0.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>-0.023469 0 2.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <self_collide>0</self_collide>
+            <enable_wind>0</enable_wind>
+            <kinematic>0</kinematic>
+          </link>
+          <link name='Wall_42'>
+            <pose frame=''>0 2.5 0 0 -0 0</pose>
+            <visual name='Wall_42_Visual_0'>
+              <pose frame=''>-9.74003 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>4.66993 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_42_Collision_0'>
+              <geometry>
+                <box>
+                  <size>4.66993 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>-9.74003 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_42_Visual_1'>
+              <pose frame=''>-6.20095 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>0.608243 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_42_Collision_1'>
+              <geometry>
+                <box>
+                  <size>0.608243 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>-6.20095 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_42_Visual_2'>
+              <pose frame=''>2.18783 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>4.56931 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_42_Collision_2'>
+              <geometry>
+                <box>
+                  <size>4.56931 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>2.18783 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_42_Visual_3'>
+              <pose frame=''>6.00591 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>1.26685 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_42_Collision_3'>
+              <geometry>
+                <box>
+                  <size>1.26685 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>6.00591 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_42_Visual_4'>
+              <pose frame=''>9.80717 0 1.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>4.53566 0.15 2.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_42_Collision_4'>
+              <geometry>
+                <box>
+                  <size>4.53566 0.15 2.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>9.80717 0 1.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_42_Visual_5'>
+              <pose frame=''>-6.95507 0 2.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>0.9 0.15 0.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
+            <collision name='Wall_42_Collision_5'>
+              <geometry>
+                <box>
+                  <size>0.9 0.15 0.5</size>
+                </box>
+              </geometry>
+              <pose frame=''>-6.95507 0 2.25 0 -0 0</pose>
+              <max_contacts>10</max_contacts>
+              <surface>
+                <contact>
+                  <ode/>
+                </contact>
+                <bounce/>
+                <friction>
+                  <torsional>
+                    <ode/>
+                  </torsional>
+                  <ode/>
+                </friction>
+              </surface>
+            </collision>
+            <visual name='Wall_42_Visual_6'>
+              <pose frame=''>-2.99682 0 2.25 0 -0 0</pose>
+              <geometry>
+                <box>
+                  <size>5.8 0.15 0.5</size>
+                </box>
+              </geometry>
+              <material>
+                <script>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+                  <name>Gazebo/Wood</name>
+                </script>
+                <ambient>1 1 1 1</ambient>
+              </material>
+              <meta>
+                <layer>0</layer>
+              </meta>
+            </visual>
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+        <pose frame=''>0.011611 0.003118 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <model name='lab_corridor'>
+          <pose frame=''>0.011611 0.003118 0 0 -0 0</pose>
+          <scale>1 1 1</scale>
+          <model name='lab_corridor'>
+            <pose frame=''>0.011611 0.003118 0 0 -0 0</pose>
+            <scale>1 1 1</scale>
+            <link name='Wall_37'>
+              <pose frame=''>0.011611 8.50312 0 0 -0 0</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_38'>
+              <pose frame=''>12.0116 0.003118 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_39'>
+              <pose frame=''>0.011611 -8.49688 0 0 -0 3.14159</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_40'>
+              <pose frame=''>-11.9884 0.003118 0 0 -0 1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_42'>
+              <pose frame=''>0.011611 2.50312 0 0 -0 0</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_44'>
+              <pose frame=''>0.011611 -2.49688 0 0 -0 0</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_46'>
+              <pose frame=''>-5.98839 5.50312 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_48'>
+              <pose frame=''>-5.98839 -5.49688 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_50'>
+              <pose frame=''>0.011611 5.50312 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_52'>
+              <pose frame=''>0.011611 -5.49688 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_54'>
+              <pose frame=''>6.01161 5.50312 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+            <link name='Wall_56'>
+              <pose frame=''>6.01161 -5.49688 0 0 0 -1.5708</pose>
+              <velocity>0 0 0 0 -0 0</velocity>
+              <acceleration>0 0 0 0 -0 0</acceleration>
+              <wrench>0 0 0 0 -0 0</wrench>
+            </link>
+          </model>
+        </model>
+      </model>
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-16.5157 5.51194 15.8906 0 0.691643 -0.475806</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/rois_description/world/model.sdf b/rois_description/world/model.sdf
deleted file mode 100644
index 05285d0f..00000000
--- a/rois_description/world/model.sdf
+++ /dev/null
@@ -1,884 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
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-    <model name='lab_corridor'>
-      <model name='lab_corridor'>
-        <pose frame=''>0 -0 0 0 -0 0</pose>
-        <link name='Wall_37'>
-          <collision name='Wall_37_Collision'>
-            <geometry>
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-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_37_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>24.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>0 8.5 0 0 -0 0</pose>
-        </link>
-        <link name='Wall_38'>
-          <pose frame=''>12 0 0 0 -0 -1.5708</pose>
-          <visual name='Wall_38_Visual_0'>
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-            <geometry>
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-              </box>
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-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_38_Collision_0'>
-            <geometry>
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-              </box>
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-            <geometry>
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-              </box>
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-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_38_Collision_1'>
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-              </box>
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-            <geometry>
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-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
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-            </meta>
-          </visual>
-          <collision name='Wall_38_Collision_2'>
-            <geometry>
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-            <pose frame=''>0.058362 0 2.25 0 -0 0</pose>
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-        <link name='Wall_39'>
-          <collision name='Wall_39_Collision'>
-            <geometry>
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-                <name>Gazebo/Wood</name>
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-              <ambient>1 1 1 1</ambient>
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-        <link name='Wall_40'>
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-                <name>Gazebo/Wood</name>
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-              <ambient>1 1 1 1</ambient>
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-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_44_Collision_3'>
-            <geometry>
-              <box>
-                <size>1.46748 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>6.0661 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_44_Visual_4'>
-            <pose frame=''>9.88742 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>4.37515 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_44_Collision_4'>
-            <geometry>
-              <box>
-                <size>4.37515 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>9.88742 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_44_Visual_5'>
-            <pose frame=''>-7.03532 0 2.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>0.9 0.15 0.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_44_Collision_5'>
-            <geometry>
-              <box>
-                <size>0.9 0.15 0.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>-7.03532 0 2.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_44_Visual_6'>
-            <pose frame=''>-2.98887 0 2.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>5.8 0.15 0.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_44_Collision_6'>
-            <geometry>
-              <box>
-                <size>5.8 0.15 0.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>-2.98887 0 2.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_44_Visual_7'>
-            <pose frame=''>4.88236 0 2.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>0.9 0.15 0.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_44_Collision_7'>
-            <geometry>
-              <box>
-                <size>0.9 0.15 0.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>4.88236 0 2.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_44_Visual_8'>
-            <pose frame=''>7.24985 0 2.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>0.9 0.15 0.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <collision name='Wall_44_Collision_8'>
-            <geometry>
-              <box>
-                <size>0.9 0.15 0.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>7.24985 0 2.25 0 -0 0</pose>
-          </collision>
-        </link>
-        <link name='Wall_46'>
-          <collision name='Wall_46_Collision'>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_46_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>-6 5.5 0 0 -0 -1.5708</pose>
-        </link>
-        <link name='Wall_48'>
-          <collision name='Wall_48_Collision'>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_48_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>-6 -5.5 0 0 -0 -1.5708</pose>
-        </link>
-        <link name='Wall_50'>
-          <collision name='Wall_50_Collision'>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_50_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>0 5.5 0 0 -0 -1.5708</pose>
-        </link>
-        <link name='Wall_52'>
-          <collision name='Wall_52_Collision'>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_52_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>0 -5.5 0 0 -0 -1.5708</pose>
-        </link>
-        <link name='Wall_54'>
-          <collision name='Wall_54_Collision'>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_54_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>6 5.5 0 0 -0 -1.5708</pose>
-        </link>
-        <link name='Wall_56'>
-          <collision name='Wall_56_Collision'>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-          </collision>
-          <visual name='Wall_56_Visual'>
-            <pose frame=''>0 0 1.25 0 -0 0</pose>
-            <geometry>
-              <box>
-                <size>6.15 0.15 2.5</size>
-              </box>
-            </geometry>
-            <material>
-              <script>
-                <uri>file://media/materials/scripts/gazebo.material</uri>
-                <name>Gazebo/Wood</name>
-              </script>
-              <ambient>1 1 1 1</ambient>
-            </material>
-            <meta>
-              <layer>0</layer>
-            </meta>
-          </visual>
-          <pose frame=''>6 -5.5 0 0 -0 -1.5708</pose>
-        </link>
-        <static>1</static>
-      </model>
-      <static>0</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose frame=''>-0 -0 0 0 -0 0</pose>
-    </model>
-    <static>0</static>
-    <allow_auto_disable>1</allow_auto_disable>
-  </model>
-</sdf>
-- 
GitLab


From 9e7a53a4964f4634f4287368169d8b1b5c9a67ea Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Mon, 2 Sep 2019 13:05:33 +0900
Subject: [PATCH 14/15] Modify speed config of teleop

---
 rois_gazebo/config/controller.yaml        | 16 ++++++++--------
 rois_gazebo/launch/teleop_keyboard.launch |  5 +++++
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/rois_gazebo/config/controller.yaml b/rois_gazebo/config/controller.yaml
index 2a4a72f9..e0b2f753 100644
--- a/rois_gazebo/config/controller.yaml
+++ b/rois_gazebo/config/controller.yaml
@@ -31,16 +31,16 @@ roisbot:
     linear:
       x:
         has_velocity_limits    : true
-        max_velocity           :  1.0  # m/s
-        min_velocity           : -1.0  # m/s
+        max_velocity           :  2.0  # m/s
+        min_velocity           : -2.0  # m/s
         has_acceleration_limits: true
-        max_acceleration       :  1.0  # m/s^2
-        min_acceleration       : -1.0  # m/s^2
+        max_acceleration       :  2.0  # m/s^2
+        min_acceleration       : -2.0  # m/s^2
     angular:
       z:
         has_velocity_limits    : true
-        max_velocity           :  0.5  # rad/s
-        min_velocity           : -0.5
+        max_velocity           :  1.0  # rad/s
+        min_velocity           : -1.0
         has_acceleration_limits: true
-        max_acceleration       :  0.5  # rad/s^2
-        min_acceleration       : -0.5
+        max_acceleration       :  1.0  # rad/s^2
+        min_acceleration       : -1.0
diff --git a/rois_gazebo/launch/teleop_keyboard.launch b/rois_gazebo/launch/teleop_keyboard.launch
index 51bfe065..5160dde5 100644
--- a/rois_gazebo/launch/teleop_keyboard.launch
+++ b/rois_gazebo/launch/teleop_keyboard.launch
@@ -1,4 +1,6 @@
 <launch>
+  <arg name="speed" default="0.5" />
+
   <node 
     name="teleop_keyboard"
     type="teleop_twist_keyboard.py"
@@ -6,5 +8,8 @@
     <remap
       from="cmd_vel"
       to="/roisbot/diff_drive_controller/cmd_vel" />
+    <param 
+      name="speed" 
+      value="$(arg speed)" />
   </node>
 </launch>
-- 
GitLab


From 0eecc6bee5a6f76906cd8b076d0bd8b73359069a Mon Sep 17 00:00:00 2001
From: tanacchi <q111026d@mail.kyutech.jp>
Date: Mon, 2 Sep 2019 13:38:19 +0900
Subject: [PATCH 15/15] Resize robot model

---
 rois_description/robot/roisbot.urdf.xacro | 6 +++---
 rois_gazebo/launch/setup_gazebo.launch    | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rois_description/robot/roisbot.urdf.xacro b/rois_description/robot/roisbot.urdf.xacro
index 5d198be3..1cd18056 100644
--- a/rois_description/robot/roisbot.urdf.xacro
+++ b/rois_description/robot/roisbot.urdf.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot name="roisbot" xmlns:xacro="http://ros.org/wiki/xacro">
   <property name="M_PI"         value="3.14159265" />
-  <property name="base_length"  value="0.8" />
-  <property name="base_width"   value="0.5" />
-  <property name="base_height"  value="1.2" />
+  <property name="base_length"  value="0.4" />
+  <property name="base_width"   value="0.3" />
+  <property name="base_height"  value="1.0" />
   <property name="wheel_radius" value="0.2" />
   <property name="wheel_length" value="0.1" />
   <property name="lrf_size"     value="0.1" />
diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch
index 6062f334..33372db0 100644
--- a/rois_gazebo/launch/setup_gazebo.launch
+++ b/rois_gazebo/launch/setup_gazebo.launch
@@ -7,7 +7,7 @@
     default="$(find rois_gazebo)/rviz/roisbot.rviz" />
   <arg 
     name="world_name"
-    default="$(find rois_description)/world/tana_world.sdf" />
+    default="$(find rois_description)/world/lab_corridor.sdf" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg 
-- 
GitLab