Add unreal map

iai_apartment/CMakeLists.txt

@@ -19,10 +19,10 @@ find_package(xacro REQUIRED)
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 # catkin_python_setup()
 
-xacro_add_xacro_file(urdf/apartment.urdf urdf/iai-apartment.urdf)
+xacro_add_xacro_file(urdf/apartment.xacro urdf/apartment.urdf)
 # add target to trigger xacro
 add_custom_target(xacro ALL DEPENDS
-  urdf/iai-apartment.urdf)
+  urdf/apartment.urdf)
 install(DIRECTORY xacro
   DESTINATION share/${PROJECT_NAME})
 

iai_apartment/launch/apartment_bringup.launch

@@ -1,12 +1,8 @@
 <launch>
 
-  <node pkg="tf"
-        type="static_transform_publisher"
-        name="iai_apartment_root_link_broadcaster" 
-        args="0 0 0 0 0 0 map iai_apartment/apartment_root 25">
-  </node>
+  <node pkg="tf" type="static_transform_publisher" name="iai_apartment_root_link_broadcaster" args="0 0 0 0 0 0 map iai_apartment/apartment_root 25"></node>
 
-  <include file="$(find iai_apartment)/launch/upload_apartment.launch" />
+  <include file="$(find iai_apartment)/launch/apartment_upload.launch" />
 
   <node name="apartment_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
     <remap from="robot_description" to="apartment_description" />
@@ -16,8 +12,8 @@
   </node>
 
   <node pkg="joint_state_publisher" type="joint_state_publisher" name="apartment_joint_state_publisher" output="screen">
-    <remap from="robot_description" to="apartment_description"/>
-    <param name="rate" value="25"/>
+    <remap from="robot_description" to="apartment_description" />
+    <param name="rate" value="25" />
     <remap from="/joint_states" to="/apartment_joint_states" />
     <rosparam param="source_list">
       - /iai_kitchen/cram_joint_states

iai_apartment/launch/upload_apartment.launch → iai_apartment/launch/apartment_upload.launch

@@ -1,6 +1,6 @@
 <launch>
 
-  <arg name="model" default="$(find iai_apartment)/urdf/apartment.urdf" />
+  <arg name="model" default="$(find iai_apartment)/urdf/apartment_unreal.xacro" />
   <param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
 
 </launch>

iai_apartment/maps/apartment_unreal_10cm.yaml

@@ -0,0 +1,6 @@
+image: apartment_unreal_10cm.png
+resolution: 0.05
+origin: [-0.875, -0.875, 0.0000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

iai_apartment/meshes/collision/wardrobe_door_handle.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl M_Metal_Dark.001
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1

iai_apartment/meshes/collision/wardrobe_door_handle.obj

@@ -0,0 +1,132 @@
+# Blender v3.1.2 OBJ File: ''
+# www.blender.org
+mtllib wardrobe_door_handle.mtl
+o SM_Kleiderschrank_TürLinks
+v -0.006357 0.051710 0.007541
+v -0.006357 -0.054304 0.007541
+v -0.006357 0.051710 -0.007541
+v -0.006357 -0.054304 -0.007541
+v 0.027199 0.051710 0.007541
+v 0.027199 0.051710 -0.007541
+v 0.027199 -0.054304 0.007541
+v 0.027199 -0.054304 -0.007541
+v -0.020843 0.051710 -0.007541
+v -0.020843 0.066297 0.007541
+v -0.020843 0.066297 -0.007541
+v -0.020843 0.051710 0.007541
+v -0.020843 -0.054304 -0.007541
+v -0.020843 -0.054304 0.007541
+v -0.020843 -0.063703 -0.007541
+v -0.020843 -0.063703 0.007541
+v -0.006357 -0.063703 -0.007541
+v -0.006357 -0.063703 0.007541
+v 0.027199 -0.063703 0.007541
+v 0.027199 -0.063703 -0.007541
+v -0.006357 0.066297 -0.007541
+v -0.006357 0.066297 0.007541
+v 0.027199 0.066297 0.007541
+v 0.027199 0.066297 -0.007541
+vt 0.561523 0.740479
+vt 0.437988 0.740479
+vt 0.561523 0.726074
+vt 0.437988 0.726074
+vt -0.108948 0.726074
+vt -0.061035 0.740479
+vt -0.108948 0.740479
+vt -0.061035 0.726074
+vt 1.108398 0.740479
+vt 1.060547 0.740479
+vt 1.108398 0.726074
+vt 1.060547 0.726074
+vt 0.437988 0.726074
+vt 0.427734 0.740479
+vt 0.427734 0.726074
+vt 0.437988 0.740479
+vt 0.561523 0.726074
+vt 0.561523 0.740479
+vt 0.571777 0.726074
+vt 0.571777 0.740479
+vt -0.120056 0.740479
+vt -0.120056 0.726074
+vt -0.108948 0.726074
+vt -0.108948 0.740479
+vt -0.061035 0.740479
+vt -0.061035 0.726074
+vt 1.108398 0.726074
+vt 1.119141 0.726074
+vt 1.119141 0.740479
+vt 1.108398 0.740479
+vt 1.060547 0.740479
+vt 1.060547 0.726074
+vt 0.571777 1.061035
+vt 0.571777 1.108948
+vt 0.561523 1.061035
+vt 0.561523 1.108948
+vt 0.571777 1.120056
+vt 0.561523 1.120056
+vt 0.437988 1.120056
+vt 0.437988 1.108948
+vt 0.427734 1.120056
+vt 0.427734 1.108948
+vt 0.427734 1.061035
+vt 0.437988 1.061035
+vt 0.571777 1.108948
+vt 0.561523 1.061035
+vt 0.571777 1.061035
+vt 0.561523 1.108948
+vt 0.561523 1.120056
+vt 0.571777 1.120056
+vt 0.437988 1.120056
+vt 0.437988 1.108948
+vt 0.427734 1.120056
+vt 0.427734 1.108948
+vt 0.427734 1.061035
+vt 0.437988 1.061035
+vn 1.0000 0.0000 0.0000
+vn 0.0000 -1.0000 0.0000
+vn 0.0000 1.0000 0.0000
+vn -1.0000 0.0000 0.0000
+vn 0.0000 0.0000 1.0000
+vn 0.0000 0.0000 -1.0000
+usemtl M_Metal_Dark.001
+s off
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+f 3/5/2 5/6/2 1/7/2
+f 5/6/2 3/5/2 6/8/2
+f 2/9/3 7/10/3 4/11/3
+f 8/12/3 4/11/3 7/10/3
+f 9/13/4 10/14/4 11/15/4
+f 10/14/4 9/13/4 12/16/4
+f 9/13/4 13/17/4 12/16/4
+f 12/16/4 13/17/4 14/18/4
+f 14/18/4 13/17/4 15/19/4
+f 14/18/4 15/19/4 16/20/4
+f 16/21/2 15/22/2 17/23/2
+f 18/24/2 16/21/2 17/23/2
+f 17/23/2 19/25/2 18/24/2
+f 19/25/2 17/23/2 20/26/2
+f 21/27/3 11/28/3 10/29/3
+f 21/27/3 10/29/3 22/30/3
+f 22/30/3 23/31/3 21/27/3
+f 24/32/3 21/27/3 23/31/3
+f 23/33/5 22/34/5 5/35/5
+f 1/36/5 5/35/5 22/34/5
+f 10/37/5 12/38/5 22/34/5
+f 22/34/5 12/38/5 1/36/5
+f 14/39/5 1/36/5 12/38/5
+f 1/36/5 14/39/5 2/40/5
+f 2/40/5 14/39/5 16/41/5
+f 2/40/5 16/41/5 18/42/5
+f 18/42/5 19/43/5 2/40/5
+f 7/44/5 2/40/5 19/43/5
+f 17/45/6 8/46/6 20/47/6
+f 8/46/6 17/45/6 4/48/6
+f 13/49/6 17/45/6 15/50/6
+f 13/49/6 4/48/6 17/45/6
+f 9/51/6 4/48/6 13/49/6
+f 3/52/6 4/48/6 9/51/6
+f 11/53/6 3/52/6 9/51/6
+f 21/54/6 3/52/6 11/53/6
+f 24/55/6 3/52/6 21/54/6
+f 3/52/6 24/55/6 6/56/6

iai_apartment/meshes/collision/wardrobe_door_left.mtl

@@ -0,0 +1,22 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl M_Metal_Chrome.001
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.215861 0.215861 0.215861
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+
+newmtl M_Wood_Furniture.003
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.215861 0.215861 0.215861
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1