diff --git a/CMakeLists.txt b/CMakeLists.txt
index ae3de25..02f3b91 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,6 +15,8 @@ find_package(catkin REQUIRED COMPONENTS
nav_msgs
tf
webots_ros
+ pcl_conversions
+ pcl_ros
)
## System dependencies are found with CMake's conventions
@@ -109,7 +111,11 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
# INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
- CATKIN_DEPENDS roscpp rospy std_msgs
+ CATKIN_DEPENDS roscpp
+ rospy
+ std_msgs
+ pcl_conversions
+ pcl_ros
DEPENDS
)
@@ -145,6 +151,12 @@ target_link_libraries( twist_to_service ${catkin_LIBRARIES} )
add_executable( supervisor_to_odom src/supervisor_to_odom.cpp )
target_link_libraries( supervisor_to_odom ${catkin_LIBRARIES} )
+add_executable( example_see src/example_see.cpp )
+target_link_libraries( example_see ${catkin_LIBRARIES} )
+
+add_executable( example_steer src/example_steer.cpp )
+target_link_libraries( example_steer ${catkin_LIBRARIES} )
+
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
diff --git a/README.md b/README.md
index 807adbb..3ecc899 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,86 @@
-# webots_fsai
\ No newline at end of file
+# Coventry FSAI team
+
+If you are a Coventry student that is interested in joining the FSAI team then this repo is intended to supply you with the tools you need to get our attention.
+
+Easiest way to get on the team is to show us what you've got.
+Do something with these files and then show us what you've come up with.
+For example:
+- Computer vision - cone recogition
+- Performance boost - faster controller code
+- Simulation - improved simulated environments
+- Control code - get the vehicle driving round the tracks
+- Motion planning - racing lines etc
+- ROS - the real vehicle runs is controlled by a ROS system but this has a steep learning curve, probably best to join the team first
+
+# webots_fsai
+
+This project contains example worlds and controllers for the FSAI vehicle.
+These files are structured so that they can be used either directly within Webots or as a ROS package.
+
+These files were tested and working with Webots 2020b Revision 1.
+
+## Worlds
+
+This repo contains a number of basic simulated worlds representing the FSAI competition events:
+- acceleration.wbt
+- endurance.wbt
+- fig8.wbt
+- training_data.wbt - Containing a modified vehicle to aid in the generation of training data for ML models.
+
+## Webots usage (easy)
+
+The project contains two example webots controllers for use with the acceleration world.
+- example (python)
+- examplecpp (c++)
+
+### Selecting controllers
+
+![](images/controller_select.png)
+
+### Simulation performance
+
+Simulating worlds is a computationally expensive process.
+There are trade offs to be made between accuracy and time.
+
+If you are having difficulty running the simulations you can try setting the following:
+- Increase value of `basicTimeStep` attribute of `WorldInfo`.
+- Set `bodyShell` attribute of `CoventryVehicle` to `FALSE`.
+
+To increase the accuracy of your simulations, for example if you are getting inconsistent results between simulations.
+- Decrease value of `basicTimeStep` attribute of `WorldInfo`.
+- Set `optimalThreadCount` to 1 in `WorldInfo`
+- Enable `synchronization` in `CoventryVehicle`
+
+Read the Webots documentation for a full examplation of these options.
+
+### Controller design
+Both controllers function in the same way, this is a relatively poor controller design that is unlikely to function correctly in the real world.
+It only functions in the simulation due to the minimalist nature of the simulated worlds and unrealistically high quality sensor data that is generated.
+They are, however, useful examples for getting started.
+
+1. The contollers function buy getting the depth image from the Zedcam mounted on the vehicle.
+
+2. The pixels of the depth image are checked to identify the edge of objects. For a given pixel (x,y) is seen as the edge of an object if the distance to the pixel (x,y-1) is at least 0.5 meters further than the distance to pixel (x,y).
+The assumption is that these pixels all represent points of cones in the environment.
+
+3. The x, y and z coordinates of the edge pixels in the real world (local coordinated frame), are calculated.
+The example controllers include code to visualise these points within Webots from a top down viewpoint.
+
+4. The coordinates of the points on the left and right hand side of the vehicle are averaged seperately.
+
+5. A point half way between the left and right averages is used as the position to steer towards.
+
+
+## ROS usage (less easy)
+
+This repo is structured so that it can be used within a catkin workspace.
+Example ROS nodes have been provided that operate according the the same design detailed above.
+However, the controller has been split into two nodes so as to allow for better visualisation of the data.
+
+- example_see (which identifies the edge pixels and calculates coordiates)
+- example_steer (which calculates the left and right averages and the steering angle)
+
+If getting started in ROS you would be better off using this repository which contains this repo as a submodule but also includes additional ROS files showing how to run the project.
+
+When using ROS you also need to remember to change the Webots controller to `ros_automobile` and (at a minimum) controller arg `--name=fsai`.
+
diff --git a/controllers/training_data_fsai/runtime.ini b/controllers/training_data_fsai/runtime.ini
deleted file mode 100644
index dbad3e0..0000000
--- a/controllers/training_data_fsai/runtime.ini
+++ /dev/null
@@ -1,3 +0,0 @@
-[environment variables with relative paths]
-
-WEBOTS_LIBRARY_PATH=$(WEBOTS_HOME)/projects/automobile/libraries/car:$(WEBOTS_HOME)/projects/automobile/libraries/driver:$(WEBOTS_HOME)/projects/automobile/libraries/CppCar:$(WEBOTS_HOME)/projects/automobile/libraries/CppDriver:$(WEBOTS_HOME)/projects/automobile/libraries/python:$(WEBOTS_LIBRARY_PATH)
diff --git a/controllers/training_data_fsai/training_data_fsai.py b/controllers/training_data_fsai/training_data_fsai.py
deleted file mode 100644
index 31bc083..0000000
--- a/controllers/training_data_fsai/training_data_fsai.py
+++ /dev/null
@@ -1,132 +0,0 @@
-import sys, os
-import math
-import itertools
-import json
-import time
-
-#from jinja2 import Template
-
-from vehicle import Driver
-
-sensorMax = 1000
-
-robot = Driver()
-
-refresh = 1
-
-devices = [ {"camera": "zedcam train mid meta camera", "range": "zedcam train mid meta range finder"},
- {"camera": "zedcam train low meta camera", "range": "zedcam train low meta range finder"},
- {"camera": "zedcam train high meta camera", "range": "zedcam train high meta range finder"},
- {"camera": "zedcam train vhigh meta camera", "range": "zedcam train vhigh meta range finder"} ]
-
-#devices = [ {"camera": "zedcam train mid meta camera", "range": "zedcam train mid meta range finder"} ]
-
-# === cameras ===
-for d in devices:
- d["camera"] = robot.getCamera( d["camera"] )
- d["camera"].enable( refresh )
- d["camera"].recognitionEnable( refresh )
-
- d["range"] = robot.getRangeFinder( d["range"])
- d["range"].enable( refresh )
-
-# === inertial ===
-inertial = robot.getInertialUnit("inertial")
-inertial.enable(refresh)
-
-targets = ( ( 0.0, 0.0, 0.0), \
- ( 2.5, 0.0, 6.3), \
- ( 8.5, 0.0, 8.5), \
- (14.5, 0.0, 6.3), \
- (17.3, 0.0, 0.0), \
- (14.5, 0.0, -6.3), \
- ( 8.5, 0.0, -8.5), \
- ( 2.5, 0.0, -6.3), \
- ( 0.0, 0.0, 0.0), \
- (- 2.5, 0.0, 6.3), \
- (- 8.5, 0.0, 8.5), \
- (-14.5, 0.0, 6.3), \
- (-17.3, 0.0, 0.0), \
- (-14.5, 0.0, -6.3), \
- (- 8.5, 0.0, -8.5), \
- (- 2.5, 0.0, -6.3), \
- )
-targetId = 0
-
-folder = "trainingdata"
-maxImages = 50
-
-def local_point( point, origin, heading ):
- relative = [ p-o for p, o in zip(point,origin) ]
- return relative[0]*math.cos(-heading) + relative[2]*math.sin(-heading), \
- relative[1], \
- relative[2]*math.cos(-heading) - relative[0]*math.sin(-heading)
-
-
-def save_annotated_image( camera, rangeFinder, position, heading ):
- filename = str(int(time.time()*1000))
- camera.saveImage( os.path.join( folder, "images", filename+".png" ), 100 )
- rangeFinder.saveImage( os.path.join( folder, "depth", filename+".jpg" ), 100 )
-
- positions = ( ( *object.get_position_on_image(), *object.get_size_on_image() )
- for object in camera.getRecognitionObjects()
- if "cone" in object.get_model().decode() )
- filtered = ( (x, y, w, h) for x, y, w, h in positions
- if x > 15 and x < rangeFinder.getWidth()-15 )
-
-
-
- width = rangeFinder.getWidth()
- height = rangeFinder.getHeight()
- scaled = ( (x/width, y/height, w/width, h/height) for x, y, w, h in filtered )
-
- with open( os.path.join( folder, "labels", filename+".txt" ), "w" ) as f:
- for object in scaled:
- print( "0 {} {} {} {}".format( *object ), file=f )
-
-targetId = 0
-deviceId = 0
-while robot.step() != -1:
- # get next device
- device = devices[ deviceId % len(devices) ]
- deviceId += 1
-
- # get current position
- position = robot.getSelf().getPosition()
- heading = inertial.getRollPitchYaw()[2]
- if heading == float('nan'): continue
-
- # get next target
- try: target = targets[targetId]
- except IndexError: break
-
- # convert to local coordinate system and calc required heading
- localTarget = local_point( target, position, heading )
-
- print( "target> {:.3f} {:.3f} {:.3f}".format(*target) )
-
- print( "local > {:.3f} {:.3f} {:.3f}".format(*localTarget) )
-
- localHeading = math.atan2( localTarget[0], localTarget[2] )
-
- while localHeading > math.pi: localHeading -= math.pi*2
- while localHeading < -math.pi: localHeading += math.pi*2
-
- print( "head > {:.3f}".format(math.degrees(localHeading)) )
-
- localHeading = min( math.radians(30), max( math.radians(-30), localHeading ) )
- distance = math.sqrt( abs(localTarget[0]**2) + abs(localTarget[2]**2) )
-
- print( "dist > {:.3f}".format(distance) )
-
- # move to next target if in range
- if distance < 1:
- targetId += 1
-
- robot.setSteeringAngle( -localHeading )
- robot.setCruisingSpeed( 12 )
-
- #save_annotated_image( device["camera"], device["range"], position, heading )
-
-
-sys.exit()
diff --git a/controllers/training_data_haar/training_data_haar.py b/controllers/training_data_haar/training_data_haar.py
deleted file mode 100644
index b5ba39b..0000000
--- a/controllers/training_data_haar/training_data_haar.py
+++ /dev/null
@@ -1,135 +0,0 @@
-import sys, os
-import math
-import itertools
-import json
-import time
-
-#from jinja2 import Template
-
-from vehicle import Driver
-
-sensorMax = 1000
-
-robot = Driver()
-
-refresh = 1
-
-names = [ "zedcam train mid left camera",
- "zedcam train low left camera",
- "zedcam train high left camera",
- "zedcam train vhigh left camera" ]
-devices = []
-
-for i in range(robot.getNumberOfDevices()):
- device = robot.getDeviceByIndex(i)
- print( i, device.getName(), type(device) )
-
-# === cameras ===
-for name in names:
- devices.append( robot.getCamera( name ) )
- devices[-1].enable( refresh )
- devices[-1].recognitionEnable( refresh )
-
-# === inertial ===
-inertial = robot.getInertialUnit("inertial")
-inertial.enable(refresh)
-
-targets = ( ( 0.0, 0.0, 0.0), \
- ( 2.5, 0.0, 6.3), \
- ( 8.5, 0.0, 8.5), \
- (14.5, 0.0, 6.3), \
- (17.3, 0.0, 0.0), \
- (14.5, 0.0, -6.3), \
- ( 8.5, 0.0, -8.5), \
- ( 2.5, 0.0, -6.3), \
- ( 0.0, 0.0, 0.0), \
- (- 2.5, 0.0, 6.3), \
- (- 8.5, 0.0, 8.5), \
- (-14.5, 0.0, 6.3), \
- (-17.3, 0.0, 0.0), \
- (-14.5, 0.0, -6.3), \
- (- 8.5, 0.0, -8.5), \
- (- 2.5, 0.0, -6.3), \
- )
-targetId = 0
-
-folder = "trainingdata"
-maxImages = 50
-
-def local_point( point, origin, heading ):
- relative = [ p-o for p, o in zip(point,origin) ]
- return relative[0]*math.cos(-heading) + relative[2]*math.sin(-heading), \
- relative[1], \
- relative[2]*math.cos(-heading) - relative[0]*math.sin(-heading)
-
-
-def save_annotated_image( camera ):
- filename = str(int(time.time()*1000))
- camera.saveImage( os.path.join( folder, "images", filename+".png" ), 100 )
- #rangeFinder.saveImage( os.path.join( folder, "depth", filename+".jpg" ), 100 )
-
- positions = ( ( *object.get_position_on_image(), *object.get_size_on_image() )
- for object in camera.getRecognitionObjects()
- if "cone" in object.get_model().decode() )
- #filtered = ( (x, y, w, h) for x, y, w, h in positions
- # if x > 50 and x < camera.getWidth()-50 )
-
- #camera.saveImage( "temp.png", 100 )
-
-
- #scaled = ( (x/width, y/height, w/width, h/height) for x, y, w, h in filtered )
-
- with open( os.path.join( folder, "labels", filename+".txt" ), "w" ) as f:
- for x, y, w, h in positions:
- print( f"{x} {y} {w} {h}", file=f )
-
- #print( "{} {} {} {}".format( *object ), file=f )
-
-
-
-targetId = 0
-deviceId = 0
-while robot.step() != -1:
- # get next device
- device = devices[ deviceId % len(devices) ]
- deviceId += 1
-
- # get current position
- position = robot.getSelf().getPosition()
- heading = inertial.getRollPitchYaw()[2]
- if heading == float('nan'): continue
-
- # get next target
- try: target = targets[targetId]
- except IndexError: break
-
- # convert to local coordinate system and calc required heading
- localTarget = local_point( target, position, heading )
-
- print( "target> {:.3f} {:.3f} {:.3f}".format(*target) )
-
- print( "local > {:.3f} {:.3f} {:.3f}".format(*localTarget) )
-
- localHeading = math.atan2( localTarget[0], localTarget[2] )
-
- while localHeading > math.pi: localHeading -= math.pi*2
- while localHeading < -math.pi: localHeading += math.pi*2
-
- print( "head > {:.3f}".format(math.degrees(localHeading)) )
-
- localHeading = min( math.radians(30), max( math.radians(-30), localHeading ) )
- distance = math.sqrt( abs(localTarget[0]**2) + abs(localTarget[2]**2) )
-
- print( "dist > {:.3f}".format(distance) )
-
- # move to next target if in range
- if distance < 1:
- targetId += 1
-
- robot.setSteeringAngle( -localHeading )
- robot.setCruisingSpeed( 12 )
-
- save_annotated_image( device )
-
-
-sys.exit()
diff --git a/controllers/vehicle_driver_fsai/runtime.ini b/controllers/vehicle_driver_fsai/runtime.ini
deleted file mode 100644
index dbad3e0..0000000
--- a/controllers/vehicle_driver_fsai/runtime.ini
+++ /dev/null
@@ -1,3 +0,0 @@
-[environment variables with relative paths]
-
-WEBOTS_LIBRARY_PATH=$(WEBOTS_HOME)/projects/automobile/libraries/car:$(WEBOTS_HOME)/projects/automobile/libraries/driver:$(WEBOTS_HOME)/projects/automobile/libraries/CppCar:$(WEBOTS_HOME)/projects/automobile/libraries/CppDriver:$(WEBOTS_HOME)/projects/automobile/libraries/python:$(WEBOTS_LIBRARY_PATH)
diff --git a/controllers/vehicle_driver_fsai/vehicle_driver_fsai.py b/controllers/vehicle_driver_fsai/vehicle_driver_fsai.py
deleted file mode 100644
index b10b2fd..0000000
--- a/controllers/vehicle_driver_fsai/vehicle_driver_fsai.py
+++ /dev/null
@@ -1,204 +0,0 @@
-# Copyright 1996-2019 Cyberbotics Ltd.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""vehicle_driver_altino controller."""
-
-import sys
-
-from vehicle import Driver
-
-sensorMax = 1000
-
-driver = Driver()
-
-#for i in range(driver.getNumberOfDevices()):
- # device = driver.getDeviceByIndex(i)
- # print( i, device.getName(), type(device) )
-
-
-# === camera ===
-cameraNames = ("zedcam left camera", "zedcam right camera")
-cameras = tuple( driver.getCamera(i) for i in cameraNames )
-for i in cameras: i.enable(50)
-
-rangeFinder = driver.getRangeFinder("zedcam meta range finder")
-rangeFinder.enable(50)
-
-lidar = driver.getLidar("zedcam meta lidar")
-lidar.enable(50)
-#lidar.enablePointCloud()
-
-
-
-basicTimeStep = int(driver.getBasicTimeStep())
-#front_left_sensor = driver.getDistanceSensor('front_left_sensor')
-#front_center_sensor = driver.getDistanceSensor('front_center_sensor')
-#front_right_sensor = driver.getDistanceSensor('front_right_sensor')
-
-#headlights = driver.getLED("headlights")
-#backlights = driver.getLED("backlights")
-
-keyboard = driver.getKeyboard()
-keyboard.enable(basicTimeStep)
-
-#front_left_sensor.enable(basicTimeStep)
-#front_center_sensor.enable(basicTimeStep)
-#front_right_sensor.enable(basicTimeStep)
-
-#side_left_sensor = driver.getDistanceSensor('side_left_sensor')
-#side_right_sensor = driver.getDistanceSensor('side_right_sensor')
-#back_sensor = driver.getDistanceSensor('back_sensor')
-
-#side_left_sensor.enable(basicTimeStep)
-#side_right_sensor.enable(basicTimeStep)
-#back_sensor.enable(basicTimeStep)
-
-# speed refers to the speed in km/h at which we want Altino to travel
-speed = 0
-# angle refers to the angle (from straight ahead) that the wheels
-# currently have
-angle = 0
-
-# This the Altino's maximum speed
-# all Altino controllers should use this maximum value
-maxSpeed = 50
-
-# ensure 0 starting speed and wheel angle
-driver.setSteeringAngle(angle)
-driver.setCruisingSpeed(speed)
-# defaults for this controller
-useManual = False
-headlightsOn = False
-
-printCounter = 0
-
-while driver.step() != -1:
- # enable backlights for reverse
- speed = driver.getTargetCruisingSpeed()
- #if speed < 0:
- # backlights.set(1)
- #else:
- # backlights.set(0)
-
- while True:
- # handle keyboard input
- currentKey = keyboard.getKey()
- if currentKey == -1:
- break
- elif currentKey == ord('h') or currentKey == ord('H'):
- if not headlightsOn:
- headlights.set(1)
- headlightsOn = True
- elif currentKey == ord('g') or currentKey == ord('G'):
- if headlightsOn:
- headlights.set(0)
- headlightsOn = False
- elif currentKey == ord('m') or currentKey == ord('M'):
- if not useManual:
- useManual = True
- elif currentKey == ord('n') or currentKey == ord('N'):
- if useManual:
- useManual = False
- # handle manual control input
- if useManual:
- if currentKey == keyboard.UP:
- if speed < 0:
- speed += 0.02
- else:
- speed += 0.008
- elif currentKey == keyboard.DOWN:
- if speed > 0:
- speed -= 0.02
- else:
- speed -= 0.008
- elif currentKey == keyboard.LEFT:
- angle -= 0.01
- elif currentKey == keyboard.RIGHT:
- angle += 0.01
- # Emergency stop key
- elif currentKey == ord(' '):
- speed /= 4
-# if not useManual:
-# fLeftVal = front_left_sensor.getValue()
-# fCenterVal = front_center_sensor.getValue()
-# fRightVal = front_right_sensor.getValue()
-
-# sLeftVal = side_left_sensor.getValue()
-# sRightVal = side_right_sensor.getValue()
-# backVal = back_sensor.getValue()
-
- # Distance Sensor Values:
- # 1000: 0cm
- # 800: 12cm
- # 600: 24cm
- # 400: 36cm
- # 200: 48cm
- # 0: 60cm
-
-# if fCenterVal > 400 and fCenterVal < 600:
-# speed -= (0.01 * speed)
-# elif fCenterVal > 600 and fCenterVal < 800:
-# speed /= 1.01
-# if backVal > 400 and backVal < 600:
-# speed /= 1.01
-# elif backVal > 600 and backVal < 800:
-# speed /= 1.1
-
-# if fLeftVal > fRightVal:
-# angle += (fLeftVal - fRightVal) / (300 * sensorMax)
-# elif fRightVal > fLeftVal:
-# angle -= (fRightVal - fLeftVal) / (300 * sensorMax)
-# else:
-# angle /= 1.5
-
-# if sLeftVal > 300:
-# angle += 0.003
-# if sRightVal > 300:
-# angle -= 0.003
-
-# speed += 0.001
-
- # clamp speed and angle to max values
- if speed > maxSpeed:
- speed = maxSpeed
- elif speed < -1 * maxSpeed:
- speed = -1 * maxSpeed
- if angle > 0.4:
- angle = 0.4
- elif angle < -0.4:
- angle = -0.4
-
- if False and (printCounter % 10) == 0:
- print("\fWelcome to the Altino Sample Controller")
- print("----------------------------------------------")
- print("This sample controller is based on a Braitenberg vehicle, \n")
- print("it uses the vehicle's infrared distance sensors to avoid obstacles.")
- print("\n-----------------Controls---------------------")
- print("'M' to enable manual control")
- print("'N' to disable manual control")
- print("'H' to turn on the headlights")
- print("'G' to turn off the headlights")
- print("Arrow Keys to accelerate, decelerate and turn")
- print("Space bar to brake (manual mode only)")
- print("----------------------------------------------")
- print("Current Wheel Angle and Throttle values:")
- print("Angle: %.2f" % angle)
- print("Throttle: %.1f " % (100 * speed / maxSpeed))
- if useManual:
- print("---------Manual Control ENABLED-------------")
- else:
- print("---------Manual Control DISABLED------------")
- driver.setCruisingSpeed(speed)
- driver.setSteeringAngle(angle)
- printCounter += 1
diff --git a/images/controller_select.png b/images/controller_select.png
new file mode 100644
index 0000000..8d9b62c
Binary files /dev/null and b/images/controller_select.png differ
diff --git a/launch/enable_fsai.launch b/launch/enable_fsai.launch
index f969207..44c272d 100644
--- a/launch/enable_fsai.launch
+++ b/launch/enable_fsai.launch
@@ -9,4 +9,16 @@
+
+
+
+
+
+
+
+
diff --git a/launch/simulation.launch b/launch/simulation.launch
index 44c21d9..141268e 100644
--- a/launch/simulation.launch
+++ b/launch/simulation.launch
@@ -1,6 +1,10 @@
-
+
+
+
+
+
diff --git a/package.xml b/package.xml
index a99e9a9..319ae88 100644
--- a/package.xml
+++ b/package.xml
@@ -16,6 +16,8 @@
tf
nav_msgs
webots_ros
+ pcl_conversions
+ pcl_ros
rospy
roscpp
std_msgs
@@ -24,5 +26,6 @@
tf
nav_msgs
webots_ros
-
+ pcl_conversions
+ pcl_ros
diff --git a/src/example_see.cpp b/src/example_see.cpp
new file mode 100644
index 0000000..dd0e158
--- /dev/null
+++ b/src/example_see.cpp
@@ -0,0 +1,124 @@
+#include
+#include
+
+#include
+#include
+
+#include
+#include
+#include
+#include
+
+// point cloud
+#include
+#include
+#include
+#include
+
+const std::string nodeName = "example_see";
+
+/* Calculate the intrinsic parameters for the camera
+ we can use these values to figure out the relative real world
+ position of pixels if we know the distance to that point */
+class Intrinsic
+{
+public:
+ const float x, y, fx, fy, s;
+
+ Intrinsic( int _x, int _y, float f ) :
+ x( float(_x)*0.5 ),
+ y( float(_y)*0.5 ),
+ fx( x / tan( f*0.5 ) ), fy( fx ),
+ s( 0 )
+ {}
+
+ std::array matrix()
+ {
+ return {fx, s, x, 0, fy, y, 0, 0, 1};
+ }
+
+ inline pcl::PointXYZ coordinates_from_pixel( int x, int y, float depth )
+ {
+ /* ROS uses an ENU coordinate system, X is forward, Y is left, Z is up */
+ return { depth,
+ (x - this->x) / fx * depth,
+ (this->y - y) / fy * depth };
+ }
+};
+
+class Callback
+{
+private:
+ ros::Publisher& pub;
+ Intrinsic intrinsic;
+ const int width;
+
+public:
+ Callback( ros::Publisher& _pub, int w, int h, float f ) :
+ pub(_pub), intrinsic( w, h, f ), width(w)
+ {}
+
+ void callback( const sensor_msgs::ImageConstPtr& depthMsg )
+ {
+ if( depthMsg->encoding != "32FC1" )
+ {
+ ROS_ERROR_STREAM( nodeName << " unexpected format " << depthMsg->encoding );
+ return;
+ }
+
+ auto depth = reinterpret_cast&>( depthMsg->data );
+
+ pcl::PointCloud cloud;
+
+ const int regionTop = 370;
+ const int regionBase = 496;
+
+ auto begin = std::next( depth.begin(), regionTop * width );
+ auto end = std::next( depth.begin(), regionBase * width );
+
+ for( auto it=begin; it *jt )
+ {
+ const int i = std::distance( depth.begin(), jt );
+ const int y = i / width;
+ const int x = i % width;
+
+ cloud.push_back( intrinsic.coordinates_from_pixel( x, y, *jt ) );
+ }
+ }
+
+ // Publish the data
+ sensor_msgs::PointCloud2 output;
+ pcl::toROSMsg( cloud, output );
+ output.header = depthMsg->header;
+
+ pub.publish( output );
+ }
+};
+
+int main( int argc, char* argv[] )
+{
+ // Node initialization
+ ros::init( argc, argv, nodeName );
+ ros::NodeHandle nh;
+
+ ROS_INFO_STREAM( nodeName << " running" );
+
+ // topic names
+ const std::string depthTopic = "/fsai/zedcam_left_depth/range_image";
+ const std::string conesTopic = "/cones/points";
+
+ // publishers
+ ros::Publisher pub = nh.advertise( conesTopic, 1 );
+
+ // subscribers
+ Callback cb { pub, 1280, 730, 1.5708 };
+ ros::Subscriber sub = nh.subscribe( depthTopic, 1, &Callback::callback, &cb );
+
+ ros::spin();
+
+ return 0;
+}
diff --git a/src/example_steer.cpp b/src/example_steer.cpp
new file mode 100644
index 0000000..269883d
--- /dev/null
+++ b/src/example_steer.cpp
@@ -0,0 +1,81 @@
+#include
+#include
+
+#include
+#include
+
+#include
+
+// point cloud
+#include
+#include
+#include
+#include
+
+const std::string nodeName = "example_steer";
+
+class Callback
+{
+private:
+ ros::Publisher& pub;
+ pcl::PointCloud cloud;
+
+public:
+ Callback( ros::Publisher& _pub ) :
+ pub(_pub)
+ {}
+
+ void callback( const sensor_msgs::PointCloud2ConstPtr& coneMsg )
+ {
+ pcl::fromROSMsg( *coneMsg, cloud );
+
+ std::array,2> cones;
+ cones[0] = {0,0,0};
+ cones[1] = {0,0,0};
+
+ for( auto& point : cloud.points )
+ {
+ // going to calculate the averages of the cone points on the left and right
+ const bool onRight = point.y < 0;
+ cones[onRight][0] += point.y;
+ cones[onRight][1] += 1;
+ }
+
+ for( auto& i : cones )
+ if( i[1] != 0 ) i[2] = i[0] / i[1];
+
+ // average of the left and right cones
+ float center = ( cones[0][2] + cones[1][2]) / 2.f;
+
+ // aim for a point half way between the cones and 10 meters down the track
+ geometry_msgs::Twist msg;
+ msg.angular.z = -atan2( center, 10 );
+ msg.linear.x = 100;
+
+ pub.publish( msg );
+ }
+};
+
+int main( int argc, char* argv[] )
+{
+ // Node initialization
+ ros::init( argc, argv, nodeName );
+ ros::NodeHandle nh;
+
+ ROS_INFO_STREAM( nodeName << " running" );
+
+ // topic names
+ const std::string conesTopic = "/cones/points";
+ const std::string controlTopic = "/cmd_vel";
+
+ // publishers
+ ros::Publisher pub = nh.advertise( controlTopic, 1 );
+
+ // subscribers
+ Callback cb { pub };
+ ros::Subscriber sub = nh.subscribe( conesTopic, 1, &Callback::callback, &cb );
+
+ ros::spin();
+
+ return 0;
+}
diff --git a/worlds/.my_first_simulation.wbproj b/worlds/.my_first_simulation.wbproj
deleted file mode 100644
index 05e1e1d..0000000
--- a/worlds/.my_first_simulation.wbproj
+++ /dev/null
@@ -1,14 +0,0 @@
-Webots Project File version R2020a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001240000028ffc0200000001fb0000001400540065007800740045006400690074006f007201000000160000028f0000003c00ffffff000000030000055d0000008cfc0100000001fb0000000e0043006f006e0073006f006c006501000000000000055d0000005400ffffff000004330000028f00000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff000000010000000200000118000003150100000006010000000100
-sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000200
-maximizedDockId: -1
-centralWidgetVisible: 1
-selectionDisabled: 0
-viewpointLocked: 0
-orthographicViewHeight: 1
-textFiles: -1
-renderingDevicePerspectives: vehicle:zedcam meta range finder;1;0.552778;0;0
-renderingDevicePerspectives: vehicle:zedcam right camera;1;0.410937;0;0.0335008
-renderingDevicePerspectives: vehicle:zedcam left camera;1;0.410937;0;0
-renderingDevicePerspectives: vehicle:camera;1;1;0;0
diff --git a/worlds/acceleration.wbt b/worlds/acceleration.wbt
index 0571bdf..e89734b 100644
--- a/worlds/acceleration.wbt
+++ b/worlds/acceleration.wbt
@@ -4,8 +4,8 @@ WorldInfo {
}
Viewpoint {
orientation 0.44262137847919036 -0.560569682529413 -0.6998913818172463 2.08793100190326
- position -13.809174075151157 5.015185809832598 5.841281887078405
- follow "coventry"
+ position -13.809178090978897 5.015186495864631 5.841322789688
+ follow "fsai"
}
TexturedBackgroundLight {
}
@@ -23,18 +23,19 @@ UnevenTerrain {
}
}
CoventryVehicle {
- hidden position_0_0 -1.0035425492115581e-10
- hidden position2_0_0 -2.592862812706772e-07
- hidden position_0_1 -2.7822535532726855e-10
- hidden position2_0_1 -2.648299329719985e-07
- hidden position_0_2 -2.6671740727124416e-07
- hidden position_0_3 -2.7120184054041374e-07
- hidden rotation_1 -0.00038704032821484864 -0.9999999250998896 5.017712370230552e-11 2.598106231415675e-07
- hidden rotation_2 0.0010505806449576857 0.9999994481400019 1.3911260089291224e-10 2.6488883546935307e-07
- hidden rotation_3 0 -1 0 2.665600749850024e-07
- hidden rotation_4 0 1 0 2.715120786173435e-07
- translation -2.3199685589090304 0.8124268700300943 -0.2499794983322307
- rotation 0.6769627542810117 0.5193156715867167 0.5215675052768376 1.94834512198245
+ hidden position_0_0 -1.0453889528286364e-10
+ hidden position2_0_0 -2.64961138869972e-06
+ hidden position_0_1 -2.875300013667947e-10
+ hidden position2_0_1 -2.7949849492144224e-06
+ hidden position_0_2 -2.9261607714972762e-06
+ hidden position_0_3 -3.014332948056832e-06
+ hidden rotation_1 -7.049372222026168e-05 -0.9999999975153174 1.0961566977589398e-11 2.9093539385478156e-06
+ hidden rotation_2 0.0001849151436414695 0.9999999829031947 2.87097320444401e-11 3.059785731397028e-06
+ hidden rotation_3 0 -1 0 3.192606387339473e-06
+ hidden rotation_4 0 1 0 3.2858327513549973e-06
+ translation -2.319984943306382 0.8124290163908436 -0.24997953538149234
+ rotation 0.6769628261983345 0.5193156414353673 0.5215674419537097 1.9483450667476003
+ name "fsai"
controller "example"
controllerArgs [
"--name=fsai"
@@ -48,199 +49,199 @@ CoventryVehicle {
]
}
FsCone {
- translation 0.00176660150611336 1.4988478867041788 -0.47821148875982233
- rotation 0.9999934181015618 -0.002570124312673663 0.0025609011250656405 1.5688331161382352
+ translation 0.0017664885180699093 1.4988479301231983 -0.4782114894236331
+ rotation 0.9999934181015618 -0.0025701243126736856 0.0025609011250656306 1.5688331161382352
name "cone0"
color "blue"
}
WorkBarrier {
- translation 81.33980773304327 -0.0016548154335673478 -0.28286077106746316
- rotation 0.5783586706079396 0.5749456917622813 0.5787388872856296 2.0972845231522057
+ translation 81.33980757792249 -0.0016563278560672496 -0.2828607805309473
+ rotation 0.5783602904407722 0.5749472848100697 0.5787356858971066 2.0972892766751996
enablePhysics TRUE
}
FsCone {
- translation 4.999598854719625 1.500249124606231 -0.45231223449856667
- rotation 0.9999932792252682 -0.002525676478191016 0.002657529420810375 1.5686388376405749
+ translation 4.999598742026073 1.5002491690377482 -0.4523122351632616
+ rotation 0.999993279225401 -0.0025256815180215468 0.002657524580981844 1.5686388375556077
name "cone1"
color "blue"
}
FsCone {
- translation 9.997357395934607 1.500020135718871 -0.42884006172970834
- rotation 0.9999954879666314 -0.0021243300578783777 0.0021239746193903947 1.570865830492908
+ translation 9.997357302288481 1.5000201342863133 -0.42884006212711745
+ rotation 0.9999954879666314 -0.002124330057878375 0.0021239746193904073 1.5708658304929088
name "cone2"
color "blue"
}
FsCone {
- translation 14.997535782381346 1.4996846838864855 -0.4101047386342155
- rotation 0.9999976415607054 -0.0015252419108365447 0.0015461274657333406 1.5764052094131484
+ translation 14.997535714324293 1.499684569748046 -0.4101047394212048
+ rotation 0.9999976415622652 -0.0015252616991122349 0.0015461069356546703 1.576405210086953
name "cone3"
color "blue"
}
FsCone {
- translation 19.998772044929822 1.499394751135801 -0.3966238371288159
- rotation 0.9999986149003257 -0.0011813850895874094 0.0011724021068255355 1.5801018770352466
+ translation 19.998771992807328 1.4993945460601588 -0.39662383915744626
+ rotation 0.9999986149003257 -0.0011813850895874079 0.001172402106825558 1.5801018770352466
name "cone4"
color "blue"
}
FsCone {
- translation 24.99966752094001 1.4985896217729449 -0.38557592609869884
- rotation 0.9999990548912466 -0.0009688649168854576 0.0009754575266745289 1.5862477950875886
+ translation 24.99966747775976 1.498589281257203 -0.38557593143765645
+ rotation 0.9999990548912466 -0.0009688649168854705 0.0009754575266745254 1.5862477950875882
name "cone5"
color "blue"
}
FsCone {
- translation 29.999391540320048 1.4981832400268411 -0.3749721970925056
- rotation 0.9999985236820341 -0.0011997569045347947 0.0012301289047317728 1.5886483260597506
+ translation 29.999391486375544 1.4981828482731234 -0.37497220417611166
+ rotation 0.9999985236815466 -0.0011997475484992008 0.0012301384260306753 1.5886483273962697
name "cone6"
color "blue"
}
FsCone {
- translation 34.99911244531534 1.4980924753185423 -0.3626616916097497
- rotation 0.9999983093783315 -0.0012993393319673404 0.001301137110088593 1.5887825102196986
+ translation 34.99911238749298 1.4980920789797079 -0.3626616988803777
+ rotation 0.9999983093783315 -0.0012993393319673274 0.0013011371100886122 1.5887825102196993
name "cone7"
color "blue"
}
FsCone {
- translation 39.99956880259808 1.4991840523962676 -0.3483842035802285
- rotation 0.9999976253486756 -0.0015333791507819 0.0015485623622524744 1.5868919756153883
+ translation 39.99956873413362 1.499183697720811 -0.3483842094933411
+ rotation 0.9999976253486756 -0.0015333791507818981 0.0015485623622524742 1.5868919756153879
name "cone8"
color "blue"
}
FsCone {
- translation 44.999062927510764 1.498998138243654 -0.33139653596686813
- rotation 0.9999963779390412 -0.0019042569897343357 0.0019020815217233667 1.5857198662501315
+ translation 44.99906284428639 1.4989978122799026 -0.33139654110839745
+ rotation 0.9999963779376075 -0.0019042481524794291 0.001902091122824352 1.585719865591937
name "cone9"
color "blue"
}
FsCone {
- translation 49.99959468959947 1.4990554239171483 -0.31155578720326915
- rotation 0.9999959938859481 -0.0019812620381470494 0.0020215867014155573 1.5840928651089219
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+ rotation 0.9999959938859481 -0.0019812620381470516 0.0020215867014155638 1.5840928651089217
name "cone10"
color "blue"
}
FsCone {
- translation 54.99988720206976 1.499493051813841 -0.29407268319507973
- rotation 0.9999980471112417 -0.0013956828365994341 0.001399229474347303 1.583131914358266
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+ rotation 0.9999980471112419 -0.001395682836599429 0.0013992294743473044 1.5831319143582654
name "cone11"
color "blue"
}
FsCone {
- translation 59.999933213037394 1.499492224664344 -0.28287970670108675
- rotation 0.9999991368629951 -0.0010682856211742902 0.000764878484800305 1.5829800313001365
+ translation 59.99993317234697 1.4994919561555138 -0.28287971004298046
+ rotation 0.9999991368629951 -0.001068285621174269 0.0007648784848002777 1.5829800313001372
name "cone12"
color "blue"
}
FsCone {
- translation 64.99988369456571 1.4996810885676528 -0.27925795690902744
- rotation 0.9999999785938104 -0.00014826587706792842 0.00014432466335993272 1.5828907040521334
+ translation 64.99988368807723 1.4996808220018436 -0.27925796013067833
+ rotation 0.9999999785938102 -0.00014826587706792986 0.00014432466335991621 1.5828907040521338
name "cone13"
color "blue"
}
FsCone {
- translation 70.0002302448814 1.4998448495035113 -0.27865187477863573
- rotation 0.9999999940263419 -7.749912120155241e-05 7.707919549710714e-05 1.5822576324066366
+ translation 70.00023024093669 1.4998445955328528 -0.27865187770044364
+ rotation 0.9999999940263193 -7.749524490046165e-05 7.708338519813274e-05 1.5822576321362798
name "cone14"
color "blue"
}
FsCone {
- translation 75.00005224514 1.5002475982247179 -0.27669048825643955
- rotation 0.9999999139835594 -0.0002983603355900065 0.00028812147364994925 1.581423704611567
+ translation 75.00005223214374 1.5002473639886647 -0.27669049075011765
+ rotation 0.9999999139835594 -0.0002983603355900659 0.00028812147365000655 1.581423704611567
name "cone15"
color "blue"
}
FsCone {
- translation 0.0006374925584087805 -1.5005570677488287 -0.477405497379561
- rotation 0.9999940088378455 -0.00250835159397838 0.0023854686532933512 1.5717088946924205
+ translation 0.0006373846368295677 -1.5005570877251866 -0.4774054979253277
+ rotation 0.9999940088378455 -0.0025083515939783667 0.002385468653293357 1.5717088946924203
name "cone16"
color "yellow"
}
FsCone {
- translation 4.99898202907191 -1.5003636912267906 -0.45310880386372065
- rotation 0.9999946483679135 -0.00231590333493073 0.002310806628941176 1.572279345573734
+ translation 4.998981928337174 -1.5003637237976932 -0.4531088043713677
+ rotation 0.9999946483674031 -0.0023159034391183413 0.002310806745307711 1.572279345574216
name "cone17"
color "yellow"
}
FsCone {
- translation 9.997500984205493 -1.5002724180940925 -0.43482760178611113
- rotation 0.9999979926312612 -0.001423785246615703 0.0014098116965567081 1.57458518466736
+ translation 9.997500921627557 -1.500272501564608 -0.4348276022791943
+ rotation 0.9999979926312612 -0.0014237852466157093 0.001409811696556712 1.5745851846673597
name "cone18"
color "yellow"
}
FsCone {
- translation 14.997642686420104 -1.500402535785356 -0.42535064743570233
- rotation 0.999999760376797 -0.0004376665362480961 0.0005363714679969816 1.5779240720133951
+ translation 14.997642664954787 -1.5004026809003725 -0.4253506484118744
+ rotation 0.9999997603733966 -0.0004376331861429241 0.0005364050188072926 1.5779240732156379
name "cone19"
color "yellow"
}
FsCone {
- translation 19.999290069713613 -1.5007619533989927 -0.42341774638991214
- rotation 0.9999999999559935 4.349260680590921e-06 8.31244642373565e-06 1.580507465646114
+ translation 19.999290069627268 -1.5007621674448952 -0.42341774846579927
+ rotation 0.9999999999559935 4.349260680599092e-06 8.312446423724838e-06 1.5805074656461136
name "cone20"
color "yellow"
}
FsCone {
- translation 24.999993487801863 -1.5013561467991228 -0.4231289191813123
- rotation 0.9999999985395694 -3.834412989988231e-05 3.8086597061988745e-05 1.5841985070870517
+ translation 24.99999348610608 -1.501356442183507 -0.42312892313512523
+ rotation 0.9999999985395692 -3.834412989988126e-05 3.808659706197289e-05 1.5841985070870521
name "cone21"
color "yellow"
}
FsCone {
- translation 29.99894225034268 -1.6347180351595745 -0.42175817093633694
- rotation 0.9999990092832494 -0.0013781908154664197 0.0002863958722595521 1.5864002419048437
+ translation 29.998942213957317 -1.6347183889114545 -0.42175817665418147
+ rotation 0.9999990092826431 -0.0013781915109656964 0.0002863946433862234 1.5864002450992023
name "cone22"
color "yellow"
}
FsCone {
- translation 34.9990432022126 -1.50200898688511 -0.4094609888438603
- rotation 0.9999984535079139 -0.0012058984317854789 0.0012801526285849225 1.5863179675005605
+ translation 34.99904314701114 -1.5020093289349452 -0.4094609942838885
+ rotation 0.9999984535079139 -0.0012058984317855114 0.0012801526285849479 1.5863179675005605
name "cone23"
color "yellow"
}
FsCone {
- translation 39.99873134835138 -1.5017624078087024 -0.39380435520890444
- rotation 0.999997062044999 -0.0017026259752887807 0.0017253886977223085 1.585989985585915
+ translation 39.9987312722324 -1.5017627425991134 -0.39380436055072765
+ rotation 0.9999970620449992 -0.0017026259752887267 0.0017253886977222548 1.585989985585915
name "cone24"
color "yellow"
}
FsCone {
- translation 44.9987681244404 -1.50152028880818 -0.37493304532460714
- rotation 0.999995469056094 -0.0021149781921831153 0.0021421331726212594 1.5857787355316064
+ translation 44.99876802961057 -1.5015206177179858 -0.37493305063488647
+ rotation 0.9999954690556566 -0.0021149763597376977 0.0021421351859937476 1.5857787353708699
name "cone25"
color "yellow"
}
FsCone {
- translation 49.99930101098095 -1.5016095610045581 -0.3531714262369522
- rotation 0.9999952381819472 -0.0021716987824032486 0.002192564213144719 1.5852667462786472
+ translation 49.99930091410463 -1.5016098798181865 -0.35317143126821665
+ rotation 0.9999952381819472 -0.0021716987824032205 0.0021925642131446934 1.5852667462786472
name "cone26"
color "yellow"
}
FsCone {
- translation 54.99977677525715 -1.5009980007946984 -0.3337801080342983
- rotation 0.9999974620103939 -0.0016441298119775388 0.0015403927850407898 1.5844843417976195
+ translation 54.999776704956616 -1.5009983044449522 -0.333780112436256
+ rotation 0.9999974620102511 -0.0016441264048251646 0.0015403965143037076 1.5844843415112428
name "cone27"
color "yellow"
}
FsCone {
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diff --git a/worlds/endurance.wbt b/worlds/endurance.wbt
new file mode 100644
index 0000000..200e77b
--- /dev/null
+++ b/worlds/endurance.wbt
@@ -0,0 +1,751 @@
+#VRML_SIM R2020b utf8
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+}
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+ moreAddons [
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+ }
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+}
diff --git a/worlds/fig8.wbt b/worlds/fig8.wbt
index bda8aaa..952534b 100644
--- a/worlds/fig8.wbt
+++ b/worlds/fig8.wbt
@@ -1,7 +1,6 @@
#VRML_SIM R2020b utf8
WorldInfo {
basicTimeStep 8
- coordinateSystem "NUE"
}
Viewpoint {
orientation -0.0194119587355778 0.9986830978443145 0.04748942975159419 3.165237659433459
@@ -13,433 +12,431 @@ TexturedBackground {
texture "noon_park_empty"
}
UnevenTerrain {
- translation 0 -1 0
+ translation 0 -0.0 -1
size 100 1 100
appearance Asphalt {
textureTransform TextureTransform {
scale 50 50
}
}
+ rotation 1 0 0 1.5707963267948966
}
CoventryVehicle {
- hidden position_0_0 1.5627884567344804e-10
- hidden position2_0_0 2.8825469847842023e-06
- hidden position_0_1 6.243273010604499e-10
- hidden position2_0_1 2.309854121496215e-06
- hidden position_0_2 4.41763805598473e-06
- hidden position_0_3 3.9711375998556165e-06
- hidden rotation_1 5.4215541418264946e-05 0.9999999985303374 7.813942272188544e-11 2.882517843187811e-06
- hidden rotation_2 -0.0002702886179887213 -0.9999999634720308 3.121636391275207e-10 2.3098241853308327e-06
- hidden rotation_3 0 1 0 4.417685413887999e-06
- hidden rotation_4 0 -1 0 3.971096554074315e-06
- translation -0.0039107813669056034 -0.04430346361267842 -13.398072542952882
- rotation 0.9412701422802876 0.09898625310303519 0.3228192078366297 0.003945606651277226
- controller "ros_automobile"
+ translation -0.0039107813669056034 13.398072542952882 -0.04430346361267842
+ rotation 0.999999557918928 -0.00044076030825 0.000830597555246 1.574510651156358
+ name "fsai"
controllerArgs [
"--name=fsai"
]
+ synchronization FALSE
+ moreAddons [
+ Display {
+ width 200
+ height 200
+ }
+ ]
}
FsCone {
- translation -4.670149598731457 -0.49324819126392794 9.241914323895584
- rotation -0.9977459167735293 0.0005356220174310924 -0.06710289614319057 -0.010710730873417847
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+ rotation 0.999999872218545 -0.000360307153546 0.000354600687771 1.581483043023724
name "coneyellow5"
color "yellow"
}
FsCone {
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name "coneyellow6"
color "yellow"
}
FsCone {
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name "coneyellow7"
color "yellow"
}
FsCone {
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name "coneyellow8"
color "yellow"
}
FsCone {
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name "coneyellow9"
color "yellow"
}
FsCone {
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name "coneyellow10"
color "yellow"
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FsCone {
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name "coneyellow11"
color "yellow"
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FsCone {
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color "yellow"
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FsCone {
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color "yellow"
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FsCone {
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name "coneyellow14"
color "yellow"
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FsCone {
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name "coneyellow15"
color "yellow"
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FsCone {
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name "coneyellow20"
color "yellow"
}
FsCone {
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- rotation 0.8540348974019748 0.0006106113464739905 0.5202153603781628 0.010980407697722312
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name "coneyellow21"
color "yellow"
}
FsCone {
- translation 8.499483111335586 -0.39482029394137713 7.000834160671971
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+ rotation 0.99998868072366 -0.00327110687472 0.003455182248193 1.580711289736466
name "coneyellow22"
color "yellow"
}
FsCone {
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name "coneyellow23"
color "yellow"
}
FsCone {
- translation 3.550893657390945 -0.40907482328489647 4.949483293276098
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name "coneyellow24"
color "yellow"
}
FsCone {
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name "coneyellow25"
color "yellow"
}
FsCone {
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name "coneyellow26"
color "yellow"
}
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diff --git a/worlds/my_first_simulation.wbt b/worlds/my_first_simulation.wbt
deleted file mode 100644
index eef9622..0000000
--- a/worlds/my_first_simulation.wbt
+++ /dev/null
@@ -1,91 +0,0 @@
-#VRML_SIM R2019b utf8
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- }
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diff --git a/worlds/newFinishedMap.wbt b/worlds/newFinishedMap.wbt
deleted file mode 100644
index 1f579d5..0000000
--- a/worlds/newFinishedMap.wbt
+++ /dev/null
@@ -1,760 +0,0 @@
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diff --git a/worlds/rosEnabledEndurance.wbt b/worlds/rosEnabledEndurance.wbt
deleted file mode 100644
index 4630ae1..0000000
--- a/worlds/rosEnabledEndurance.wbt
+++ /dev/null
@@ -1,751 +0,0 @@
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