Merge pull request #533 from nikhilg2603/humble-devel

Obstacle avoidance world for gazebo harmonic added, with relevant models migrated to gazebo harmonic.

Author: pariaspe

CustomRobots/ackermann_cars/models/f1_renault_ackermann_harmonic/model.sdf

@@ -468,9 +468,8 @@
           </mesh>
         </geometry>
       </visual>
-      <self_collide>0</self_collide>
     </link>
-
+    
     <!-- Gazebo Harmonic Plugins -->
 
     <!-- Ackermann Steering Plugin -->

CustomRobots/f1/models/f1_dummy_harmonic/meshes/F1Y.dae

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>F1-dummy</name>
+  <version>1.0</version>
+  <sdf version='1.5'>model.sdf</sdf>
+
+  <author>
+    <name>Andres Hernandez</name>
+    <email>andresjhe@gmail.com</email>
+  </author>
+
+  <description>
+    A description of the model
+  </description>
+</model>

CustomRobots/f1/models/f1_dummy_harmonic/model.config

@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="f1">
+  <pose>0 0 0 0 0 0</pose>
+  <static>false</static>
+    <link name="car">
+    	<pose>0 0 0 0 0 0</pose>
+      <!-- <collision name="collision">
+            <geometry>
+              <mesh>
+            		<uri>model://f1_dummy_harmonic/meshes/F1Y.dae</uri>
+          		</mesh>
+          </geometry>
+     </collision> -->
+     <collision name="dummy_collision">
+        <geometry>
+          <box>
+            <size>22.5 10.0 6.0</size>  <!-- Approximate car dimensions -->
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://f1_dummy_harmonic/meshes/F1Y.dae</uri>
+            <scale>5 5 5</scale>
+        </mesh>
+      </geometry>
+    </visual>
+  </link>
+    
+</model>
+</sdf>
+

CustomRobots/f1/models/f1_dummy_harmonic/model.sdf

@@ -0,0 +1,79 @@
+# Blender MTL File: 'None'
+# Material Count: 7
+
+newmtl body
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/re0_main.png
+
+newmtl generic
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/generic_main.png
+
+newmtl glass
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/glass.png
+
+newmtl glow
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/light_glow.png
+
+newmtl tread
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/tread_slick.png
+
+newmtl tyre
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/tyre.png
+
+newmtl wheel
+Ns 1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd materials/textures/re0_wheel.png