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fix tree_simple model and updated worlds/forest.world
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‎README.md‎

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@@ -14,7 +14,8 @@ This package contains common gazebo files (worlds, models and plugins) for the [
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## Models
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- [grass_plane](models/grass_plane)
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- [tree_simple](models/tree_simple)
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## Plugins
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- [sensor_and_model_plugins](src/sensor_and_model_plugins) - Detail descriptions in [README](src/sensor_and_model_plugins/README.md)
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- [sensor_plugins](src/sensor_plugins) - Detail descriptions in [README](src/sensor_plugins/README.md)

‎models/tree_simple/materials/textures/tree_simple_treetop.jpg‎

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‎models/tree_simple/materials/textures/tree_simple_trunk.jpg‎

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‎models/tree_simple/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>Tree (simple)</name>
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<version>1.0</version>

‎models/tree_simple/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.5">
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<sdf version="1.7">
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<model name="tree_simple">
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<static>1</static>
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<link name="link">
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<static>true</static>
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<link name="link">
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<pose>0 0 0.1 0 0 0</pose>
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<inertial>
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<mass>666</mass>
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<inertia>
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<ixx>0.08611666666666669</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.08611666666666669</iyy>
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<iyz>0</iyz>
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<izz>0.08611666666666669</izz>
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</inertia>
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</inertial>
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<collision name="collision_trunk">
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<pose>0 0 2.0 0 0 0</pose>
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<length>4</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<collision name="collision_treetop">
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<pose>0 0 5.2 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>1.5</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name="trunk">
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<pose>0 0 2.0 0 0 0</pose>
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<geometry>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>model://tree_simple/scripts</uri>
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<uri>model://tree_simple/materials/textures</uri>
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<name>TreeSimple/Trunk</name>
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</script>
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<ambient>0.4 0.2 0.0 1.0</ambient>
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<diffuse>0.6 0.4 0.2 1.0</diffuse>
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<specular>0 0 0 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<visual name="treetop">
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<pose>0 0 5.2 0 0 0</pose>
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<geometry>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>model://tree_simple/scripts</uri>
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<uri>model://tree_simple/materials/textures</uri>
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<name>TreeSimple/Treetop</name>
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</script>
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<ambient>0.0 0.5 0.1 1.0</ambient>
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<diffuse>0.1 0.9 0.2 1.0</diffuse>
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<specular>0 0 0 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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‎models/tree_simple/scripts/tree_simple.material‎

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‎package.xml‎

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<version>2.0.0</version>
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<description>This package contains common gazebo files (worlds, models and plugins) for the MRS system.</description>
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<author email="[email protected]">Vojtech Spurny</author>
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<maintainer email="[email protected]">Vojtech Spurny</maintainer>
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<maintainer email="[email protected]">Tomas Baca</maintainer>
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<maintainer email="[email protected]">Tomas Baca</maintainer>
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<license>BSD 3-Clause</license>
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<depend>eigen</depend>
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<export>
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<build_type>ament_cmake</build_type>
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<!-- gazebo_ros_paths_plugin automatically adds these to
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GAZEBO_PLUGIN_PATH and GAZEBO_MODEL_PATH when you do this export inside
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the package.xml file. You can than use URIs of type model://my_package/stuff. -->
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<gazebo_ros gazebo_model_path="${prefix}/models"/>
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<gazebo_ros gazebo_media_path="${prefix}"/>
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<gazebo_ros plugin_path="${prefix}/lib"/>
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</export>
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</package>

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