Add thermal parameters to worlds (#787)

* add thermal camera to marble husky Signed-off-by: Ashton Larkin <[email protected]> * new marble husky config 3 with thermal camera Signed-off-by: Ian Chen <[email protected]> * reuse config_1 files, add config_4 Signed-off-by: Ian Chen <[email protected]> * add config_4 files Signed-off-by: Ian Chen <[email protected]> * remove thermal camera from config_1 Signed-off-by: Ian Chen <[email protected]> * remove files Signed-off-by: Ian Chen <[email protected]> * add thermal properties to qual worlds * adjust lower gradient * apply thermal to remaining worlds * add thermal to stix and niosh Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
osrf · Feb 11, 2021 · 6bd98e3 · 6bd98e3
1 parent 5f9f330
commit 6bd98e3
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diff --git a/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1: Global obstacle -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1: Global obstacle -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit/03/cave_circuit_03.sdf b/subt_ign/worlds/cave_circuit/03/cave_circuit_03.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1: Global obstacle -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit/04/cave_circuit_04.sdf b/subt_ign/worlds/cave_circuit/04/cave_circuit_04.sdf
@@ -1,10 +1,12 @@
+<?xml version="1.0" ?>
 <sdf version='1.6'>
   <world name='cave_circuit_04'>
     <physics name='1ms' type='ode'>
       <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
+
     <scene>
       <ambient>0.1 0.1 0.1 1</ambient>
       <background>0 0 0 1</background>
@@ -13,6 +15,11 @@
       <shadows>1</shadows>
     </scene>
 
+    <atmosphere type="adiabatic">
+      <temperature>288</temperature>
+      <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1: Global obstacle -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf b/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf
@@ -20,6 +20,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1: Global obstacle -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf b/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf
@@ -20,6 +20,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1: Global obstacle -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit/07/cave_circuit_07.sdf b/subt_ign/worlds/cave_circuit/07/cave_circuit_07.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <model name="performer_detector_rockfall_1">
       <static>true</static>
       <pose>297.5 -203 -26 0 0 0</pose>

diff --git a/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf
@@ -16,6 +16,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/cave_circuit_practice_01.sdf b/subt_ign/worlds/cave_circuit_practice_01.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/cave_circuit_practice_02.sdf b/subt_ign/worlds/cave_circuit_practice_02.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1 -->
     <!--Performer detector at Rock Fall #1 in tile_3-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_circuit_practice_03.sdf b/subt_ign/worlds/cave_circuit_practice_03.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- START ROCK FALL 1 -->
     <!--Performer detector at Rock Fall #1-->
     <model name="performer_detector_rockfall_1">

diff --git a/subt_ign/worlds/cave_qual.sdf b/subt_ign/worlds/cave_qual.sdf
@@ -15,6 +15,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/niosh_ex_config_a.sdf b/subt_ign/worlds/niosh_ex_config_a.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+      <temperature>288</temperature>
+      <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/niosh_ex_config_b.sdf b/subt_ign/worlds/niosh_ex_config_b.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+      <temperature>288</temperature>
+      <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/niosh_sr_config_a.sdf b/subt_ign/worlds/niosh_sr_config_a.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+      <temperature>288</temperature>
+      <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/niosh_sr_config_b.sdf b/subt_ign/worlds/niosh_sr_config_b.sdf
@@ -14,6 +14,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+      <temperature>288</temperature>
+      <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_cave_01.sdf b/subt_ign/worlds/simple_cave_01.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_cave_02.sdf b/subt_ign/worlds/simple_cave_02.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_cave_03.sdf b/subt_ign/worlds/simple_cave_03.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_tunnel_01.sdf b/subt_ign/worlds/simple_tunnel_01.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_tunnel_02.sdf b/subt_ign/worlds/simple_tunnel_02.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_tunnel_03.sdf b/subt_ign/worlds/simple_tunnel_03.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/simple_urban_01.sdf b/subt_ign/worlds/simple_urban_01.sdf
@@ -18,6 +18,10 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
 
     <!-- The staging area -->
     <include>

diff --git a/subt_ign/worlds/simple_urban_02.sdf b/subt_ign/worlds/simple_urban_02.sdf
@@ -18,6 +18,10 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
 
     <!-- The staging area -->
     <include>

diff --git a/subt_ign/worlds/simple_urban_03.sdf b/subt_ign/worlds/simple_urban_03.sdf
@@ -18,6 +18,10 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
 
     <!-- The staging area -->
     <include>

diff --git a/subt_ign/worlds/tunnel_circuit/01/tunnel_circuit_01.sdf b/subt_ign/worlds/tunnel_circuit/01/tunnel_circuit_01.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/tunnel_circuit/02/tunnel_circuit_02.sdf b/subt_ign/worlds/tunnel_circuit/02/tunnel_circuit_02.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/tunnel_circuit/03/tunnel_circuit_03.sdf b/subt_ign/worlds/tunnel_circuit/03/tunnel_circuit_03.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/tunnel_circuit/04/tunnel_circuit_04.sdf b/subt_ign/worlds/tunnel_circuit/04/tunnel_circuit_04.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/tunnel_circuit/05/tunnel_circuit_05.sdf b/subt_ign/worlds/tunnel_circuit/05/tunnel_circuit_05.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/tunnel_circuit_practice_01.sdf b/subt_ign/worlds/tunnel_circuit_practice_01.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>

diff --git a/subt_ign/worlds/tunnel_circuit_practice_02.sdf b/subt_ign/worlds/tunnel_circuit_practice_02.sdf
@@ -18,6 +18,11 @@
       <origin_visual>false</origin_visual>
     </scene>
 
+    <atmosphere type="adiabatic">
+       <temperature>288</temperature>
+       <temperature_gradient>0.2</temperature_gradient>
+    </atmosphere>
+
     <!-- The staging area -->
     <include>
       <static>true</static>