gazebo
[gazebo][map] simple maze
정지홍
2025. 8. 2. 19:58
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py use_sim_time:=true world:=simple_maze x:=10.0 y:=10.0
<sdf version='1.10'>
<world name='simplemazeOrigin'>
<physics type='ode'>
<max_step_size>0.0030000000000000001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>500</real_time_update_rate>
</physics>
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
<gravity>0 0 -9.8000000000000007</gravity>
<magnetic_field>5.5644999999999998e-06 2.2875799999999999e-05 -4.2388400000000002e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.400000006 0.400000006 0.400000006 1</ambient>
<background>0.699999988 0.699999988 0.699999988 1</background>
<shadows>true</shadows>
<grid>true</grid>
</scene>
<model name='ground_plane'>
<static>true</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>1 1</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='visual'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.800000012 0.800000012 0.800000012 1</ambient>
<diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
<specular>0.800000012 0.800000012 0.800000012 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 0 0</pose>
<self_collide>false</self_collide>
</model>
<model name='wal_1'>
<static>true</static>
<pose>12.5 0 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 24 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 24 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.300000012 0.300000012 0.300000012 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='wall_2'>
<static>true</static>
<pose>0 12.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>24 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>24 1 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.300000012 0.300000012 0.300000012 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='wall_3'>
<static>true</static>
<pose>0 -12.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>24 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>24 1 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.300000012 0.300000012 0.300000012 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='wall_4'>
<static>true</static>
<pose>-12.5 0 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 24 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 24 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.300000012 0.300000012 0.300000012 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='col_1'>
<static>true</static>
<pose>12.5 12.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='col_2'>
<static>true</static>
<pose>-12.5 12.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='col_3'>
<static>true</static>
<pose>12.5 -12.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='col_4'>
<static>true</static>
<pose>-12.5 -12.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 2</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_2'>
<static>true</static>
<pose>8 4 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>8 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>8 1 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_3'>
<static>true</static>
<pose>2.5 8 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>5 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>5 1 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_4'>
<static>true</static>
<pose>4.5 6 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_5'>
<static>true</static>
<pose>-0.5 6 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 5 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 5 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_5_1'>
<static>true</static>
<pose>2 3.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 5 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 5 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_3_1'>
<static>true</static>
<pose>-1 1.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>5 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>5 1 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_4_1'>
<static>true</static>
<pose>-3 3.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 3 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box_2_1'>
<static>true</static>
<pose>-6.5 5.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>8 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>8 1 1</size>
</box>
</geometry>
<material>
<ambient>0.300000012 0.300000012 0.300000012 1</ambient>
<diffuse>0.699999988 0.699999988 0.699999988 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='box'>
<static>true</static>
<pose>-11.25 5.5 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1.5 1 1</size>
</box>
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