Integrate moisture sensor

misc/run_headless_sim.sh

@@ -54,7 +54,7 @@ startGazeboClient() {
 } #end startGazeboClient
 
 addCollectionZone() {
-	$spawn\collection_disk/model.sdf -model collection_disk -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 
+	$spawn\collection_disk/model.sdf -model collection_disk -x 1.308 -y 0 -z 0 -R 0 -P 0 -Y 0 
 	echo -e "$cyan Attempted to add collection_zone: name=collection_disk, x=0, y=0, z=0, roll=0, pitch=0, yaw=0 $reset"
 } #end addCollectionZone
 
@@ -155,7 +155,7 @@ addRovers(){
 	# Delays between adding rovers and starting their nodes in seconds
 	MODEL_ADD_INTERVAL=3s
 	# Specify rover start coordinates
-	ROVER_POSITIONS_X=( -1.308 0.000 1.308 0.000 1.072 -1.072 -1.072 1.072 )
+	ROVER_POSITIONS_X=( 0 0.000 1.308 0.000 1.072 -1.072 -1.072 1.072 )
 	ROVER_POSITIONS_Y=( 0.000 -1.308 0.000 1.308 1.072 -1.072 1.072 -1.072 )
 	# In this case, the yaw is the value that turns rover "left" and "right" */
 	ROVER_YAWS=( 0.000 1.571 -3.142 -1.571 -2.356 0.785 -0.785 2.356 )

simulation/models/red_light/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>red_light</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Carter Frost</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    A red light.
+  </description>
+</model>

simulation/models/red_light/model.sdf

@@ -0,0 +1,21 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+      <light name='red_light' type='spot'>
+      <pose frame=''>2 2 0.55 0 -0 0</pose>
+      <diffuse>1 0 0 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <direction>0 0 -1</direction>
+      <attenuation>
+        <range>20</range>
+        <constant>0.2</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <spot>
+        <inner_angle>.5</inner_angle>
+        <outer_angle>1</outer_angle>
+        <falloff>1</falloff>
+      </spot>
+    </light>
+</sdf>

simulation/models/square_pot/model.sdf

@@ -99,6 +99,97 @@
         </surface>
       </collision>
     </link>
+    <link name='link_0_0'>
+      <pose frame=''>-0.011441 -0.008338 0.308474 0 -0 0</pose>
+      <inertial>
+        <mass>0.000736153</mass>
+        <inertia>
+          <ixx>2.11165e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>2.64382e-06</iyy>
+          <iyz>0</iyz>
+          <izz>4.70976e-06</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.206678 0.18452 0.019291</size>
+          </box>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>0.3 0.3 0.3 1</ambient>
+          <diffuse>0.7 0.7 0.7 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.206678 0.18452 0.019291</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
     <static>1</static>
     <allow_auto_disable>1</allow_auto_disable>
   </model>