Merged in prius_model_plugin_scpeters (pull request osrf#1)

Prius model with ok vehicle dynamics

CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(priuscup)
+
+set (PRIUSCUP_MAJOR_VERSION 0)
+set (PRIUSCUP_MINOR_VERSION 1)
+set (PRIUSCUP_PATCH_VERSION 0)
+set (PRIUSCUP_VERSION_FULL ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION})
+
+# Packaging configuration
+set (CPACK_PACKAGE_VERSION "${PRIUSCUP_VERSION_FULL}")
+set (CPACK_PACKAGE_VERSION_MAJOR "${PRIUSCUP_MAJOR_VERSION}")
+set (CPACK_PACKAGE_VERSION_MINOR "${PRIUSCUP_MINOR_VERSION}")
+set (CPACK_PACKAGE_VERSION_PATCH "${PRIUSCUP_PATCH_VERSION}")
+list (APPEND CPACK_SOURCE_GENERATOR "TBZ2")
+list (APPEND CPACK_SOURCE_IGNORE_FILES ";/.hg/;.hgignore;.swp$;/build/")
+set (CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PRIUSCUP_VERSION_FULL}")
+include (CPack)
+
+#####################################
+# Set the default build type
+if (NOT CMAKE_BUILD_TYPE)
+  set (CMAKE_BUILD_TYPE "Release" CACHE STRING
+    "Choose the type of build, options are: Debug Release RelWithDebInfo" FORCE)
+  message(STATUS "Build type not selected: Release selected by default")
+endif (NOT CMAKE_BUILD_TYPE)
+
+find_package(gazebo 8 REQUIRED)
+
+include(GNUInstallDirs)
+
+if(NOT DEFINED CMAKE_INSTALL_LIBDIR)
+  set(CMAKE_INSTALL_LIBDIR lib)
+endif(NOT DEFINED CMAKE_INSTALL_LIBDIR)
+set(PRIUSCUP_PLUGIN_INSTALL_DIR
+  ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/priuscup-${PRIUSCUP_MAJOR_VERSION}/plugins
+)
+
+# Generate the setup.sh file
+configure_file(${CMAKE_SOURCE_DIR}/cmake/setup.sh.in ${PROJECT_BINARY_DIR}/setup.sh @ONLY)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/share/priuscup-${PRIUSCUP_MAJOR_VERSION}/)
+# Also install the setup.sh in an unversioned location
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/share/priuscup/)
+
+
+add_subdirectory(plugins)
+add_subdirectory(models)
+add_subdirectory(worlds)

cmake/setup.sh.in

@@ -0,0 +1,26 @@
+# This file is the entry point for priuscup users.  It should establish
+# all environment necessary to use priuscup.
+
+GAZEBO_BIN_PATH=`which gazebo`
+GAZEBO_PREFIX=$(dirname $(dirname $GAZEBO_BIN_PATH))
+
+# get Gazebo configuration.
+if [ -f ${GAZEBO_PREFIX}/share/gazebo/setup.sh ]; then
+  . ${GAZEBO_PREFIX}/share/gazebo/setup.sh
+elif [ -f /usr/share/gazebo/setup.sh ]; then
+  . /usr/share/gazebo/setup.sh
+else
+  echo "Warning: failed to find Gazebo's setup.sh.  You will need to source it manually."
+fi
+
+# modify Gazebo configuration.
+# Add our top-level directory to GAZEBO_RESOURCE_PATH
+# Add our worlds directory to GAZEBO_RESOURCE_PATH so that *.world files can be
+# found without giving a full path.
+export GAZEBO_RESOURCE_PATH=@CMAKE_INSTALL_PREFIX@/share/priuscup-@PRIUSCUP_MAJOR_VERSION@/:$GAZEBO_RESOURCE_PATH
+
+# add path to gazebo models from priuscup_resources
+export GAZEBO_MODEL_PATH=@CMAKE_INSTALL_PREFIX@/share/priuscup-@PRIUSCUP_MAJOR_VERSION@/models:$GAZEBO_MODEL_PATH
+
+# Add the directories containing our Gazebo plugins to GAZEBO_PLUGIN_PATH.
+export GAZEBO_PLUGIN_PATH=@PRIUSCUP_PLUGIN_INSTALL_DIR@:$GAZEBO_PLUGIN_PATH

models/CMakeLists.txt

@@ -0,0 +1,7 @@
+set (dirs
+  prius_hybrid
+  raceway
+  sonoma_raceway_box
+)
+
+INSTALL(DIRECTORY ${dirs} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/priuscup-${PRIUSCUP_MAJOR_VERSION}/models)

models/prius_hybrid/meshes/Hybrid.mtl

@@ -0,0 +1,56 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 11.12.2016 14:57:41
+
+newmtl Hybrid
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka ../materials/textures/Hybrid.png
+	map_Kd ../materials/textures/Hybrid.png
+
+newmtl Wheels3
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka ../materials/textures/Wheels3.png
+	map_Kd ../materials/textures/Wheels3.png
+
+newmtl Hybrid_Interior
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka ../materials/textures/Hybrid_Interior.png
+	map_Kd ../materials/textures/Hybrid_Interior.png
+
+newmtl Windows
+	Ns 0.0000
+	Ni 1.5000
+	d 0.1000
+	Tr 0.9000
+	Tf 0.1000 0.1000 0.1000 
+	illum 2
+	Ka 0.2627 0.2627 0.2627
+	Kd 0.2627 0.2627 0.2627
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000