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Aruco Tag Landing and Flight Tracker

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SirBlobby
2026-02-13 15:36:26 -05:00
parent c91ea920a8
commit 067c96ed28
11 changed files with 929 additions and 57 deletions
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28
worlds/uav_ugv_search.sdf
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@@ -162,30 +162,30 @@
<!-- Main body (blue box) -->
<link name="base_link">
<pose>0 0 0.15 0 0 0</pose>
<pose>0 0 0.2 0 0 0</pose>
<visual name="body">
<geometry><box><size>0.6 0.4 0.2</size></box></geometry>
<geometry><box><size>1.0 0.7 0.3</size></box></geometry>
<material>
<ambient>0.2 0.2 0.7 1</ambient>
<diffuse>0.2 0.2 0.8 1</diffuse>
</material>
</visual>
<collision name="body_collision">
<geometry><box><size>0.6 0.4 0.2</size></box></geometry>
<geometry><box><size>1.0 0.7 0.3</size></box></geometry>
</collision>
</link>
<!-- ArUco landing tag on top -->
<link name="aruco_tag">
<pose>0 0 0.26 0 0 0</pose>
<pose>0 0 0.36 0 0 0</pose>
<visual name="aruco_visual">
<geometry><box><size>0.4 0.4 0.005</size></box></geometry>
<geometry><box><size>0.5 0.5 0.005</size></box></geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<pbr>
<metal>
<albedo_map>tags/land_tag.jpg</albedo_map>
<albedo_map>tags/land_tag.png</albedo_map>
</metal>
</pbr>
</material>
@@ -194,26 +194,26 @@
<!-- Wheels (visual only since static) -->
<link name="wheel_fl">
<pose>0.2 0.22 0.06 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.06</radius><length>0.04</length></cylinder></geometry>
<pose>0.35 0.38 0.1 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.1</radius><length>0.06</length></cylinder></geometry>
<material><ambient>0.15 0.15 0.15 1</ambient><diffuse>0.15 0.15 0.15 1</diffuse></material>
</visual>
</link>
<link name="wheel_fr">
<pose>0.2 -0.22 0.06 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.06</radius><length>0.04</length></cylinder></geometry>
<pose>0.35 -0.38 0.1 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.1</radius><length>0.06</length></cylinder></geometry>
<material><ambient>0.15 0.15 0.15 1</ambient><diffuse>0.15 0.15 0.15 1</diffuse></material>
</visual>
</link>
<link name="wheel_rl">
<pose>-0.2 0.22 0.06 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.06</radius><length>0.04</length></cylinder></geometry>
<pose>-0.35 0.38 0.1 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.1</radius><length>0.06</length></cylinder></geometry>
<material><ambient>0.15 0.15 0.15 1</ambient><diffuse>0.15 0.15 0.15 1</diffuse></material>
</visual>
</link>
<link name="wheel_rr">
<pose>-0.2 -0.22 0.06 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.06</radius><length>0.04</length></cylinder></geometry>
<pose>-0.35 -0.38 0.1 1.5708 0 0</pose>
<visual name="v"><geometry><cylinder><radius>0.1</radius><length>0.06</length></cylinder></geometry>
<material><ambient>0.15 0.15 0.15 1</ambient><diffuse>0.15 0.15 0.15 1</diffuse></material>
</visual>
</link>