Add thermal parameters to worlds (#787)

angelacmaio · adlarkin · iche033 · web-flow · commit 6bd98e3142f3 · 2021-02-11T14:07:48.000-08:00
* add thermal camera to marble husky

Signed-off-by: Ashton Larkin &lt;ashton@openrobotics.org&gt;

* new marble husky config 3 with thermal camera

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* reuse config_1 files, add config_4

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* add config_4 files

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* remove thermal camera from config_1

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* remove files

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* 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 &lt;ashton@openrobotics.org&gt;
Co-authored-by: Ian Chen &lt;ichen@osrfoundation.org&gt;
Co-authored-by: Nate Koenig &lt;nate@openrobotics.org&gt;
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>
diff --git a/subt_ign/worlds/tunnel_circuit_practice_03.sdf b/subt_ign/worlds/tunnel_circuit_practice_03.sdf
diff --git a/subt_ign/worlds/tunnel_qual_ign.sdf b/subt_ign/worlds/tunnel_qual_ign.sdf
diff --git a/subt_ign/worlds/urban_circuit/01/urban_circuit_01.sdf b/subt_ign/worlds/urban_circuit/01/urban_circuit_01.sdf
diff --git a/subt_ign/worlds/urban_circuit/02/urban_circuit_02.sdf b/subt_ign/worlds/urban_circuit/02/urban_circuit_02.sdf
diff --git a/subt_ign/worlds/urban_circuit/03/urban_circuit_03.sdf b/subt_ign/worlds/urban_circuit/03/urban_circuit_03.sdf
diff --git a/subt_ign/worlds/urban_circuit/04/urban_circuit_04.sdf b/subt_ign/worlds/urban_circuit/04/urban_circuit_04.sdf
diff --git a/subt_ign/worlds/urban_circuit/05/urban_circuit_05.sdf b/subt_ign/worlds/urban_circuit/05/urban_circuit_05.sdf
diff --git a/subt_ign/worlds/urban_circuit/06/urban_circuit_06.sdf b/subt_ign/worlds/urban_circuit/06/urban_circuit_06.sdf
diff --git a/subt_ign/worlds/urban_circuit/07/urban_circuit_07.sdf b/subt_ign/worlds/urban_circuit/07/urban_circuit_07.sdf
diff --git a/subt_ign/worlds/urban_circuit/08/urban_circuit_08.sdf b/subt_ign/worlds/urban_circuit/08/urban_circuit_08.sdf
diff --git a/subt_ign/worlds/urban_circuit_practice_01.sdf b/subt_ign/worlds/urban_circuit_practice_01.sdf
diff --git a/subt_ign/worlds/urban_circuit_practice_02.sdf b/subt_ign/worlds/urban_circuit_practice_02.sdf
diff --git a/subt_ign/worlds/urban_circuit_practice_03.sdf b/subt_ign/worlds/urban_circuit_practice_03.sdf
diff --git a/subt_ign/worlds/urban_qual.sdf b/subt_ign/worlds/urban_qual.sdf
diff --git a/subt_ign/worlds/virtual_stix.sdf b/subt_ign/worlds/virtual_stix.sdf
