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Fira-Autonomous-Cars / FIRA-Autonomous-Cars-Simulator

FIRA Autonomous Cars Simulator
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Urban track missing models #3

Closed Danendra10 closed 1 year ago

Danendra10 commented 1 year ago

There are a lot of models that missong on urban track, this is the log file

ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/iris/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share
process[base_link2slamodom_tf_catvehicle-7]: started with pid [2336]
process[cmdvel2gazebocatvehicle-8]: started with pid [2337]
process[distanceEstimator-9]: started with pid [2341]
process[obstacle_stoppercatvehicle-10]: started with pid [2349]
[ INFO] [1688637512.304771627]: Node namespace is /
[ INFO] [1688637512.305169794]: Node name is /distanceEstimator
[ INFO] [1688637512.306395460]: Looking for scan in topic /catvehicle/front_laser_points
[ INFO] [1688637512.306413294]: Publishing estimated distance to target in topic /distanceEstimator/dist
[ INFO] [1688637512.306418210]: Publishing estimated angle to target in topic /distanceEstimator/angle
process[vehicle/dbw_node-11]: started with pid [2354]
ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/iris/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share
process[can_sim/cansim_node-13]: started with pid [2358]
process[car_controls_to_cmdvel-14]: started with pid [2359]
[DEBUG] [1688637512.402158794]: Created  CanSimNode
[DEBUG] [1688637512.404384252]: Param server::CanSim :: ackermann_wheelbase  2.849800
[DEBUG] [1688637512.404460210]: Param server::CanSim :: ackermann_track  1.600200
[DEBUG] [1688637512.404485294]: Param server::CanSim :: steering_ratio  16.000000
[INFO] [1688637512.562982, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1688637512.566782, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1688637512.609026, 0.000000]: Waiting for /clock to be available...
[WARN] [1688637512.610790, 0.000000]: ######### MAXIMUM ideal steering angle set to ==0.5291700713650023
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:200] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1688637512.990985836]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1688637512.997108711]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.0.2.15
[ INFO] [1688637513.085003127]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1688637513.088038919]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.0.2.15
[Msg] Loading world file [/home/iris/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/worlds/world_urban_new.world]
Error: Non-unique names detected in type model in
<world name='default'>
  <light name='sun' type='directional'>
    <cast_shadows>1</cast_shadows>
    <pose>0 0 10 0 -0 0</pose>
    <diffuse>0.8 0.8 0.8 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <attenuation>
      <range>100000</range>
      <constant>0.9</constant>
      <linear>0.01</linear>
      <quadratic>0.001</quadratic>
    </attenuation>
    <direction>-0.5 0.5 -1</direction>
    <spot>
      <inner_angle>0</inner_angle>
      <outer_angle>0</outer_angle>
      <falloff>0</falloff>
    </spot>
  </light>
  <state world_name='default'>
    <model name='Apriltag36_11_00000'>
      <pose>26.438 -101.047 3.93468 -1.5708 0 0</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>26.438 -101.047 3.93468 -1.5708 0 0</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Apriltag36_11_00001'>
      <pose>22.9996 -3.10287 3.92921 3.14159 -1.57079 3.14159</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>22.9996 -3.10287 3.92921 3.14159 -1.57079 3.14159</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Apriltag36_11_00001_clone'>
      <pose>27.0291 -51.5417 3.92921 1.5708 -1.57079 3.14159</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>27.0291 -51.5417 3.92921 1.5708 -1.57079 3.14159</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Apriltag36_11_00002'>
      <pose>106.581 10.6829 3.88756 -1.5708 0 0</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>106.581 10.6829 3.88756 -1.5708 0 0</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Apriltag36_11_00002_clone'>
      <pose>41.4296 -56.564 3.88756 -1.5708 4e-06 1.5765</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>41.4296 -56.564 3.88756 -1.5708 4e-06 1.5765</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Apriltag36_11_00003'>
      <pose>106.982 58.6051 3.80889 -1.5708 0 0</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>106.982 58.6051 3.80889 -1.5708 0 0</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Apriltag36_11_00003_clone'>
      <pose>121.231 -57.0454 3.80889 -1.5708 -4e-06 -1.5708</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>121.231 -57.0454 3.80889 -1.5708 -4e-06 -1.5708</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00000'>
      <pose>26.4669 -101.108 2.74745 -0 -0 -1.5708</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>26.4669 -101.108 2.74745 3.14159 -1.57079 1.57079</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00001'>
      <pose>22.9963 -3.10558 2.75236 0 -0 0</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>22.9963 -3.10558 2.75236 3.14159 -1.57079 3.14159</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00001_clone'>
      <pose>27.0016 -51.5408 2.75236 0 -0 -1.5708</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>27.0016 -51.5408 2.75236 3.14159 -1.57079 1.57079</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00002'>
      <pose>106.568 10.6851 2.74604 0 -0 -1.5708</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>106.568 10.6851 2.74604 3.14159 -1.57079 1.57079</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00002_clone'>
      <pose>41.4415 -56.5565 2.74604 0 -0 3.14159</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>41.4415 -56.5565 2.74604 3.14159 -1.57079 -6e-06</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00003'>
      <pose>106.98 58.6046 2.74453 0 -0 -1.5708</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>106.98 58.6046 2.74453 3.14159 -1.57079 1.57079</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <model name='Trafficsign_00003_clone'>
      <pose>121.242 -57.049 2.74453 0 -0 3.14159</pose>
      <scale>1 1 1</scale>
      <link name='main'>
        <pose>121.242 -57.049 2.74453 3.14159 -1.57079 -6e-06</pose>
        <velocity>0 0 0 0 -0 0</velocity>
        <acceleration>0 0 0 0 -0 0</acceleration>
        <wrench>0 0 0 0 -0 0</wrench>
      </link>
    </model>
    <iterations>0</iterations>
  </state>
  <model name='ground_plane'>
    <static>1</static>
    <pose>0 0 -0.2 0 -0 0</pose>
    <link name='link'>
      <collision name='collision'>
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>100 100</size>
          </plane>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <contact>
            <ode/>
          </contact>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='visual'>
        <cast_shadows>0</cast_shadows>
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>100 100</size>
          </plane>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
    </link>
    <scale>4 4 1</scale>
  </model>
  <gravity>0 0 -9.8</gravity>
  <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
  <atmosphere type='adiabatic'/>
  <physics name='default_physics' default='0' type='ode'>
    <max_step_size>0.001</max_step_size>
    <real_time_factor>1</real_time_factor>
    <real_time_update_rate>1000</real_time_update_rate>
  </physics>
  <scene>
    <ambient>235 235 235 1</ambient>
    <shadows>0</shadows>
    <sky>
      <clouds>
        <speed>12</speed>
      </clouds>
    </sky>
    <background>0.7 0.7 0.7 1</background>
  </scene>
  <spherical_coordinates>
    <surface_model>EARTH_WGS84</surface_model>
    <latitude_deg>0</latitude_deg>
    <longitude_deg>0</longitude_deg>
    <elevation>0</elevation>
    <heading_deg>0</heading_deg>
  </spherical_coordinates>
  <model name='catvehicle'>
    <link name='base_link'>
      <inertial>
        <pose>0 0 1.0639 0 -0 0</pose>
        <mass>2050</mass>
        <inertia>
          <ixx>647</ixx>
          <ixy>0</ixy>
          <ixz>-31</ixz>
          <iyy>3291</iyy>
          <iyz>0</iyz>
          <izz>3360</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 1.3639 0 -0 0</pose>
        <geometry>
          <box>
            <size>4.192 1.301 1.4478</size>
          </box>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <contact>
            <ode/>
          </contact>
          <bounce/>
          <friction>
            <torsional>
              <ode/>
            </torsional>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_fixed_joint_lump__camera_front_link_collision_1'>
        <pose>0.75 0 2.025 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.5</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <collision name='base_link_fixed_joint_lump__camera_link_collision_2'>
        <pose>0 0 2.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.25 0.25 0.25</size>
          </box>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <contact>
            <ode/>
          </contact>
          <bounce/>
          <friction>
            <torsional>
              <ode/>
            </torsional>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_fixed_joint_lump__velodyne_link_collision_3'>
        <pose>0 0 2.235 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.25 0.25 0.25</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.5</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <collision name='base_link_fixed_joint_lump__front_laser_link_collision_4'>
        <pose>2.4 0 0.8589 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.25 0.25 0.25</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.5</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='base_link_visual'>
        <pose>-0.25 0 1.1139 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>/home/fira/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/catvehicle_basics/catvehicle/meshes/mesh_avis_audi_car_simplified.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__camera_front_link_visual_1'>
        <pose>0.75 0 2.025 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__camera_link_visual_2'>
        <pose>0 0 2.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.25 0.25 0.25</size>
          </box>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__velodyne_link_visual_3'>
        <pose>0 0 2.235 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>/home/fira/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/catvehicle_basics/catvehicle/meshes/hokuyo.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__front_laser_link_visual_4'>
        <pose>2.4 0 0.8589 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.25 0.25 0.25</size>
          </box>
        </geometry>
      </visual>
      <sensor name='camera_front' type='camera'>
        <update_rate>30</update_rate>
        <camera name='front'>
          <horizontal_fov>1.39626</horizontal_fov>
          <image>
            <width>800</width>
            <height>800</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.02</near>
            <far>300</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name='camera_front_controller' filename='libgazebo_ros_camera.so'>
          <alwaysOn>1</alwaysOn>
          <updateRate>0.0</updateRate>
          <robotNamespace>/catvehicle</robotNamespace>
          <cameraName>camera_front</cameraName>
          <imageTopicName>image_raw_front</imageTopicName>
          <cameraInfoTopicName>camera_front_info</cameraInfoTopicName>
          <frameName>camera_front_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
        <pose>0.75 0 2.025 0 -0 0</pose>
      </sensor>
      <sensor name='lidar_sensor' type='ray'>
        <visualize>0</visualize>
        <update_rate>5</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>100</samples>
              <resolution>1</resolution>
              <min_angle>0.3</min_angle>
              <max_angle>-0.3</max_angle>
            </horizontal>
            <vertical>
              <samples>20</samples>
              <resolution>1</resolution>
              <min_angle>-0.326</min_angle>
              <max_angle>0.326</max_angle>
            </vertical>
          </scan>
          <range>
            <min>3</min>
            <max>20</max>
            <resolution>0.02</resolution>
          </range>
        </ray>
        <plugin name='laser_controller' filename='libgazebo_ros_block_laser.so'>
          <frameName>velodyne_link</frameName>
          <hokuyoMinIntensity>101</hokuyoMinIntensity>
          <robotNamespace>/catvehicle</robotNamespace>
          <topicName>lidar_points</topicName>
          <gaussianNoise>0.02</gaussianNoise>
          <updateRate>5</updateRate>
        </plugin>
        <pose>0 0 2.235 0 -0 0</pose>
      </sensor>
      <sensor name='sick_lms291' type='ray'>
        <visualize>1</visualize>
        <update_rate>50</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>180</samples>
              <resolution>1</resolution>
              <min_angle>-1.57</min_angle>
              <max_angle>1.57</max_angle>
            </horizontal>
            <vertical>
              <samples>1</samples>
              <min_angle>0</min_angle>
              <max_angle>0</max_angle>
            </vertical>
          </scan>
          <range>
            <min>1.5</min>
            <max>80</max>
            <resolution>0.05</resolution>
          </range>
        </ray>
        <plugin name='sick_lms291_controller' filename='libgazebo_ros_laser.so'>
          <topicName>/catvehicle/front_laser_points</topicName>
          <frameName>front_laser_link</frameName>
          <gaussianNoise>0.02</gaussianNoise>
          <robotNamespace>/</robotNamespace>
        </plugin>
        <pose>2.4 0 0.8589 0 -0 0</pose>
      </sensor>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <joint name='back_left_wheel_joint' type='revolute'>
      <pose relative_to='base_link'>-1.41 0.765 0.66 0 -0 0</pose>
      <parent>base_link</parent>
      <child>back_left_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>100000</effort>
          <velocity>10000</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='back_left_wheel_link'>
      <pose relative_to='back_left_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>40</mass>
        <inertia>
          <ixx>2</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2</iyy>
          <iyz>0</iyz>
          <izz>2</izz>
        </inertia>
      </inertial>
      <collision name='back_left_wheel_link_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.229</length>
            <radius>0.356</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+07</kp>
              <kd>1</kd>
              <max_vel>10</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1e+07</mu>
              <mu2>1e+07</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='back_left_wheel_link_visual'>
        <pose>0 0 0 0 -0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>/home/fira/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/catvehicle_basics/catvehicle/meshes/mesh_avis_small_wheel_simplified.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <joint name='back_right_wheel_joint' type='revolute'>
      <pose relative_to='base_link'>-1.41 -0.765 0.66 0 -0 0</pose>
      <parent>base_link</parent>
      <child>back_right_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>100000</effort>
          <velocity>10000</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='back_right_wheel_link'>
      <pose relative_to='back_right_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>40</mass>
        <inertia>
          <ixx>2</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2</iyy>
          <iyz>0</iyz>
          <izz>2</izz>
        </inertia>
      </inertial>
      <collision name='back_right_wheel_link_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.229</length>
            <radius>0.356</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+07</kp>
              <kd>1</kd>
              <max_vel>10</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1e+07</mu>
              <mu2>1e+07</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='back_right_wheel_link_visual'>
        <pose>0 0 0 0 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>/home/fira/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/catvehicle_basics/catvehicle/meshes/mesh_avis_small_wheel_simplified.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <joint name='front_left_steering_joint' type='revolute'>
      <pose relative_to='base_link'>1.41 0.6555 0.66 0 -0 0</pose>
      <parent>base_link</parent>
      <child>front_left_steering_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.6</lower>
          <upper>0.6</upper>
          <effort>1e+06</effort>
          <velocity>10000</velocity>
        </limit>
        <dynamics>
          <damping>100</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='front_left_steering_link'>
      <pose relative_to='front_left_steering_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>10</mass>
        <inertia>
          <ixx>0.4</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.6</iyy>
          <iyz>0</iyz>
          <izz>0.4</izz>
        </inertia>
      </inertial>
      <collision name='front_left_steering_link_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.01</length>
            <radius>0.1</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+06</kp>
              <kd>0.1</kd>
              <max_vel>10</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.5</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='front_left_steering_link_visual'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.01</length>
            <radius>0.1</radius>
          </cylinder>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <joint name='front_left_wheel_joint' type='revolute'>
      <pose relative_to='front_left_steering_link'>0 0.1195 0 0 -0 0</pose>
      <parent>front_left_steering_link</parent>
      <child>front_left_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>1e+06</effort>
          <velocity>10000</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='front_left_wheel_link'>
      <pose relative_to='front_left_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>40</mass>
        <inertia>
          <ixx>2</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2</iyy>
          <iyz>0</iyz>
          <izz>2</izz>
        </inertia>
      </inertial>
      <collision name='front_left_wheel_link_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.229</length>
            <radius>0.356</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+07</kp>
              <kd>1</kd>
              <max_vel>100</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='front_left_wheel_link_visual'>
        <pose>0 0 0 0 -0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>/home/fira/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/catvehicle_basics/catvehicle/meshes/mesh_avis_small_wheel_simplified.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <joint name='front_right_steering_joint' type='revolute'>
      <pose relative_to='base_link'>1.41 -0.6555 0.66 0 -0 0</pose>
      <parent>base_link</parent>
      <child>front_right_steering_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.6</lower>
          <upper>0.6</upper>
          <effort>1e+06</effort>
          <velocity>10000</velocity>
        </limit>
        <dynamics>
          <damping>100</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='front_right_steering_link'>
      <pose relative_to='front_right_steering_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>10</mass>
        <inertia>
          <ixx>0.4</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.6</iyy>
          <iyz>0</iyz>
          <izz>0.4</izz>
        </inertia>
      </inertial>
      <collision name='front_right_steering_link_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.01</length>
            <radius>0.1</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+06</kp>
              <kd>0.1</kd>
              <max_vel>10</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.5</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='front_right_steering_link_visual'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.01</length>
            <radius>0.1</radius>
          </cylinder>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <joint name='front_right_wheel_joint' type='revolute'>
      <pose relative_to='front_right_steering_link'>0 -0.1195 0 0 -0 0</pose>
      <parent>front_right_steering_link</parent>
      <child>front_right_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>1e+06</effort>
          <velocity>10000</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='front_right_wheel_link'>
      <pose relative_to='front_right_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>40</mass>
        <inertia>
          <ixx>2</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2</iyy>
          <iyz>0</iyz>
          <izz>2</izz>
        </inertia>
      </inertial>
      <collision name='front_right_wheel_link_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.229</length>
            <radius>0.356</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>1e+07</kp>
              <kd>1</kd>
              <max_vel>100</max_vel>
              <min_depth>0.01</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
            <torsional>
              <ode/>
            </torsional>
          </friction>
          <bounce/>
        </surface>
        <max_contacts>10</max_contacts>
      </collision>
      <visual name='front_right_wheel_link_visual'>
        <pose>0 0 0 0 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>/home/fira/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/catvehicle_basics/catvehicle/meshes/mesh_avis_small_wheel_simplified.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
      <robotNamespace>/catvehicle</robotNamespace>
      <robotParam>robot_description</robotParam>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
    <plugin name='joint_state_publisher' filename='libgazebo_ros_joint_state_publisher.so'>
      <jointName>back_left_wheel_joint, back_right_wheel_joint, front_left_steering_joint, front_right_steering_joint, front_right_wheel_joint, front_left_wheel_joint</jointName>
      <updateRate>50.0</updateRate>
      <robotNamespace>/catvehicle</robotNamespace>
      <alwaysOn>1</alwaysOn>
    </plugin>
    <plugin name='cmdvel_controller' filename='libcatvehiclegazebo.so'>
      <robotNamespace>/catvehicle</robotNamespace>
    </plugin>
    <static>0</static>
    <plugin name='novatel_gps_sim' filename='libhector_gazebo_ros_gps.so'>
      <alwaysOn>1</alwaysOn>
      <updateRate>10.0</updateRate>
      <bodyName>base_link</bodyName>
      <topicName>fix</topicName>
      <velocityTopicName>fix_velocity</velocityTopicName>
      <drift>5.0 5.0 5.0</drift>
      <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
      <velocityDrift>0 0 0</velocityDrift>
      <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
      <robotNamespace>/</robotNamespace>
    </plugin>
    <pose>-0.08 -0.09 0.785 0 -0 0</pose>
  </model>
  <model name='Trafficsign_00001'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00001/materials/scripts</uri>
            <uri>model://Trafficsign_00001/materials/textures</uri>
            <name>Trafficsign_00001</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>25.2353 -0.502952 0 0 -0 0</pose>
  </model>
  <model name='Apriltag36_11_00001'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00001/materials/scripts</uri>
            <uri>model://Apriltag36_11_00001/materials/textures</uri>
            <name>Apriltag36_11_00001</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>22.8131 -2.80528 0 0 -0 0</pose>
  </model>
  <model name='Trafficsign_00001_clone'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00001/materials/scripts</uri>
            <uri>model://Trafficsign_00001/materials/textures</uri>
            <name>Trafficsign_00001</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>26.6201 -51.1236 2.75236 0 -0 0</pose>
  </model>
  <model name='Apriltag36_11_00001_clone'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00001/materials/scripts</uri>
            <uri>model://Apriltag36_11_00001/materials/textures</uri>
            <name>Apriltag36_11_00001</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>26.3386 -50.457 3.92921 3.14159 -1.57079 3.14159</pose>
  </model>
  <model name='Trafficsign_00003'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00003/materials/scripts</uri>
            <uri>model://Trafficsign_00003/materials/textures</uri>
            <name>Trafficsign_00003</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>107.177 57.1837 0 0 -0 0</pose>
  </model>
  <model name='Apriltag36_11_00003'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00003/materials/scripts</uri>
            <uri>model://Apriltag36_11_00003/materials/textures</uri>
            <name>Apriltag36_11_00003</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>107.014 58.91 0 0 -0 0</pose>
  </model>
  <model name='Trafficsign_00002'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00002/materials/scripts</uri>
            <uri>model://Trafficsign_00002/materials/textures</uri>
            <name>Trafficsign_00002</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>106.743 11.6052 0 0 -0 0</pose>
  </model>
  <model name='Apriltag36_11_00002'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00002/materials/scripts</uri>
            <uri>model://Apriltag36_11_00002/materials/textures</uri>
            <name>Apriltag36_11_00002</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>106.703 10.8844 0 0 -0 0</pose>
  </model>
  <model name='Trafficsign_00003_clone'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00003/materials/scripts</uri>
            <uri>model://Trafficsign_00003/materials/textures</uri>
            <name>Trafficsign_00003</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>121.3 -56.7461 2.74453 0 0 -1.5708</pose>
  </model>
  <model name='urban_track'>
    <link name='urban_track_link'>
      <pose>0 2 -0.01 0 -0 3.14</pose>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <inertial>
        <mass>1</mass>
        <pose>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
      </inertial>
      <visual name='urban_track_visual'>
        <geometry>
          <mesh>
            <uri>model://mesh_road_urban.dae</uri>
          </mesh>
        </geometry>
        <pose>0 0 0 0 -0 0</pose>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
        <material>
          <shader type='vertex'>
            <normal_map>__default__</normal_map>
          </shader>
        </material>
      </visual>
      <collision name='urban_track_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://mesh_road_urban.dae</uri>
          </mesh>
        </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>
      <enable_wind>0</enable_wind>
    </link>
    <static>1</static>
    <allow_auto_disable>1</allow_auto_disable>
  </model>
  <model name='Apriltag36_11_00003_clone'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00003/materials/scripts</uri>
            <uri>model://Apriltag36_11_00003/materials/textures</uri>
            <name>Apriltag36_11_00003</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>121.613 -57.1771 3.80889 -1.5708 0 0</pose>
  </model>
  <model name='Apriltag36_11_00002_clone'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00002/materials/scripts</uri>
            <uri>model://Apriltag36_11_00002/materials/textures</uri>
            <name>Apriltag36_11_00002</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>41.7119 -56.5624 3.88756 -1.5708 0 0</pose>
  </model>
  <model name='Trafficsign_00002_clone'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00002/materials/scripts</uri>
            <uri>model://Trafficsign_00002/materials/textures</uri>
            <name>Trafficsign_00002</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>41.7221 -56.5096 2.74604 0 -0 -1.5708</pose>
  </model>
  <model name='Trafficsign_00000'>
    <link name='main'>
      <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Trafficsign_00000/materials/scripts</uri>
            <uri>model://Trafficsign_00000/materials/textures</uri>
            <name>Trafficsign_00000</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>26.5199 -101.163 0 0 -0 0</pose>
  </model>
  <model name='Apriltag36_11_00000'>
    <link name='main'>
      <pose>0 0 0 0 -0 0</pose>
      <visual name='main_Visual'>
        <geometry>
          <box>
            <size>1 1 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://Apriltag36_11_00000/materials/scripts</uri>
            <uri>model://Apriltag36_11_00000/materials/textures</uri>
            <name>Apriltag36_11_00000</name>
          </script>
        </material>
      </visual>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
    </link>
    <static>1</static>
    <pose>27.0709 -101.894 0 0 -0 0</pose>
  </model>
  <model name='urban_track'>
    <link name='urban_track_link'>
      <pose>0 2 -0.01 0 -0 3.14</pose>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <inertial>
        <mass>1</mass>
        <pose>0 0 0 0 -0 0</pose>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
      </inertial>
      <visual name='urban_track_visual'>
        <geometry>
          <mesh>
            <uri>model://mesh_road_urban.dae</uri>
          </mesh>
        </geometry>
        <pose>0 0 0 0 -0 0</pose>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
        <material>
          <shader type='vertex'>
            <normal_map>__default__</normal_map>
          </shader>
        </material>
      </visual>
      <collision name='urban_track_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://mesh_road_urban.dae</uri>
          </mesh>
        </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>
      <enable_wind>0</enable_wind>
    </link>
    <static>1</static>
    <allow_auto_disable>1</allow_auto_disable>
  </model>
  <light name='user_directional_light_0' type='directional'>
    <pose>39.8371 8.56244 1 0 -0 0</pose>
    <diffuse>0.5 0.5 0.5 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <direction>0.1 0.1 -0.9</direction>
    <attenuation>
      <range>20</range>
      <constant>0.5</constant>
      <linear>0.01</linear>
      <quadratic>0.001</quadratic>
    </attenuation>
    <cast_shadows>1</cast_shadows>
  </light>
  <light name='user_directional_light_1' type='directional'>
    <pose>9.69195 1.20616 1 0 -0 0</pose>
    <diffuse>0.5 0.5 0.5 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <direction>0.1 0.1 -0.9</direction>
    <attenuation>
      <range>20</range>
      <constant>0.5</constant>
      <linear>0.01</linear>
      <quadratic>0.001</quadratic>
    </attenuation>
    <cast_shadows>1</cast_shadows>
  </light>
  <light name='user_directional_light_2' type='directional'>
    <pose>108.69 68.5173 1 0 -0 0</pose>
    <diffuse>0.5 0.5 0.5 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <direction>0.1 0.1 -0.9</direction>
    <attenuation>
      <range>20</range>
      <constant>0.5</constant>
      <linear>0.01</linear>
      <quadratic>0.001</quadratic>
    </attenuation>
    <cast_shadows>1</cast_shadows>
  </light>
  <light name='user_spot_light_0' type='spot'>
    <pose>110.36 63.7443 1 0 -0 0</pose>
    <diffuse>0.5 0.5 0.5 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <direction>0 0 -1</direction>
    <attenuation>
      <range>20</range>
      <constant>0.5</constant>
      <linear>0.01</linear>
      <quadratic>0.001</quadratic>
    </attenuation>
    <cast_shadows>0</cast_shadows>
    <spot>
      <inner_angle>0.6</inner_angle>
      <outer_angle>1</outer_angle>
      <falloff>1</falloff>
    </spot>
  </light>
  <light name='user_point_light_0' type='point'>
    <pose>108.201 66.719 1 0 -0 0</pose>
    <diffuse>0.5 0.5 0.5 1</diffuse>
    <specular>0.1 0.1 0.1 1</specular>
    <attenuation>
      <range>20</range>
      <constant>0.5</constant>
      <linear>0.01</linear>
      <quadratic>0.001</quadratic>
    </attenuation>
    <cast_shadows>0</cast_shadows>
    <direction>0 0 -1</direction>
  </light>
  <gui fullscreen='0'>
    <camera name='user_camera'>
      <pose>15.8407 -15.4284 7.61513 0 0.399643 2.3122</pose>
      <view_controller>orbit</view_controller>
      <projection_type>perspective</projection_type>
    </camera>
  </gui>
</world>

[Err] [Server.cc:98] SDF is not valid, see errors above. This can lead to an unexpected behaviour.
Warning [World.cc:264] Non-unique name[urban_track] detected 2 times in XML children of world with name[default].
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/iris/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/models/gazebo_apriltag"
[Wrn] [World.cc:1255] Model with name [urban_track] already exists. Not inserting model. This warning can be ignored in certain situations such as rewind during log playback.
[ INFO] [1688637513.958017211]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1688637513.966323794]: Physics dynamic reconfigure ready.
[INFO] [1688637514.073153, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ERROR] [1688637514.077302670]: SpawnModel: Failure - model name catvehicle already exist.
[INFO] [1688637514.077651, 0.000000]: Spawn status: SpawnModel: Failure - entity already exists.
[ERROR] [1688637514.078547, 0.000000]: Spawn service failed. Exiting.
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[urdf_spawner-4] process has died [pid 2327, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model catvehicle -param robot_description -x -0.08 -y -0.09 -z 0.785 __name:=urdf_spawner __log:=/home/iris/.ros/log/a9e3191a-1be3-11ee-be32-dfbe336089a0/urdf_spawner-4.log].
log file: /home/iris/.ros/log/a9e3191a-1be3-11ee-be32-dfbe336089a0/urdf_spawner-4*.log
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_camera.so: libgazebo_ros_camera.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_block_laser.so: libgazebo_ros_block_laser.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_laser.so: libgazebo_ros_laser.so: cannot open shared object file: No such file or directory
[ INFO] [1688637514.995122587]: Loading gazebo_ros_control plugin
[ INFO] [1688637514.995371253]: Starting gazebo_ros_control plugin in namespace: /catvehicle
[ INFO] [1688637514.997677587]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[Msg] Waiting for model database update to complete...
[Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[ INFO] [1688637515.131247128]: No p gain specified for pid. Namespace: /catvehicle/gazebo_ros_control/pid_gains/back_right_wheel_joint. Using SetAngle from Joints.
[ INFO] [1688637515.132132337]: No p gain specified for pid. Namespace: /catvehicle/gazebo_ros_control/pid_gains/back_left_wheel_joint. Using SetAngle from Joints.
[ INFO] [1688637515.143174503]: Loaded gazebo_ros_control.
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_joint_state_publisher.so: libgazebo_ros_joint_state_publisher.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libhector_gazebo_ros_gps.so: libhector_gazebo_ros_gps.so: cannot open shared object file: No such file or directory
AmirmohammadZarif commented 1 year ago

Hello, The problem seems to be due to the AprilTag submodule probably not being included in the cloned version of the simulator. Please, first check the contents of the submodule using ls avisengine_environment/gazebo_apriltag and if there is no result showing up, then this is the case. And to solve this, you can either

  1. Try cloning the submodule individually
  2. Try re-cloning the repository to also include the submodules
  3. Try updating the submodules

Solution 1. Try and clone the submodule directly.

cd ~/catkin_ws/src/FIRA-Autonomous-Cars-Simulator #Path to the simulator if different

cd avisengine_environment/models
git clone https://github.com/koide3/gazebo_apriltag/

cd ~/catkin_ws/
catkin_make

Solution 2. Remove the existing installation if there is no change made to it, and try re-cloning the entire repository recursively, which will include the submodules:

cd ~/catkin_ws/src
git clone --recursive https://github.com/Fira-Autonomous-Cars/FIRA-Autonomous-Cars-Simulator/

cd ~/catkin_ws/
catkin_make

Solution 3. Try updating the submodules:

cd ~/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/
git submodule update --init --recursive

cd ~/catkin_ws/
catkin_make

I hope this helps, please let me know if it resolved the issue.

Danendra10 commented 1 year ago

sadly, there are no gazebo_apriltag , this is my directory

ls src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/
CMakeLists.txt  launch  meshes  models  package.xml  scripts  urdf  worlds

Maybe this could help

  1. ll in FIRA-Autonomous-Cars-SImulator

    ll
total 108
drwxrwxr-x 19 iris iris 4096 Jul  7 06:44 ./
drwxrwxr-x  3 iris iris 4096 Jul  7 06:46 ../
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 autonomous_vehicle_nosecurity/
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 autonomous_vehicle_project/
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 autonomous_vehicle_simple/
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 autonomous_vehicle_teb/
drwxrwxr-x  8 iris iris 4096 Jul  7 06:44 avisengine_environment/
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 avisengine_resources/
drwxrwxr-x  6 iris iris 4096 Jul  7 06:44 can_sim_tc/
drwxrwxr-x 12 iris iris 4096 Jul  7 06:44 catvehicle_basics/
drwxrwxr-x  7 iris iris 4096 Jul  7 06:44 dataspeed_can/
drwxrwxr-x 11 iris iris 4096 Jul  7 06:44 dbw_mkz_ros/
-rw-rw-r--  1 iris iris 6148 Jul  7 06:44 .DS_Store
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 example_pkg/
drwxrwxr-x  9 iris iris 4096 Jul  7 06:44 .git/
-rw-rw-r--  1 iris iris  163 Jul  7 06:44 .gitmodules
drwxrwxr-x  2 iris iris 4096 Jul  7 06:44 images/
-rw-rw-r--  1 iris iris 7048 Jul  7 06:44 LICENSE
drwxrwxr-x  4 iris iris 4096 Jul  7 06:44 lusb/
-rw-rw-r--  1 iris iris  668 Jul  7 06:44 packages.txt
-rw-rw-r--  1 iris iris 5774 Jul  7 06:44 README.md
drwxrwxr-x  5 iris iris 4096 Jul  7 06:44 sicktoolbox/
drwxrwxr-x  4 iris iris 4096 Jul  7 06:44 sicktoolbox_wrapper/
drwxrwxr-x  6 iris iris 4096 Jul  7 06:44 teb_navigation_demo/

  2. ll in evisengine_environment

    ~/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment$ ll
total 52
drwxrwxr-x  8 iris iris 4096 Jul  7 06:44 ./
drwxrwxr-x 19 iris iris 4096 Jul  7 06:44 ../
-rw-rw-r--  1 iris iris 7126 Jul  7 06:44 CMakeLists.txt
-rw-rw-r--  1 iris iris 6148 Jul  7 06:44 .DS_Store
drwxrwxr-x  2 iris iris 4096 Jul  7 06:44 launch/
drwxrwxr-x  3 iris iris 4096 Jul  7 06:44 meshes/
drwxrwxr-x  4 iris iris 4096 Jul  7 06:44 models/
-rw-rw-r--  1 iris iris 1211 Jul  7 06:44 package.xml
drwxrwxr-x  2 iris iris 4096 Jul  7 06:44 scripts/
drwxrwxr-x  2 iris iris 4096 Jul  7 06:44 urdf/
drwxrwxr-x  2 iris iris 4096 Jul  7 06:44 worlds/

i tried all the 3 steps, can you please help me with this issue

AmirmohammadZarif commented 1 year ago

Ok, then try this instead. Surely the directory should be there, but it won't probably have no content in it.

ll ~/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/models/gazebo_apriltag

https://github.com/Fira-Autonomous-Cars/FIRA-Autonomous-Cars-Simulator/tree/430c00a8a909d78b80c9846861c399c318d7a23b/avisengine_environment/models

Danendra10 commented 1 year ago

Thanks for the reply, this is our console

:~/catkin_ws$ ll ~/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/models/gazebo_apriltag
total 120
drwxrwxr-x  5 iris iris  4096 Jul  7 06:44 ./
drwxrwxr-x  4 iris iris  4096 Jul  7 06:44 ../
drwxrwxr-x 10 iris iris  4096 Jul  7 06:46 apriltag-imgs/
-rwxrwxr-x  1 iris iris  1674 Jul  7 06:44 generate.py*
-rw-rw-r--  1 iris iris    76 Jul  7 06:44 .git
-rw-rw-r--  1 iris iris   108 Jul  7 06:44 .gitmodules
drwxrwxr-x 18 iris iris  4096 Jul  7 06:44 models/
-rw-rw-r--  1 iris iris   471 Jul  7 06:44 README.md
-rw-rw-r--  1 iris iris 82804 Jul  7 06:44 ss.png
drwxrwxr-x  3 iris iris  4096 Jul  7 06:44 template/

it seems ok compared to https://github.com/koide3/gazebo_apriltag/tree/1f4d6077476d3f7c64f65d27b24b17c06056fe45 but in my console when i do

roslaunch avisengine_environment track_urban_simple.launch

it says

[Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/iris/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/models/gazebo_apriltag"

sadly it's still returning the same error

Danendra10 commented 1 year ago

some errors that i noticed here is

  1. SDF is not valid
  2. model.config is missing from the /home/iris/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/models/gazebo_apriltag
  3. The model "catvehicle" already exists, causing a failure when attempting to spawn it again.
AmirmohammadZarif commented 1 year ago

Ok, so the output shows that the submodule was updated, I will fix all the 3 issues since they're all related to the world file. Did the Apriltags show up?

Danendra10 commented 1 year ago

you mean the qrcode-like sign right? no it doesn't shown up, but all other sign (the sign like in our real world) is showing

AmirmohammadZarif commented 1 year ago

Ok, I will try to reproduce this issue.

Danendra10 commented 1 year ago

thank you, really apreciate that, let me know when you're finished

Danendra10 commented 1 year ago

Excuse me, do you have any update on my issue? thanks

Danendra10 commented 1 year ago

Sorry, I've check the latest commits, and i did follow the steps, and unfortunately it still returns

[Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/iris/catkin_ws/src/FIRA-Autonomous-Cars-Simulator/avisengine_environment/models/gazebo_apriltag"
Danendra10 commented 1 year ago

sorry, maybe there's something wrong with my environment, cause my friend can get the barcode, I'll try it again

AmirmohammadZarif commented 1 year ago

I dropped the submodule dependency and added the config file since it was not included in the main repository (see this commit f4d67063ed9310ce323b17cc7d6f6e1b136dad8e.) Please re-clone the simulator repository and try catkin_make. I hope it works for you.

AmirmohammadZarif commented 1 year ago

I will also send a link to this issue to discord, in case anybody else faces the same issue. Please reinstall the simulator and let me know if it worked for you. Thanks!