From 0644e8d5662be1bd0927b99fb3c604173998de84 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Mon, 15 Jan 2024 11:00:58 +0000
Subject: [PATCH] Add heightmap terrain

---
 wild_visual_navigation_sim/CMakeLists.txt     |   1 +
 .../Media/models/heightmap.png                | Bin 0 -> 11416 bytes
 wild_visual_navigation_sim/README.md          |   9 +-
 wild_visual_navigation_sim/launch/sim.launch  |   7 +-
 wild_visual_navigation_sim/package.xml        |   1 +
 .../worlds/outdoor.world                      | 336 ++++++++++++++++++
 .../worlds/scenario.world                     |   4 +-
 7 files changed, 349 insertions(+), 9 deletions(-)
 create mode 100644 wild_visual_navigation_sim/Media/models/heightmap.png
 create mode 100644 wild_visual_navigation_sim/worlds/outdoor.world

diff --git a/wild_visual_navigation_sim/CMakeLists.txt b/wild_visual_navigation_sim/CMakeLists.txt
index 292d6a43..e9f2026f 100644
--- a/wild_visual_navigation_sim/CMakeLists.txt
+++ b/wild_visual_navigation_sim/CMakeLists.txt
@@ -20,6 +20,7 @@ catkin_package(
 #                                 scripts/rosbag_play.sh
 #                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
+message(${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY launch Media worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
\ No newline at end of file
diff --git a/wild_visual_navigation_sim/Media/models/heightmap.png b/wild_visual_navigation_sim/Media/models/heightmap.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ae5cb96f91ab5b0f636cabecf2b3824bf115ca5
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diff --git a/wild_visual_navigation_sim/README.md b/wild_visual_navigation_sim/README.md
index e36be893..bb92611e 100644
--- a/wild_visual_navigation_sim/README.md
+++ b/wild_visual_navigation_sim/README.md
@@ -5,11 +5,16 @@ Simulation environment to test Wild Visual Navigation (WVN). We use a modified C
 ## Requirements
 
 ```sh
-sudo apt install ros-noetic-jackal-simulator
+$ sudo apt update 
+$ sudo apt install -y \
+        ros-noetic-jackal-simulator \
+        ros-noetic-jackal-desktop \
+        ros-noetic-teleop-twist-keyboard \
+        ros-noetic-rqt-robot-steering \
 ```
 
 ## Running
 
 ```sh
-roslaunch wild_visual_navigation_sim sim.launch
+$ roslaunch wild_visual_navigation_sim sim.launch
 ```
diff --git a/wild_visual_navigation_sim/launch/sim.launch b/wild_visual_navigation_sim/launch/sim.launch
index 651df342..68e83fa8 100644
--- a/wild_visual_navigation_sim/launch/sim.launch
+++ b/wild_visual_navigation_sim/launch/sim.launch
@@ -8,11 +8,8 @@
     <arg name="use_sim_time" default="true" />
     <arg name="gui" default="true" />
     <arg name="headless" default="false" />
-    <arg name="world_name" default="$(find wild_visual_navigation_sim)/worlds/scenario.world" />
+    <arg name="world_name" default="$(find wild_visual_navigation_sim)/worlds/outdoor.world" />
     <arg name="jackal_config" value="front_flea3" /> <!-- add camera -->
-
-    <!-- Optionally enable teleop for the simulation -->
-    <arg name="joystick" default="false" />
   
     <!-- Launch Gazebo with the specified world -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -30,7 +27,7 @@
       <arg name="z" value="1.0" />
       <arg name="yaw" value="0" />
       <arg name="config" value="$(arg jackal_config)" />
-      <arg name="joystick" value="$(arg joystick)" />
+      <arg name="joystick" value="false" />
     </include>
 
     
diff --git a/wild_visual_navigation_sim/package.xml b/wild_visual_navigation_sim/package.xml
index 9e1e43b5..82f0e65b 100644
--- a/wild_visual_navigation_sim/package.xml
+++ b/wild_visual_navigation_sim/package.xml
@@ -20,5 +20,6 @@
   <exec_depend>gazebo_ros</exec_depend>
   <export>
     <gazebo_ros gazebo_media_path="${prefix}"/>
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
   </export>
 </package>
diff --git a/wild_visual_navigation_sim/worlds/outdoor.world b/wild_visual_navigation_sim/worlds/outdoor.world
new file mode 100644
index 00000000..86cc8253
--- /dev/null
+++ b/wild_visual_navigation_sim/worlds/outdoor.world
@@ -0,0 +1,336 @@
+<?xml version="1.0"?>
+<sdf version='1.6'>
+  <world name='small_outdoor'>
+    <scene>
+      <ambient>0.2 0.2 0.2 1</ambient>
+      <shadows>1</shadows>
+      <grid>0</grid>
+      <sky>
+        <clouds>
+          <speed>4</speed>
+        </clouds>
+      </sky>
+      <background>0.7 0.7 0.7 1</background>
+    </scene>
+    <physics type="ode">
+			<ode>
+				<solver>
+					<type>quick</type>
+					<iters>10</iters>
+					<sor>1.3</sor>
+				</solver>
+				<constraints>
+					<cfm>0.0</cfm>
+					<erp>0.2</erp>
+					<contact_max_correcting_vel>10</contact_max_correcting_vel>
+					<contact_surface_layer>0.001</contact_surface_layer>
+				</constraints>
+			</ode>
+			<max_step_size>0.001</max_step_size>
+		</physics>
+    <gravity>0 0 -9.81</gravity>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 100 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.9 0.9 0.9 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.1</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.2 0.2 -0.9</direction>
+    </light>
+    <model name='heightmap_terrain'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <heightmap>
+              <uri>
+                file://heightmap.png</uri>
+              <size>30 30 12</size>
+              <pos>0 0 -1</pos>
+              <texture>
+                <size>10</size>
+                <diffuse>__default__</diffuse>
+                <normal>__default__</normal>
+              </texture>
+              <blend>
+                <min_height>0</min_height>
+                <fade_dist>0</fade_dist>
+              </blend>
+            </heightmap>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode />
+            </contact>
+            <bounce />
+            <friction>
+              <torsional>
+                <ode />
+              </torsional>
+              <ode />
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <heightmap>
+              <texture>
+                <diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
+                <normal>file://media/materials/textures/flat_normal.png</normal>
+                <size>7</size>
+              </texture>
+              <texture>
+                <diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
+                <normal>file://media/materials/textures/flat_normal.png</normal>
+                <size>3</size>
+              </texture>
+              <texture>
+                <diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
+                <normal>file://media/materials/textures/flat_normal.png</normal>
+                <size>4</size>
+              </texture>
+              <blend>
+                <min_height>0</min_height>
+                <fade_dist>0.05</fade_dist>
+              </blend>
+              <blend>
+                <min_height>-1</min_height>
+                <fade_dist>7</fade_dist>
+              </blend>
+              <uri>
+                file://heightmap.png</uri>
+              <size>30 30 12</size>
+              <pos>0 0 -1</pos>
+            </heightmap>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+
+    <!-- Trees!!! -->
+		<model name="tree1">
+			<static>true</static>
+			<link name="tree1_link">
+				<pose>3 3 0.6 0 0 0</pose>
+				<collision name="tree1_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree1_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree2">
+			<static>true</static>
+			<link name="tree2_link">
+				<pose>5 6 0.7 0 0 0.3</pose>
+				<collision name="tree2_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree2_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree3">
+			<static>true</static>
+			<link name="tree3_link">
+				<pose>1 8 0.9 0 0 0</pose>
+				<collision name="tree3_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree2.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree3_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree2.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree4">
+			<static>true</static>
+			<link name="tree4_link">
+				<pose>-5 4 0.8 0 0 0.1</pose>
+				<collision name="tree4_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree4_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree5">
+			<static>true</static>
+			<link name="tree5_link">
+				<pose>-10 -3 1.1 0 0 0.3</pose>
+				<collision name="tree5_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree5_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree6">
+			<static>true</static>
+			<link name="tree6_link">
+				<pose>-6 -1 1.02 0 0 0.5</pose>
+				<collision name="tree6_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree6_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree7">
+			<static>true</static>
+			<link name="tree7_link">
+				<pose>-1 1 0.8 0 0 0.2</pose>
+				<collision name="tree7_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree2.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree7_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree2.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree8">
+			<static>true</static>
+			<link name="tree8_link">
+				<pose>9 -4 0.5 0 0 0.5</pose>
+				<collision name="tree8_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree8_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+
+		<model name="tree9">
+			<static>true</static>
+			<link name="tree9_link">
+				<pose>6 -0.5 0.8 0 0 0.5</pose>
+				<collision name="tree9_collision">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+				</collision>
+				<visual name="tree9_visual">
+					<geometry>
+						<mesh>
+							<uri>file://OliveTree1.dae</uri>
+							<scale>1 1 1</scale>
+						</mesh>
+					</geometry>
+					<cast_shadows>false</cast_shadows>
+				</visual>
+			</link>
+		</model>
+  </world>
+</sdf>
\ No newline at end of file
diff --git a/wild_visual_navigation_sim/worlds/scenario.world b/wild_visual_navigation_sim/worlds/scenario.world
index a8465b3e..46cfec7b 100644
--- a/wild_visual_navigation_sim/worlds/scenario.world
+++ b/wild_visual_navigation_sim/worlds/scenario.world
@@ -2,7 +2,7 @@
   Outdoor scenario from HRATC repository:
   https://github.com/ras-sight/hratc2014_framework
 -->
-<?xml version="1.0" encoding="UTF-8" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <sdf version="1.4">
 	<world name="default">
 		<scene>
@@ -279,4 +279,4 @@
 		</model>
 
 	</world>
-</sdf>
+</sdf>
\ No newline at end of file