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Humble fortress #11

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1758252
initial modifications from fork repo
AnaTravediu Mar 18, 2026
06dde3c
24.03.2026
AnaTravediu Mar 24, 2026
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18 changes: 18 additions & 0 deletions comenzi.txt
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ign gazebo ~/ros2_ws/src/gazebo-ros-actor-plugin/config/worlds/move_actor.world

#merge
ign gazebo ~/ros2_ws/src/gazebo-ros-actor-plugin/config/worlds/move_actor.world




#Terminal1
cd ~/ros2_ws
source ~/ros2_ws/install/setup.bash
ros2 run gazebo_ros_actor_plugin path_publisher.py

#Terminal2
source ~/ros2_ws/install/setup.bash
ros2 launch gazebo_ros_actor_plugin sim.launch.py


57 changes: 57 additions & 0 deletions config/skins/DoctorFemaleWalk/backup_model1.sdf
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<sdf version="1.6">
<actor name="walker_slow_red">

<pose>-3 -3 0 0 0 0</pose>

<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>

<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
<interpolate_x>true</interpolate_x>
</animation>

<link name="collision_body">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<mesh>
<uri>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</uri>
</mesh>
<length>1.7</length>
</cylinder>
</geometry>
</collision>
</link>

<plugin filename="libgazebo_ros_actor_plugin.so"
name="gazebo_ros_actor_plugin::GazeboRosActorCommand">

<follow_mode>path</follow_mode>
<vel_topic>/cmd_vel1</vel_topic>
<path_topic>/cmd_path1</path_topic>

<animation_factor>4.0</animation_factor>

<linear_tolerance>0.1</linear_tolerance>
<linear_velocity>1</linear_velocity>

<angular_tolerance>0.0872</angular_tolerance>
<angular_velocity>2.5</angular_velocity>

<default_rotation>1.57</default_rotation>

</plugin>






</actor>
</sdf>
52 changes: 52 additions & 0 deletions config/skins/DoctorFemaleWalk/combo1_model1.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<actor name="walker_slow_red">

<!-- Starting position -->
<pose>-3 -3 0 0 0 0</pose>

<!-- Visual skin -->
<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>

<!-- Walking animation -->
<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
<interpolate_x>true</interpolate_x>
</animation>

<!-- Collision for physics -->
<link name="collision_body">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>1.7</length>
</cylinder>
</geometry>
</collision>
</link>

<!-- ROS2 actor plugin -->
<plugin filename="libgazebo_ros_actor_plugin.so"
name="gazebo_ros_actor_plugin::GazeboRosActorCommand">

<follow_mode>path</follow_mode>
<vel_topic>/cmd_vel1</vel_topic>
<path_topic>/cmd_path1</path_topic>

<animation_factor>4.0</animation_factor>
<linear_tolerance>0.1</linear_tolerance>
<linear_velocity>1.0</linear_velocity>
<angular_tolerance>0.0872</angular_tolerance>
<angular_velocity>2.5</angular_velocity>
<default_rotation>1.57</default_rotation>

</plugin>

</actor>
</sdf>
54 changes: 54 additions & 0 deletions config/skins/DoctorFemaleWalk/model1.sdf
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<sdf version="1.6">
<actor name="walker_slow_red">

<pose>-3 -3 0.4 0 0 0</pose>

<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>

<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
<interpolate_x>true</interpolate_x>
</animation>

<link name="collision_body">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>1.7</length>
</cylinder>
</geometry>
</collision>
</link>

<plugin filename="libgazebo_ros_actor_plugin.so"
name="gazebo_ros_actor_plugin::GazeboRosActorCommand">

<follow_mode>path</follow_mode>
<vel_topic>/cmd_vel1</vel_topic>
<path_topic>/cmd_path1</path_topic>

<animation_factor>4.0</animation_factor>

<linear_tolerance>0.1</linear_tolerance>
<linear_velocity>1</linear_velocity>

<angular_tolerance>0.0872</angular_tolerance>
<angular_velocity>2.5</angular_velocity>

<default_rotation>1.57</default_rotation>

</plugin>






</actor>
</sdf>
54 changes: 54 additions & 0 deletions config/skins/DoctorFemaleWalk/model2.sdf
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<sdf version="1.6">
<actor name="walker_slow_red">

<pose> 3 -3 0.4 0 0 0</pose>

<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>

<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
<interpolate_x>true</interpolate_x>
</animation>



<link name="collision_body">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>1.7</length>
</cylinder>
</geometry>
</collision>
</link>




<plugin filename="libgazebo_ros_actor_plugin.so"
name="gazebo_ros_actor_plugin::GazeboRosActorCommand">

<follow_mode>path</follow_mode>
<vel_topic>/cmd_vel2</vel_topic>
<path_topic>/cmd_path2</path_topic>

<animation_factor>4.0</animation_factor>

<linear_tolerance>0.1</linear_tolerance>
<linear_velocity>1</linear_velocity>

<angular_tolerance>0.0872</angular_tolerance>
<angular_velocity>2.5</angular_velocity>

<default_rotation>1.57</default_rotation>

</plugin>

</actor>
</sdf>
53 changes: 53 additions & 0 deletions config/skins/DoctorFemaleWalk/model3.sdf
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<sdf version="1.6">
<actor name="walker_slow_red">

<pose>-2 0 0.4 0 0 0</pose>

<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>

<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
<interpolate_x>true</interpolate_x>
</animation>



<link name="collision_body">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>1.7</length>
</cylinder>
</geometry>
</collision>
</link>



<plugin filename="libgazebo_ros_actor_plugin.so"
name="gazebo_ros_actor_plugin::GazeboRosActorCommand">

<follow_mode>path</follow_mode>
<vel_topic>/cmd_vel3</vel_topic>
<path_topic>/cmd_path3</path_topic>

<animation_factor>4.0</animation_factor>

<linear_tolerance>0.1</linear_tolerance>
<linear_velocity>1</linear_velocity>

<angular_tolerance>0.0872</angular_tolerance>
<angular_velocity>2.5</angular_velocity>

<default_rotation>1.57</default_rotation>

</plugin>

</actor>
</sdf>
50 changes: 50 additions & 0 deletions config/skins/DoctorFemaleWalk/model4.sdf
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<sdf version="1.6">
<actor name="walker_slow_red">

<pose>2 0 0.4 0 0 0</pose>

<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>

<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
<interpolate_x>true</interpolate_x>
</animation>

<link name="collision_body">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>1.7</length>
</cylinder>
</geometry>
</collision>
</link>


<plugin filename="libgazebo_ros_actor_plugin.so"
name="gazebo_ros_actor_plugin::GazeboRosActorCommand">

<follow_mode>path</follow_mode>
<vel_topic>/cmd_vel4</vel_topic>
<path_topic>/cmd_path4</path_topic>

<animation_factor>4.0</animation_factor>

<linear_tolerance>0.1</linear_tolerance>
<linear_velocity>1</linear_velocity>

<angular_tolerance>0.0872</angular_tolerance>
<angular_velocity>2.5</angular_velocity>

<default_rotation>1.57</default_rotation>

</plugin>

</actor>
</sdf>
14 changes: 14 additions & 0 deletions config/skins/DoctorFemaleWalk/original_model.sdf
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<sdf version="1.6">
<actor name="actor">
<skin>
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.0</scale>
</skin>
<pose>0 0 0 0 0 0</pose>
<animation name="walk">
<filename>model://DoctorFemaleWalk/meshes/DoctorFemaleWalk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
</actor>
</sdf>
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