Merge branch 'master' into 'master'

Update models and worlds

See merge request !2

models/camera/model.sdf

@@ -2,9 +2,13 @@
 <sdf version='1.6'>
   <model name="camera">
     <static>false</static>
-                <!--pose> 0.11 0 0.195011 0 0 0</pose-->
-                <pose> 0.2 0 0.12 0 0 0</pose>
+    <!--pose>
+    0.11 0 0.195011 0 0 0</pose-->
+    <pose> 0 0 0 0 0 0</pose>
     <link name='cameralink'>
+      <inertial>
+        <mass>0.2</mass>
+      </inertial>
       <collision name="collision">
         <geometry>
           <box>
@@ -21,7 +25,6 @@
       </visual>
 
 
-  
       <!-- camera -->
       <sensor type="camera" name="camera1">
         <visualize>true</visualize>

models/rover/model.sdf

@@ -2,9 +2,9 @@
 <sdf version='1.6'>
 	<model name="rover">
 		<static>false</static>
-		<pose>0 0 0.05 0 0 0</pose>
+		<!-- <pose>0 0 0.05 0 0 0</pose> -->
 		<link name='chassis'>
-		<pose>0 0 0.05 0 0 0</pose>
+			<!-- <pose>0 0 0.05 0 0 0</pose> -->
 			<inertial>
 				<mass>2.0</mass>
 			</inertial>
@@ -30,7 +30,7 @@
 			</visual>
 		</link>
 		<link name="left_wheel">
-		  <pose>.09 0.1 0 1.57 0 0</pose>
+			<pose>.13 0.1 -0.05 1.57 0 0</pose>
 			<inertial>
 				<mass>0.2</mass>
 			</inertial>
@@ -58,7 +58,7 @@
 			</visual>
 		</link>
 		<link name="left_wheel2">
-		  <pose>-.09 0.1 0 1.57 0 0</pose>
+			<pose>-.13 0.1 -0.05 1.57 0 0</pose>
 			<inertial>
 				<mass>0.2</mass>
 			</inertial>
@@ -86,7 +86,7 @@
 			</visual>
 		</link>
 		<link name="right_wheel">
-		  <pose>.09 -0.1 0 1.57 0 0</pose>
+			<pose>.13 -0.1 -0.05 1.57 0 0</pose>
 			<inertial>
 				<mass>0.2</mass>
 			</inertial>
@@ -114,7 +114,7 @@
 			</visual>
 		</link>
 		<link name="right_wheel2">
-		  <pose>-.09 -0.1 0 1.57 0 0</pose>
+			<pose>-.13 -0.1 -0.05 1.57 0 0</pose>
 			<inertial>
 				<mass>0.2</mass>
 			</inertial>
@@ -174,7 +174,9 @@
 			</axis>
 		</joint>
 		<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
-	      <commandTopic>cmd_vel</commandTopic>
+			<ros>
+				<namespace>/robot</namespace>
+			</ros>
 			<odometryTopic>odom</odometryTopic>
 			<odometryFrame>odom</odometryFrame>
 			<odometryRate>20.0</odometryRate>

models/rover_camera/model.sdf

@@ -6,9 +6,10 @@
     </include>
     <include>
       <uri>model://camera</uri>
+      <pose>0.2 0 0.05 0 0 0</pose>
     </include>
     <joint type="fixed" name="camera_joint">
-      <pose>0 0 0 0 0 0</pose>
+      
       <child>camera::cameralink</child>
       <parent>rover::chassis</parent>
     </joint>

worlds/isae_room-07009/isae_fisa.world

@@ -42,7 +42,7 @@
 
     <include>
       <uri>model://rover_camera</uri>
-      <pose>0.0 0 0 0 0</pose>
+      <pose>0.0 0 0.1 0 0</pose>
     </include>
     
     <include>