Maila 24 add car mode to simulation

package.xml

@@ -12,6 +12,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <exec_depend>stage_ros2</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

stage/models/traxxas_summit/car.model

@@ -0,0 +1,43 @@
+# Stage simulator model of 'traxxas-summit'
+
+
+# These relative path should be specified respect to the `main.world` file see:
+# https://github.com/Mailamaca/stage/issues/1
+include "../../sensors/ust10lx.ranger"
+# include "../../sensors/simcam.camera"
+
+
+define car position
+(
+    # size
+    size [0.563 0.470 0.200]
+    origin [0.172828879 0 0 0]
+    gui_nose 1
+
+    bitmap "../../models/traxxas_summit/footprint.png"
+
+    # kinematic model
+    drive "diff"
+
+    # update frequency
+    update_interval 20
+
+    # type of localization
+    localization "gps"
+    # gps = absolute
+    # odom = relative
+
+     # [ xmin xmax ymin ymax zmin zmax amin amax ]
+    velocity_bounds [-1.5 1.5 0 0 0 0 -90 90]
+
+    # LiDAR
+    # position in metres, the centre of rotation offset must be added
+    # and initial position
+    ust10lx ( pose [ 0.0 0 0.25 0 ] size [ 0.05 0.05 0.035 ] )
+
+    # Camera
+    # temporary disabled so we can run simulation without GUI (and camera requires GUI)
+    # simcam ( pose [ -0.1375 0 0.175 0 ] size [ 0.025 0.09 0.025 ] )
+
+    stack_children 0
+)

stage/sensors/ust10lx.ranger

@@ -3,11 +3,12 @@
 define ust10lx ranger
 (
     sensor(
-        range [ 0.0  10.0 ]
-        fov 270.0
+        range [ 0.0  12.0 ]
+        fov 3600.0
         samples 3243
     )
 
     # generic model properties
     color "orange"
+    update_interval 100 # sensor frequency [ms]
 )

stage/worlds/simple_field/main.world

@@ -1,6 +1,6 @@
 # A simple italian flag world.
 
-include "../../models/tx2.model"
+include "../../models/traxxas_summit/car.model"
 
 define test_block model
 (
@@ -9,7 +9,7 @@ define test_block model
 )
 
 # throw in a robot
-tx2( pose [ 5 0 0 0 ] name "car" color "blue")
+car( pose [ 5 0 0 0 ] name "car" color "blue")
 
 # :it: flag test blocks, use them interactively to obstacolate the robot.
 test_block

stage/worlds/willow_garage/main.world

@@ -1,7 +1,7 @@
 
 
 
-include "../../models/tx2.model"
+include "../../models/traxxas_summit/car.model"
 
 define floorplan model
 (
@@ -44,4 +44,4 @@ floorplan
 )
 
 # throw in a robot
-tx2( pose [ -33 13 0 0 ] name "car" color "blue")
+car( pose [ -33 13 0 0 ] name "car" color "blue")