diff --git a/nav2_gps_waypoint_follower_demo/CMakeLists.txt b/nav2_gps_waypoint_follower_demo/CMakeLists.txt new file mode 100644 index 0000000..e94cb93 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.8) +project(nav2_gps_waypoint_follower_demo) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY worlds models launch urdf config + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/nav2_gps_waypoint_follower_demo/LICENSE b/nav2_gps_waypoint_follower_demo/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/nav2_gps_waypoint_follower_demo/config/behavior.xml b/nav2_gps_waypoint_follower_demo/config/behavior.xml new file mode 100644 index 0000000..b764e85 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/config/behavior.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml b/nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml new file mode 100644 index 0000000..367eb37 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml @@ -0,0 +1,13 @@ +waypoints: +- latitude: 38.161491054181276 + longitude: -122.45464431092836 + yaw: 0.0 +- latitude: 38.161587576524845 + longitude: -122.4547994038464 + yaw: 1.57 +- latitude: 38.161708040316405 + longitude: -122.45499603070951 + yaw: 3.14 +- latitude: 38.16180165780551 + longitude: -122.45515645020123 + yaw: 4.71 diff --git a/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml b/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml new file mode 100644 index 0000000..5358f15 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml @@ -0,0 +1,127 @@ +# For parameter descriptions, please refer to the template parameter files for each node. + +ekf_filter_node_odom: + ros__parameters: + frequency: 30.0 + two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments + print_diagnostics: true + debug: false + publish_tf: true + + map_frame: map + odom_frame: odom + base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin + world_frame: odom + + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + odom0_queue_size: 10 + odom0_differential: false + odom0_relative: false + + imu0: imu + imu0_config: [false, false, false, + false, false, true, + false, false, false, + false, false, false, + false, false, false] + imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate + imu0_relative: false + imu0_queue_size: 10 + imu0_remove_gravitational_acceleration: true + + use_control: false + + process_noise_covariance: [1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3] + +ekf_filter_node_map: + ros__parameters: + frequency: 30.0 + two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments + print_diagnostics: true + debug: false + publish_tf: true + + map_frame: map + odom_frame: odom + base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin + world_frame: map + + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + odom0_queue_size: 10 + odom0_differential: false + odom0_relative: false + + odom1: odometry/gps + odom1_config: [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] + odom1_queue_size: 10 + odom1_differential: false + odom1_relative: false + + imu0: imu + imu0_config: [false, false, false, + false, false, true, + false, false, false, + false, false, false, + false, false, false] + imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate + imu0_relative: false + imu0_queue_size: 10 + imu0_remove_gravitational_acceleration: true + + use_control: false + + process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3] + +navsat_transform: + ros__parameters: + frequency: 30.0 + delay: 3.0 + magnetic_declination_radians: 0.0 + yaw_offset: 0.0 + zero_altitude: true + broadcast_utm_transform: true + publish_filtered_gps: true + use_odometry_yaw: true + wait_for_datum: false diff --git a/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc b/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc new file mode 100644 index 0000000..bb578c7 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc @@ -0,0 +1,56 @@ +capture_directory: "~" +fixed_frame: map +target_frame: map +fix_orientation: false +rotate_90: false +enable_antialiasing: true +show_displays: true +show_status_bar: true +show_capture_tools: true +window_width: 1920 +window_height: 1016 +view_scale: 0.564473748 +offset_x: -55.0469894 +offset_y: -4.65194941 +use_latest_transforms: true +background: "#a0a0a4" +image_transport: raw +displays: + - type: mapviz_plugins/tile_map + name: new display + config: + visible: true + collapsed: false + custom_sources: + [] + bing_api_key: "" + source: Bing Maps (terrain) + - type: mapviz_plugins/point_click_publisher + name: new display + config: + visible: true + collapsed: false + topic: clicked_point + output_frame: wgs84 + - type: mapviz_plugins/tf_frame + name: new display + config: + visible: true + collapsed: false + frame: base_link + color: "#00ff00" + draw_style: arrows + position_tolerance: 0 + buffer_size: 1 + static_arrow_sizes: true + arrow_size: 53 + - type: mapviz_plugins/navsat + name: new display + config: + visible: true + collapsed: false + topic: /gps/fix + color: "#55aaff" + draw_style: points + position_tolerance: 0 + buffer_size: 1 \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml new file mode 100644 index 0000000..58d35e5 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml @@ -0,0 +1,273 @@ +# GPS WPF CHANGES: +# - AMCL params removed; EKF node handles localization. +# - Static layer removed; global costmap is rolling. +# - Global costmap set to 50x50 for large GPS-based environments. +# - Add the correct path for your behavior.xml to make the navigation status active + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + default_nav_to_pose_bt_xml: "/home/haroon/ros2_ws/src/navigation2_tutorials/nav2_gps_waypoint_follower_demo/config/behavior.xml" + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_goal_updated_controller_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + error_code_names: + - compute_path_error_code + - follow_path_error_code + +controller_server: + ros__parameters: + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.1 + rolling_window: True + width: 50 + height: 50 + track_unknown_space: true + plugins: ["obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + inf_is_valid: true + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 diff --git a/nav2_gps_waypoint_follower_demo/launch/dual_ekf_navsat.launch.py b/nav2_gps_waypoint_follower_demo/launch/dual_ekf_navsat.launch.py new file mode 100644 index 0000000..553985c --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/launch/dual_ekf_navsat.launch.py @@ -0,0 +1,68 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from ament_index_python.packages import get_package_share_directory +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +import launch_ros.actions +import os +import launch.actions + + +def generate_launch_description(): + gps_wpf_dir = get_package_share_directory( + "nav2_gps_waypoint_follower_demo") + rl_params_file = os.path.join( + gps_wpf_dir, "config", "dual_ekf_navsat_params.yaml") + + return LaunchDescription( + [ + launch.actions.DeclareLaunchArgument( + "output_final_position", default_value="false" + ), + launch.actions.DeclareLaunchArgument( + "output_location", default_value="~/dual_ekf_navsat_example_debug.txt" + ), + launch_ros.actions.Node( + package="robot_localization", + executable="ekf_node", + name="ekf_filter_node_odom", + output="screen", + parameters=[rl_params_file, {"use_sim_time": True}], + remappings=[("odometry/filtered", "odometry/local")], + ), + launch_ros.actions.Node( + package="robot_localization", + executable="ekf_node", + name="ekf_filter_node_map", + output="screen", + parameters=[rl_params_file, {"use_sim_time": True}], + remappings=[("odometry/filtered", "odometry/global")], + ), + launch_ros.actions.Node( + package="robot_localization", + executable="navsat_transform_node", + name="navsat_transform", + output="screen", + parameters=[rl_params_file, {"use_sim_time": True}], + remappings=[ + ("imu/data", "imu/data"), + ("gps/fix", "gps/fix"), + ("gps/filtered", "gps/filtered"), + ("odometry/gps", "odometry/gps"), + ("odometry/filtered", "odometry/global"), + ], + ), + ] + ) diff --git a/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py b/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py new file mode 100644 index 0000000..2dff26d --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py @@ -0,0 +1,69 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + +def generate_launch_description(): + # Declare the 'use_gui' argument + use_gui_arg = DeclareLaunchArgument( + "use_gui", + default_value="true", + choices=["true", "false"], + description="Whether to execute gzclient (GUI for Gazebo)" + ) + + # Get package paths + pkg_gazebo_ros = get_package_share_directory("gazebo_ros") + pkg_environments = get_package_share_directory("nav2_gps_waypoint_follower_demo") + + # Define the world file path + world_file_path = os.path.join(pkg_environments, "worlds", "sonoma_raceway.world") + + # Define the models directory path + models_directory = os.path.join(pkg_environments, "models") + + # Verify if the models directory exists + if not os.path.exists(models_directory): + raise FileNotFoundError(f"Models directory does not exist: {models_directory}") + + # Set GAZEBO_MODEL_PATH to include the 'models' directory in the ROS 2 package + gazebo_model_path = SetEnvironmentVariable( + name="GAZEBO_MODEL_PATH", + value=models_directory + ) + + # Read URDF file + urdf = os.path.join(pkg_environments, 'urdf', 'turtlebot3_waffle_gps.urdf') + with open(urdf, 'r') as infp: + robot_description = infp.read() + + # Create robot state publisher node + start_robot_state_publisher_cmd = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='both', + parameters=[{'robot_description': robot_description}]) + + # Include the Gazebo server (gzserver) launch file + gzserver_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py") + ), + launch_arguments={ + "world": world_file_path, + "verbose": "true", + }.items() + ) + + # Include the Gazebo client (gzclient) launch file if 'use_gui' is true + gzclient_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, "launch", "gzclient.launch.py") + ) + ) + + # Return the LaunchDescription + return LaunchDescription([use_gui_arg, gazebo_model_path, start_robot_state_publisher_cmd, gzserver_launch, gzclient_launch]) diff --git a/nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py b/nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py new file mode 100644 index 0000000..279fafd --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py @@ -0,0 +1,103 @@ +# Copyright (c) 2018 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.conditions import IfCondition +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + gps_wpf_dir = get_package_share_directory( + "nav2_gps_waypoint_follower_demo") + launch_dir = os.path.join(gps_wpf_dir, 'launch') + params_dir = os.path.join(gps_wpf_dir, "config") + nav2_params = os.path.join(params_dir, "nav2_no_map_params.yaml") + configured_params = RewrittenYaml( + source_file=nav2_params, root_key="", param_rewrites="", convert_types=True + ) + + use_rviz = LaunchConfiguration('use_rviz') + use_mapviz = LaunchConfiguration('use_mapviz') + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', + default_value='False', + description='Whether to start RVIZ') + + declare_use_mapviz_cmd = DeclareLaunchArgument( + 'use_mapviz', + default_value='False', + description='Whether to start mapviz') + + gazebo_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'gazebo_gps_world.launch.py')) + ) + + robot_localization_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'dual_ekf_navsat.launch.py')) + ) + + navigation2_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, "launch", "navigation_launch.py") + ), + launch_arguments={ + "use_sim_time": "True", + "params_file": configured_params, + "autostart": "True", + }.items(), + ) + + rviz_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, "launch", 'rviz_launch.py')), + condition=IfCondition(use_rviz) + ) + + mapviz_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'mapviz.launch.py')), + condition=IfCondition(use_mapviz) + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # simulator launch + ld.add_action(gazebo_cmd) + + # robot localization launch + ld.add_action(robot_localization_cmd) + + # navigation2 launch + ld.add_action(navigation2_cmd) + + # viz launch + ld.add_action(declare_use_rviz_cmd) + ld.add_action(rviz_cmd) + ld.add_action(declare_use_mapviz_cmd) + ld.add_action(mapviz_cmd) + + return ld diff --git a/nav2_gps_waypoint_follower_demo/launch/mapviz.launch.py b/nav2_gps_waypoint_follower_demo/launch/mapviz.launch.py new file mode 100644 index 0000000..b8ef693 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/launch/mapviz.launch.py @@ -0,0 +1,34 @@ +import launch +import launch.actions +import launch.substitutions +import launch_ros.actions +import os +from ament_index_python.packages import get_package_share_directory + +gps_wpf_dir = get_package_share_directory("nav2_gps_waypoint_follower_demo") +mapviz_config_file = os.path.join(gps_wpf_dir, "config", "gps_wpf_demo.mvc") + + +def generate_launch_description(): + return launch.LaunchDescription([ + launch_ros.actions.Node( + package="mapviz", + executable="mapviz", + name="mapviz", + parameters=[{"config": mapviz_config_file}] + ), + launch_ros.actions.Node( + package="swri_transform_util", + executable="initialize_origin.py", + name="initialize_origin", + remappings=[ + ("fix", "gps/fix"), + ], + ), + launch_ros.actions.Node( + package="tf2_ros", + executable="static_transform_publisher", + name="swri_transform", + arguments=["0", "0", "0", "0", "0", "0", "map", "origin"] + ) + ]) diff --git a/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Asphalt.png b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Asphalt.png new file mode 100644 index 0000000..f43ebf6 Binary files /dev/null and b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Asphalt.png differ diff --git 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b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Trim.png differ diff --git a/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Wall.png b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Wall.png new file mode 100644 index 0000000..d2276a4 Binary files /dev/null and b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Wall.png differ diff --git a/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Window.png b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Window.png new file mode 100644 index 0000000..af0bbd9 Binary files /dev/null and b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/materials/textures/Window.png differ diff --git a/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/meshes/Raceway.mtl b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/meshes/Raceway.mtl new file mode 100644 index 0000000..0ecf506 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/meshes/Raceway.mtl @@ -0,0 +1,213 @@ +# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware +# File Created: 11.01.2017 21:02:19 + +newmtl Asphalt + Ns 0.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Asphalt.png + map_Kd ../materials/textures/Asphalt.png + +newmtl Track + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Track.png + map_Kd ../materials/textures/Track.png + +newmtl Grass + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Grass.png + map_Kd ../materials/textures/Grass.png + +newmtl RumbleStrip_Barrier + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/RumbleStrip&Barrier.png + map_Kd ../materials/textures/RumbleStrip&Barrier.png + +newmtl Checker + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Checker.png + map_Kd ../materials/textures/Checker.png + +newmtl Railing + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Railing.png + map_Kd ../materials/textures/Railing.png + +newmtl Fence + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Fence.png + map_Kd ../materials/textures/Fence.png + map_d ../materials/textures/Fence_Opacity.png + +newmtl Wall + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Wall.png + map_Kd ../materials/textures/Wall.png + +newmtl Trim + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Trim.png + map_Kd ../materials/textures/Trim.png + +newmtl Window + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Window.png + map_Kd ../materials/textures/Window.png + +newmtl Roof + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Roof.png + map_Kd ../materials/textures/Roof.png + +newmtl TireStack + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/TireStack.png + map_Kd ../materials/textures/TireStack.png + +newmtl Bridge + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Bridge.png + map_Kd ../materials/textures/Bridge.png + +newmtl Concrete + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Concrete.png + map_Kd ../materials/textures/Concrete.png + +newmtl Stands + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Stands.png + map_Kd ../materials/textures/Stands.png diff --git a/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/meshes/Raceway.obj b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/meshes/Raceway.obj new file mode 100644 index 0000000..74d9c8c --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/models/sonoma_raceway/meshes/Raceway.obj @@ -0,0 +1,172198 @@ +# 3ds Max Wavefront 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2034/3047/2830 1817/2851/2607 +f 1819/2853/2609 2034/3047/2830 1818/2852/2608 +f 1820/2854/2610 2034/3047/2830 1819/2853/2609 +f 2035/3048/2831 2034/3047/2830 1820/2854/2610 +f 1820/2854/2610 1821/2855/2611 2035/3048/2831 +f 2036/3049/2832 2035/3048/2831 1821/2855/2611 +f 1821/2855/2611 1822/2856/2612 2036/3049/2832 +f 2037/3050/2833 2036/3049/2832 1822/2856/2612 +f 1822/2856/2612 1823/2857/2613 2037/3050/2833 +f 2038/3051/2834 2037/3050/2833 1823/2857/2613 +f 1823/2857/2613 1824/2858/2614 2038/3051/2834 +f 2039/3052/2835 2038/3051/2834 1824/2858/2614 +f 1824/2858/2614 1825/2859/2615 2039/3052/2835 +f 1829/2863/2619 2039/3052/2835 1825/2859/2615 +f 1825/2859/2615 1826/2860/2616 1829/2863/2619 +f 2031/3044/2827 2024/3025/2815 1796/2831/2586 +f 1796/2831/2586 1795/2830/2585 2031/3044/2827 +f 1826/2860/2616 934/1774/1021 935/1776/1023 +f 935/1776/1023 1827/2861/2617 1826/2860/2616 +f 935/1776/1023 936/1778/1025 1831/2864/2621 +f 1831/2864/2621 1827/2861/2617 935/1776/1023 +f 1831/2864/2621 936/1778/1025 937/1780/1027 +f 991/1840/1108 1900/2901/2677 989/3053/2836 +f 989/3053/2836 72/1837/1105 991/1840/1108 +f 1900/2901/2677 1898/2899/2675 988/3054/2837 +f 988/3054/2837 989/3053/2836 1900/2901/2677 +f 1898/2899/2675 1895/2896/2672 987/3055/2838 +f 987/3055/2838 988/3054/2837 1898/2899/2675 +f 987/3055/2838 1895/2896/2672 986/2895/2671 +f 986/2895/2671 1897/2898/2674 1892/3056/2839 +f 1892/3056/2839 1894/3057/2670 1893/3058/2670 +f 986/2895/2671 1892/3056/2839 1893/3058/2670 +usemtl Asphalt +s 1 +f 1894/1433/2670 1892/1431/2669 983/1290/1092 +f 983/1290/1092 986/1292/1096 1893/1432/2670 +usemtl Grass +s 4 +f 1247/2277/1592 1248/2279/1594 1971/2972/2748 +f 1981/2981/2772 1968/2969/2745 1969/2970/2746 +f 1232/2251/1566 1970/2971/2747 1969/2970/2746 +f 1969/2970/2746 1971/2972/2748 1972/2973/2749 +f 1972/2973/2749 1981/2981/2772 1969/2970/2746 +f 828/1608/728 830/1611/867 1668/2700/2458 +f 1668/2700/2458 1664/2698/2454 828/1608/728 +f 830/1611/867 831/1613/869 1670/2703/2460 +f 1670/2703/2460 1668/2700/2458 830/1611/867 +f 1670/2703/2460 831/1613/869 832/1615/871 +f 832/1615/871 1672/2705/2462 1670/2703/2460 +f 1672/2705/2462 832/1615/871 833/1617/873 +f 833/1617/873 1673/2707/2463 1672/2705/2462 +f 1673/2707/2463 833/1617/873 834/1619/875 +f 834/1619/875 1675/2709/2465 1673/2707/2463 +f 1675/2709/2465 834/1619/875 835/1621/877 +f 835/1621/877 1677/2711/2467 1675/2709/2465 +f 1677/2711/2467 835/1621/877 836/1623/879 +f 836/1623/879 1679/2713/2469 1677/2711/2467 +f 1679/2713/2469 836/1623/879 837/1625/881 +f 837/1625/881 1682/2715/2472 1679/2713/2469 +f 1682/2715/2472 837/1625/881 838/1627/883 +f 838/1627/883 1683/2717/2473 1682/2715/2472 +f 1683/2717/2473 838/1627/883 840/1629/885 +f 840/1629/885 1685/2719/2475 1683/2717/2473 +f 1690/2724/2480 1687/2722/2477 1688/2721/2478 +f 842/1631/887 1690/2724/2480 1688/2721/2478 +f 840/1629/885 842/1631/887 1688/2721/2478 +f 1685/2719/2475 840/1629/885 1688/2721/2478 +f 1692/2727/2482 1687/2722/2477 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743/1236/721 +f 741/1234/719 396/1479/2847 384/1480/2848 +f 384/1480/2848 739/1232/718 741/1234/719 +f 739/1232/718 384/1480/2848 383/1481/716 +f 383/1481/716 736/1229/716 739/1232/718 +f 736/1229/716 383/1481/716 386/1482/717 +f 386/1482/717 735/1228/715 736/1229/716 +f 735/1228/715 386/1482/717 388/1450/2849 +f 388/1450/2849 733/1226/713 735/1228/715 +f 733/1226/713 388/1450/2849 376/1451/2850 +f 376/1451/2850 730/1223/710 733/1226/713 +f 730/1223/710 376/1451/2850 375/1221/709 +f 375/1221/709 1564/1452/2851 730/1223/710 +f 1663/1413/2453 827/1260/861 1665/1474/2842 +usemtl Grass +s 4 +f 1665/2699/2455 829/1609/865 828/1608/728 +f 1664/2698/2454 1667/2702/2457 1665/2699/2455 +f 1667/2702/2457 2041/3060/2852 1665/2699/2455 +usemtl Asphalt +s 1 +f 375/1221/709 729/1222/708 1564/1452/2851 +f 1564/1452/2851 1566/1453/2851 730/1223/710 +f 731/1224/711 730/1223/710 1566/1453/2851 +f 731/1224/711 1566/1453/2851 1549/1392/2278 +f 1549/1392/2278 839/1391/723 731/1224/711 +usemtl Grass +s 4 +f 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2111/3151/2924 2112/3150/2924 2109/3156/2924 +f 2113/3152/2925 2114/3153/2925 2115/3157/2925 +f 2115/3157/2925 2116/3154/2925 2113/3152/2925 +usemtl Railing +f 2117/3163/2926 2118/3159/2927 2119/3158/2928 +f 2119/3158/2928 2120/3162/2929 2117/3163/2926 +f 2120/3165/2929 2119/3161/2928 2121/3160/2930 +f 2121/3160/2930 2122/3164/2931 2120/3165/2929 +f 2123/3172/2932 2124/3167/2933 2125/3166/2934 +f 2125/3166/2934 2126/3171/2934 2123/3172/2932 +f 2127/3173/2935 2128/3168/2935 2124/3167/2933 +f 2124/3167/2933 2123/3172/2932 2127/3173/2935 +f 2129/3174/2936 2130/3169/2937 2128/3168/2935 +f 2128/3168/2935 2127/3173/2935 2129/3174/2936 +f 2126/3175/2934 2125/3170/2934 2130/3169/2937 +f 2130/3169/2937 2129/3174/2936 2126/3175/2934 +s 2 +f 2131/3177/2938 2123/3172/2939 2126/3171/2940 +f 2126/3171/2940 2132/3176/2940 2131/3177/2938 +f 2133/3178/2941 2127/3173/2942 2123/3172/2939 +f 2123/3172/2939 2131/3177/2938 2133/3178/2941 +f 2134/3179/2943 2129/3174/2944 2127/3173/2942 +f 2127/3173/2942 2133/3178/2941 2134/3179/2943 +f 2132/3180/2940 2126/3175/2940 2129/3174/2944 +f 2129/3174/2944 2134/3179/2943 2132/3180/2940 +s off +f 2133/3166/2945 2131/3166/2945 2132/3166/2945 +f 2134/3166/2946 2133/3166/2946 2132/3166/2946 +usemtl Fence +s 1 +f 2135/3187/2947 2136/3186/2947 2137/3182/2947 +f 2137/3182/2947 2138/3181/2947 2135/3187/2947 +f 2139/3183/2948 2140/3184/2948 2141/3188/2948 +f 2141/3188/2948 2142/3185/2948 2139/3183/2948 +usemtl Railing +f 2143/3194/2949 2144/3190/2950 2145/3189/2951 +f 2145/3189/2951 2146/3193/2952 2143/3194/2949 +f 2146/3196/2952 2145/3192/2951 2147/3191/2953 +f 2147/3191/2953 2148/3195/2954 2146/3196/2952 +f 2149/3203/2955 2150/3198/2956 2151/3197/2934 +f 2151/3197/2934 2152/3202/2934 2149/3203/2955 +f 2153/3204/2957 2154/3199/2958 2150/3198/2956 +f 2150/3198/2956 2149/3203/2955 2153/3204/2957 +f 2155/3205/2959 2156/3200/2960 2154/3199/2958 +f 2154/3199/2958 2153/3204/2957 2155/3205/2959 +f 2152/3206/2934 2151/3201/2934 2156/3200/2960 +f 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2177/3228/2973 +f 2177/3228/2973 2178/3233/2973 2175/3234/2971 +f 2179/3235/2974 2180/3230/2974 2176/3229/2972 +f 2176/3229/2972 2175/3234/2971 2179/3235/2974 +f 2181/3236/2975 2182/3231/2976 2180/3230/2974 +f 2180/3230/2974 2179/3235/2974 2181/3236/2975 +f 2178/3237/2973 2177/3232/2973 2182/3231/2976 +f 2182/3231/2976 2181/3236/2975 2178/3237/2973 +s 2 +f 2183/3239/2977 2175/3234/2978 2178/3233/2979 +f 2178/3233/2979 2184/3238/2980 2183/3239/2977 +f 2185/3240/2981 2179/3235/2982 2175/3234/2978 +f 2175/3234/2978 2183/3239/2977 2185/3240/2981 +f 2186/3241/2983 2181/3236/2984 2179/3235/2982 +f 2179/3235/2982 2185/3240/2981 2186/3241/2983 +f 2184/3242/2980 2178/3237/2979 2181/3236/2984 +f 2181/3236/2984 2186/3241/2983 2184/3242/2980 +s off +f 2185/3228/2985 2183/3228/2985 2184/3228/2985 +f 2186/3228/2986 2185/3228/2986 2184/3228/2986 +usemtl Fence +s 1 +f 2187/3249/2987 2188/3248/2987 2189/3244/2987 +f 2189/3244/2987 2190/3243/2987 2187/3249/2987 +f 2191/3245/2973 2192/3246/2973 2193/3250/2973 +f 2193/3250/2973 2194/3247/2973 2191/3245/2973 +usemtl Railing +f 2195/3256/2988 2196/3252/2988 2197/3251/2989 +f 2197/3251/2989 2198/3255/2990 2195/3256/2988 +f 2198/3258/2990 2197/3254/2989 2199/3253/2991 +f 2199/3253/2991 2200/3257/2992 2198/3258/2990 +f 2201/3265/2993 2202/3260/2977 2203/3259/2973 +f 2203/3259/2973 2204/3264/2973 2201/3265/2993 +f 2205/3266/2974 2206/3261/2974 2202/3260/2977 +f 2202/3260/2977 2201/3265/2993 2205/3266/2974 +f 2207/3267/2994 2208/3262/2995 2206/3261/2974 +f 2206/3261/2974 2205/3266/2974 2207/3267/2994 +f 2204/3268/2973 2203/3263/2973 2208/3262/2995 +f 2208/3262/2995 2207/3267/2994 2204/3268/2973 +s 2 +f 2209/3270/2977 2201/3265/2996 2204/3264/2979 +f 2204/3264/2979 2210/3269/2997 2209/3270/2977 +f 2211/3271/2998 2205/3266/2982 2201/3265/2996 +f 2201/3265/2996 2209/3270/2977 2211/3271/2998 +f 2212/3272/2999 2207/3267/3000 2205/3266/2982 +f 2205/3266/2982 2211/3271/2998 2212/3272/2999 +f 2210/3273/2997 2204/3268/2979 2207/3267/3000 +f 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2230/3295/2997 +f 2230/3295/2997 2236/3300/2980 2235/3301/2977 +f 2237/3302/2981 2231/3297/3011 2227/3296/3010 +f 2227/3296/3010 2235/3301/2977 2237/3302/2981 +f 2238/3303/2983 2233/3298/3000 2231/3297/3011 +f 2231/3297/3011 2237/3302/2981 2238/3303/2983 +f 2236/3304/2980 2230/3299/2997 2233/3298/3000 +f 2233/3298/3000 2238/3303/2983 2236/3304/2980 +s off +f 2237/3290/2985 2235/3290/2985 2236/3290/2985 +f 2238/3290/2986 2237/3290/2986 2236/3290/2986 +usemtl Fence +s 1 +f 2239/3311/2987 2240/3310/2987 2241/3306/2987 +f 2241/3306/2987 2242/3305/2987 2239/3311/2987 +f 2243/3307/2973 2244/3308/2973 2245/3312/2973 +f 2245/3312/2973 2246/3309/2973 2243/3307/2973 +usemtl Railing +f 2247/3318/3002 2248/3314/2988 2249/3313/3012 +f 2249/3313/3012 2250/3317/2990 2247/3318/3002 +f 2250/3320/2990 2249/3316/3012 2251/3315/3013 +f 2251/3315/3013 2252/3319/2992 2250/3320/2990 +f 2253/3327/2971 2254/3322/2972 2255/3321/2973 +f 2255/3321/2973 2256/3326/2973 2253/3327/2971 +f 2257/3328/2974 2258/3323/2974 2254/3322/2972 +f 2254/3322/2972 2253/3327/2971 2257/3328/2974 +f 2259/3329/2975 2260/3324/2976 2258/3323/2974 +f 2258/3323/2974 2257/3328/2974 2259/3329/2975 +f 2256/3330/2973 2255/3325/2973 2260/3324/2976 +f 2260/3324/2976 2259/3329/2975 2256/3330/2973 +s 2 +f 2261/3332/3014 2253/3327/2996 2256/3326/2979 +f 2256/3326/2979 2262/3331/2980 2261/3332/3014 +f 2263/3333/2982 2257/3328/2982 2253/3327/2996 +f 2253/3327/2996 2261/3332/3014 2263/3333/2982 +f 2264/3334/2983 2259/3329/2984 2257/3328/2982 +f 2257/3328/2982 2263/3333/2982 2264/3334/2983 +f 2262/3335/2980 2256/3330/2979 2259/3329/2984 +f 2259/3329/2984 2264/3334/2983 2262/3335/2980 +s off +f 2263/3321/3015 2261/3321/3015 2262/3321/3015 +f 2264/3321/3015 2263/3321/3015 2262/3321/3015 +usemtl Fence +s 1 +f 2265/3342/2987 2266/3341/2987 2267/3337/2987 +f 2267/3337/2987 2268/3336/2987 2265/3342/2987 +f 2269/3338/2973 2270/3339/2973 2271/3343/2973 +f 2271/3343/2973 2272/3340/2973 2269/3338/2973 +usemtl Railing +f 2273/3349/2988 2274/3345/3016 2275/3344/3017 +f 2275/3344/3017 2276/3348/2990 2273/3349/2988 +f 2276/3351/2990 2275/3347/3017 2277/3346/3013 +f 2277/3346/3013 2278/3350/3004 2276/3351/2990 +f 2279/3358/3018 2280/3353/2977 2281/3352/2973 +f 2281/3352/2973 2282/3357/2973 2279/3358/3018 +f 2283/3359/3019 2284/3354/3019 2280/3353/2977 +f 2280/3353/2977 2279/3358/3018 2283/3359/3019 +f 2285/3360/3020 2286/3355/2976 2284/3354/3019 +f 2284/3354/3019 2283/3359/3019 2285/3360/3020 +f 2282/3361/2973 2281/3356/2973 2286/3355/2976 +f 2286/3355/2976 2285/3360/3020 2282/3361/2973 +s 2 +f 2287/3363/3021 2279/3358/2996 2282/3357/2979 +f 2282/3357/2979 2288/3362/2997 2287/3363/3021 +f 2289/3364/3022 2283/3359/2998 2279/3358/2996 +f 2279/3358/2996 2287/3363/3021 2289/3364/3022 +f 2290/3365/3023 2285/3360/3024 2283/3359/2998 +f 2283/3359/2998 2289/3364/3022 2290/3365/3023 +f 2288/3366/2997 2282/3361/2979 2285/3360/3024 +f 2285/3360/3024 2290/3365/3023 2288/3366/2997 +s off +f 2289/3352/3001 2287/3352/3001 2288/3352/3001 +f 2290/3352/3001 2289/3352/3001 2288/3352/3001 +usemtl Fence +s 1 +f 2291/3373/2987 2292/3372/2987 2293/3368/2987 +f 2293/3368/2987 2294/3367/2987 2291/3373/2987 +f 2295/3369/2973 2296/3370/2973 2297/3374/2973 +f 2297/3374/2973 2298/3371/2973 2295/3369/2973 +usemtl Railing +f 2299/3380/2988 2300/3376/2988 2301/3375/2989 +f 2301/3375/2989 2302/3379/2990 2299/3380/2988 +f 2302/3382/2990 2301/3378/2989 2303/3377/2991 +f 2303/3377/2991 2304/3381/3004 2302/3382/2990 +f 2305/3389/3025 2306/3384/3026 2307/3383/2973 +f 2307/3383/2973 2308/3388/2973 2305/3389/3025 +f 2309/3390/3027 2310/3385/3019 2306/3384/3026 +f 2306/3384/3026 2305/3389/3025 2309/3390/3027 +f 2311/3391/2994 2312/3386/3028 2310/3385/3019 +f 2310/3385/3019 2309/3390/3027 2311/3391/2994 +f 2308/3392/2973 2307/3387/2973 2312/3386/3028 +f 2312/3386/3028 2311/3391/2994 2308/3392/2973 +s 2 +f 2313/3394/2977 2305/3389/3010 2308/3388/2980 +f 2308/3388/2980 2314/3393/2980 2313/3394/2977 +f 2315/3395/2998 2309/3390/2982 2305/3389/3010 +f 2305/3389/3010 2313/3394/2977 2315/3395/2998 +f 2316/3396/2999 2311/3391/3000 2309/3390/2982 +f 2309/3390/2982 2315/3395/2998 2316/3396/2999 +f 2314/3397/2980 2308/3392/2980 2311/3391/3000 +f 2311/3391/3000 2316/3396/2999 2314/3397/2980 +s off +f 2315/3383/3029 2313/3383/3029 2314/3383/3029 +f 2316/3383/3001 2315/3383/3001 2314/3383/3001 +usemtl Fence +s 1 +f 2317/3404/2987 2318/3403/2987 2319/3399/2987 +f 2319/3399/2987 2320/3398/2987 2317/3404/2987 +f 2321/3400/2973 2322/3401/2973 2323/3405/2973 +f 2323/3405/2973 2324/3402/2973 2321/3400/2973 +usemtl Railing +f 2325/3411/2988 2326/3407/2988 2327/3406/2989 +f 2327/3406/2989 2328/3410/2990 2325/3411/2988 +f 2328/3413/2990 2327/3409/2989 2329/3408/2991 +f 2329/3408/2991 2330/3412/3004 2328/3413/2990 +f 2331/3420/3005 2332/3415/3006 2333/3414/3008 +f 2333/3414/3008 2334/3419/3008 2331/3420/3005 +f 2335/3421/3019 2336/3416/3019 2332/3415/3006 +f 2332/3415/3006 2331/3420/3005 2335/3421/3019 +f 2337/3422/3020 2338/3417/3030 2336/3416/3019 +f 2336/3416/3019 2335/3421/3019 2337/3422/3020 +f 2334/3423/3008 2333/3418/3008 2338/3417/3030 +f 2338/3417/3030 2337/3422/3020 2334/3423/3008 +s 2 +f 2339/3425/3014 2331/3420/3010 2334/3419/3031 +f 2334/3419/3031 2340/3424/2980 2339/3425/3014 +f 2341/3426/2982 2335/3421/2982 2331/3420/3010 +f 2331/3420/3010 2339/3425/3014 2341/3426/2982 +f 2342/3427/2983 2337/3422/3032 2335/3421/2982 +f 2335/3421/2982 2341/3426/2982 2342/3427/2983 +f 2340/3428/2980 2334/3423/3031 2337/3422/3032 +f 2337/3422/3032 2342/3427/2983 2340/3428/2980 +s off +f 2341/3414/3015 2339/3414/3015 2340/3414/3015 +f 2342/3414/3015 2341/3414/3015 2340/3414/3015 +usemtl Fence +s 1 +f 2343/3435/2987 2344/3434/2987 2345/3430/2987 +f 2345/3430/2987 2346/3429/2987 2343/3435/2987 +f 2347/3431/2973 2348/3432/2973 2349/3436/2973 +f 2349/3436/2973 2350/3433/2973 2347/3431/2973 +usemtl Railing +f 2351/3442/2988 2352/3438/2988 2353/3437/2989 +f 2353/3437/2989 2354/3441/2990 2351/3442/2988 +f 2354/3444/2990 2353/3440/2989 2355/3439/3004 +f 2355/3439/3004 2356/3443/3004 2354/3444/2990 +f 2357/3451/3018 2358/3446/2977 2359/3445/2973 +f 2359/3445/2973 2360/3450/2973 2357/3451/3018 +f 2361/3452/3019 2362/3447/3019 2358/3446/2977 +f 2358/3446/2977 2357/3451/3018 2361/3452/3019 +f 2363/3453/3020 2364/3448/2976 2362/3447/3019 +f 2362/3447/3019 2361/3452/3019 2363/3453/3020 +f 2360/3454/2973 2359/3449/2973 2364/3448/2976 +f 2364/3448/2976 2363/3453/3020 2360/3454/2973 +s 2 +f 2365/3456/3021 2357/3451/2996 2360/3450/2979 +f 2360/3450/2979 2366/3455/2997 2365/3456/3021 +f 2367/3457/2982 2361/3452/2998 2357/3451/2996 +f 2357/3451/2996 2365/3456/3021 2367/3457/2982 +f 2368/3458/2983 2363/3453/3024 2361/3452/2998 +f 2361/3452/2998 2367/3457/2982 2368/3458/2983 +f 2366/3459/2997 2360/3454/2979 2363/3453/3024 +f 2363/3453/3024 2368/3458/2983 2366/3459/2997 +s off +f 2367/3445/3001 2365/3445/3001 2366/3445/3001 +f 2368/3445/3029 2367/3445/3029 2366/3445/3029 +usemtl Fence 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2394/3489/2999 2389/3484/3000 2387/3483/2982 +f 2387/3483/2982 2393/3488/2998 2394/3489/2999 +f 2392/3490/2980 2386/3485/3034 2389/3484/3000 +f 2389/3484/3000 2394/3489/2999 2392/3490/2980 +s off +f 2393/3476/3029 2391/3476/3029 2392/3476/3029 +f 2394/3476/3001 2393/3476/3001 2392/3476/3001 +usemtl Fence +s 1 +f 2395/3497/2987 2396/3496/2987 2397/3492/2987 +f 2397/3492/2987 2398/3491/2987 2395/3497/2987 +f 2399/3493/2973 2400/3494/2973 2401/3498/2973 +f 2401/3498/2973 2402/3495/2973 2399/3493/2973 +usemtl Railing +f 2403/3504/2988 2404/3500/2988 2405/3499/2989 +f 2405/3499/2989 2406/3503/2990 2403/3504/2988 +f 2406/3506/2990 2405/3502/2989 2407/3501/2991 +f 2407/3501/2991 2408/3505/3004 2406/3506/2990 +f 2409/3513/3005 2410/3508/3006 2411/3507/2973 +f 2411/3507/2973 2412/3512/2973 2409/3513/3005 +f 2413/3514/3035 2414/3509/3035 2410/3508/3006 +f 2410/3508/3006 2409/3513/3005 2413/3514/3035 +f 2415/3515/2975 2416/3510/2976 2414/3509/3035 +f 2414/3509/3035 2413/3514/3035 2415/3515/2975 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2432/3537/3038 +f 2435/3544/3039 2436/3539/2972 2437/3538/3040 +f 2437/3538/3040 2438/3543/3040 2435/3544/3039 +f 2439/3545/2974 2440/3540/2974 2436/3539/2972 +f 2436/3539/2972 2435/3544/3039 2439/3545/2974 +f 2441/3546/2975 2442/3541/2976 2440/3540/2974 +f 2440/3540/2974 2439/3545/2974 2441/3546/2975 +f 2438/3547/3040 2437/3542/3040 2442/3541/2976 +f 2442/3541/2976 2441/3546/2975 2438/3547/3040 +s 2 +f 2443/3549/3021 2435/3544/3041 2438/3543/2979 +f 2438/3543/2979 2444/3548/2980 2443/3549/3021 +f 2445/3550/3042 2439/3545/2982 2435/3544/3041 +f 2435/3544/3041 2443/3549/3021 2445/3550/3042 +f 2446/3551/2983 2441/3546/2984 2439/3545/2982 +f 2439/3545/2982 2445/3550/3042 2446/3551/2983 +f 2444/3552/2980 2438/3547/2979 2441/3546/2984 +f 2441/3546/2984 2446/3551/2983 2444/3552/2980 +s off +f 2445/3538/3015 2443/3538/3015 2444/3538/3015 +f 2446/3538/3015 2445/3538/3015 2444/3538/3015 +s 1 +f 2447/3559/3043 2448/3554/3044 2449/3553/3045 +f 2449/3553/3045 2450/3558/3046 2447/3559/3043 +f 2451/3560/3047 2452/3555/3048 2448/3554/3044 +f 2448/3554/3044 2447/3559/3043 2451/3560/3047 +f 2453/3561/3049 2454/3556/3050 2452/3555/3048 +f 2452/3555/3048 2451/3560/3047 2453/3561/3049 +f 2450/3562/3046 2449/3557/3045 2454/3556/3050 +f 2454/3556/3050 2453/3561/3049 2450/3562/3046 +s 2 +f 2455/3564/3051 2447/3559/3052 2450/3558/3053 +f 2450/3558/3053 2456/3563/3053 2455/3564/3051 +f 2457/3565/3054 2451/3560/3054 2447/3559/3052 +f 2447/3559/3052 2455/3564/3051 2457/3565/3054 +f 2458/3566/3055 2453/3561/3056 2451/3560/3054 +f 2451/3560/3054 2457/3565/3054 2458/3566/3055 +f 2456/3567/3053 2450/3562/3053 2453/3561/3056 +f 2453/3561/3056 2458/3566/3055 2456/3567/3053 +s off +f 2457/3553/3057 2455/3553/3057 2456/3553/3057 +f 2458/3553/3057 2457/3553/3057 2456/3553/3057 +usemtl Fence +s 1 +f 2459/3574/3058 2460/3573/3058 2461/3569/3058 +f 2461/3569/3058 2462/3568/3058 2459/3574/3058 +f 2463/3570/3059 2464/3571/3059 2465/3575/3059 +f 2465/3575/3059 2466/3572/3059 2463/3570/3059 +usemtl Railing +f 2467/3581/3060 2468/3577/3060 2469/3576/3061 +f 2469/3576/3061 2470/3580/3062 2467/3581/3060 +f 2470/3583/3062 2469/3579/3061 2471/3578/3063 +f 2471/3578/3063 2472/3582/3063 2470/3583/3062 +f 2473/3590/3043 2474/3585/3044 2475/3584/3064 +f 2475/3584/3064 2476/3589/3046 2473/3590/3043 +f 2477/3591/3047 2478/3586/3048 2474/3585/3044 +f 2474/3585/3044 2473/3590/3043 2477/3591/3047 +f 2479/3592/3049 2480/3587/3065 2478/3586/3048 +f 2478/3586/3048 2477/3591/3047 2479/3592/3049 +f 2476/3593/3046 2475/3588/3064 2480/3587/3065 +f 2480/3587/3065 2479/3592/3049 2476/3593/3046 +s 2 +f 2481/3595/3051 2473/3590/3066 2476/3589/3053 +f 2476/3589/3053 2482/3594/3053 2481/3595/3051 +f 2483/3596/3054 2477/3591/3054 2473/3590/3066 +f 2473/3590/3066 2481/3595/3051 2483/3596/3054 +f 2484/3597/3055 2479/3592/3056 2477/3591/3054 +f 2477/3591/3054 2483/3596/3054 2484/3597/3055 +f 2482/3598/3053 2476/3593/3053 2479/3592/3056 +f 2479/3592/3056 2484/3597/3055 2482/3598/3053 +s off +f 2483/3584/3067 2481/3584/3067 2482/3584/3067 +f 2484/3584/3067 2483/3584/3067 2482/3584/3067 +usemtl Fence +s 1 +f 2485/3605/3068 2486/3604/3069 2487/3600/3069 +f 2487/3600/3069 2488/3599/3070 2485/3605/3068 +f 2489/3601/3071 2490/3602/3072 2491/3606/3073 +f 2491/3606/3073 2492/3603/3074 2489/3601/3071 +usemtl Railing +f 2493/3612/3075 2494/3608/3076 2495/3607/3077 +f 2495/3607/3077 2496/3611/3078 2493/3612/3075 +f 2496/3614/3078 2495/3610/3077 2497/3609/3079 +f 2497/3609/3079 2498/3613/3080 2496/3614/3078 +f 2499/3621/3081 2500/3616/3082 2501/3615/3083 +f 2501/3615/3083 2502/3620/3084 2499/3621/3081 +f 2503/3622/3085 2504/3617/3086 2500/3616/3082 +f 2500/3616/3082 2499/3621/3081 2503/3622/3085 +f 2505/3623/3087 2506/3618/3088 2504/3617/3086 +f 2504/3617/3086 2503/3622/3085 2505/3623/3087 +f 2502/3624/3084 2501/3619/3083 2506/3618/3088 +f 2506/3618/3088 2505/3623/3087 2502/3624/3084 +s 2 +f 2507/3626/3089 2499/3621/3090 2502/3620/3091 +f 2502/3620/3091 2508/3625/3092 2507/3626/3089 +f 2509/3627/3093 2503/3622/3093 2499/3621/3090 +f 2499/3621/3090 2507/3626/3089 2509/3627/3093 +f 2510/3628/3094 2505/3623/3095 2503/3622/3093 +f 2503/3622/3093 2509/3627/3093 2510/3628/3094 +f 2508/3629/3092 2502/3624/3091 2505/3623/3095 +f 2505/3623/3095 2510/3628/3094 2508/3629/3092 +s off +f 2509/3615/3096 2507/3615/3096 2508/3615/3096 +f 2510/3615/3097 2509/3615/3097 2508/3615/3097 +usemtl Fence +s 1 +f 2511/3636/3098 2512/3635/3099 2513/3631/3100 +f 2513/3631/3100 2514/3630/3101 2511/3636/3098 +f 2515/3632/3102 2516/3633/3103 2517/3637/3104 +f 2517/3637/3104 2518/3634/3105 2515/3632/3102 +usemtl Railing +f 2519/3643/3106 2520/3639/3107 2521/3638/3108 +f 2521/3638/3108 2522/3642/3109 2519/3643/3106 +f 2522/3645/3109 2521/3641/3108 2523/3640/3110 +f 2523/3640/3110 2524/3644/3111 2522/3645/3109 +f 2525/3652/3112 2526/3647/3113 2527/3646/3114 +f 2527/3646/3114 2528/3651/3115 2525/3652/3112 +f 2529/3653/3116 2530/3648/3117 2526/3647/3113 +f 2526/3647/3113 2525/3652/3112 2529/3653/3116 +f 2531/3654/3118 2532/3649/3119 2530/3648/3117 +f 2530/3648/3117 2529/3653/3116 2531/3654/3118 +f 2528/3655/3115 2527/3650/3114 2532/3649/3119 +f 2532/3649/3119 2531/3654/3118 2528/3655/3115 +s 2 +f 2533/3657/3120 2525/3652/3121 2528/3651/3122 +f 2528/3651/3122 2534/3656/3122 2533/3657/3120 +f 2535/3658/3123 2529/3653/3124 2525/3652/3121 +f 2525/3652/3121 2533/3657/3120 2535/3658/3123 +f 2536/3659/3125 2531/3654/3126 2529/3653/3124 +f 2529/3653/3124 2535/3658/3123 2536/3659/3125 +f 2534/3660/3122 2528/3655/3122 2531/3654/3126 +f 2531/3654/3126 2536/3659/3125 2534/3660/3122 +s off +f 2535/3646/3127 2533/3646/3127 2534/3646/3127 +f 2536/3646/3127 2535/3646/3127 2534/3646/3127 +usemtl Fence +s 1 +f 2537/3667/3128 2538/3666/3129 2539/3662/3130 +f 2539/3662/3130 2540/3661/3131 2537/3667/3128 +f 2541/3663/3132 2542/3664/3133 2543/3668/3133 +f 2543/3668/3133 2544/3665/3132 2541/3663/3132 +usemtl Railing +f 2545/3674/3134 2546/3670/3135 2547/3669/3136 +f 2547/3669/3136 2548/3673/3137 2545/3674/3134 +f 2548/3676/3137 2547/3672/3136 2549/3671/3138 +f 2549/3671/3138 2550/3675/3139 2548/3676/3137 +f 2551/3683/3140 2552/3678/3141 2553/3677/3142 +f 2553/3677/3142 2554/3682/3143 2551/3683/3140 +f 2555/3684/3144 2556/3679/3145 2552/3678/3141 +f 2552/3678/3141 2551/3683/3140 2555/3684/3144 +f 2557/3685/3146 2558/3680/3147 2556/3679/3145 +f 2556/3679/3145 2555/3684/3144 2557/3685/3146 +f 2554/3686/3143 2553/3681/3142 2558/3680/3147 +f 2558/3680/3147 2557/3685/3146 2554/3686/3143 +s 2 +f 2559/3688/3148 2551/3683/3149 2554/3682/3150 +f 2554/3682/3150 2560/3687/3151 2559/3688/3148 +f 2561/3689/3152 2555/3684/3152 2551/3683/3149 +f 2551/3683/3149 2559/3688/3148 2561/3689/3152 +f 2562/3690/3153 2557/3685/3154 2555/3684/3152 +f 2555/3684/3152 2561/3689/3152 2562/3690/3153 +f 2560/3691/3151 2554/3686/3150 2557/3685/3154 +f 2557/3685/3154 2562/3690/3153 2560/3691/3151 +s off +f 2561/3677/3155 2559/3677/3155 2560/3677/3155 +f 2562/3677/3155 2561/3677/3155 2560/3677/3155 +usemtl Fence 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2588/3721/3153 2583/3716/3169 2581/3715/3168 +f 2581/3715/3168 2587/3720/3168 2588/3721/3153 +f 2586/3722/3150 2580/3717/3150 2583/3716/3169 +f 2583/3716/3169 2588/3721/3153 2586/3722/3150 +s off +f 2587/3708/3155 2585/3708/3155 2586/3708/3155 +f 2588/3708/3155 2587/3708/3155 2586/3708/3155 +usemtl Fence +s 1 +f 2589/3729/3170 2590/3728/3171 2591/3724/3172 +f 2591/3724/3172 2592/3723/3173 2589/3729/3170 +f 2593/3725/3174 2594/3726/3175 2595/3730/3176 +f 2595/3730/3176 2596/3727/3177 2593/3725/3174 +usemtl Railing +f 2597/3736/3178 2598/3732/3179 2599/3731/3180 +f 2599/3731/3180 2600/3735/3181 2597/3736/3178 +f 2600/3738/3181 2599/3734/3180 2601/3733/3182 +f 2601/3733/3182 2602/3737/3183 2600/3738/3181 +f 2603/3745/3184 2604/3740/3185 2605/3739/3186 +f 2605/3739/3186 2606/3744/3187 2603/3745/3184 +f 2607/3746/3188 2608/3741/3189 2604/3740/3185 +f 2604/3740/3185 2603/3745/3184 2607/3746/3188 +f 2609/3747/3190 2610/3742/3191 2608/3741/3189 +f 2608/3741/3189 2607/3746/3188 2609/3747/3190 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2626/3769/3205 +f 2629/3776/3208 2630/3771/3209 2631/3770/3210 +f 2631/3770/3210 2632/3775/3211 2629/3776/3208 +f 2633/3777/3212 2634/3772/3213 2630/3771/3209 +f 2630/3771/3209 2629/3776/3208 2633/3777/3212 +f 2635/3778/3214 2636/3773/3215 2634/3772/3213 +f 2634/3772/3213 2633/3777/3212 2635/3778/3214 +f 2632/3779/3211 2631/3774/3210 2636/3773/3215 +f 2636/3773/3215 2635/3778/3214 2632/3779/3211 +s 2 +f 2637/3781/3216 2629/3776/3217 2632/3775/3218 +f 2632/3775/3218 2638/3780/3218 2637/3781/3216 +f 2639/3782/3219 2633/3777/3220 2629/3776/3217 +f 2629/3776/3217 2637/3781/3216 2639/3782/3219 +f 2640/3783/3221 2635/3778/3222 2633/3777/3220 +f 2633/3777/3220 2639/3782/3219 2640/3783/3221 +f 2638/3784/3218 2632/3779/3218 2635/3778/3222 +f 2635/3778/3222 2640/3783/3221 2638/3784/3218 +s off +f 2639/3770/3199 2637/3770/3199 2638/3770/3199 +f 2640/3770/3199 2639/3770/3199 2638/3770/3199 +usemtl Fence +s 1 +f 2641/3791/3223 2642/3790/3224 2643/3786/3225 +f 2643/3786/3225 2644/3785/3226 2641/3791/3223 +f 2645/3787/3227 2646/3788/3228 2647/3792/3229 +f 2647/3792/3229 2648/3789/3230 2645/3787/3227 +usemtl Railing +f 2649/3798/3231 2650/3794/3232 2651/3793/3233 +f 2651/3793/3233 2652/3797/3234 2649/3798/3231 +f 2652/3800/3234 2651/3796/3233 2653/3795/3235 +f 2653/3795/3235 2654/3799/3236 2652/3800/3234 +f 2655/3807/3237 2656/3802/3238 2657/3801/3239 +f 2657/3801/3239 2658/3806/3240 2655/3807/3237 +f 2659/3808/3241 2660/3803/3242 2656/3802/3238 +f 2656/3802/3238 2655/3807/3237 2659/3808/3241 +f 2661/3809/3243 2662/3804/3244 2660/3803/3242 +f 2660/3803/3242 2659/3808/3241 2661/3809/3243 +f 2658/3810/3240 2657/3805/3239 2662/3804/3244 +f 2662/3804/3244 2661/3809/3243 2658/3810/3240 +s 2 +f 2663/3812/3245 2655/3807/3246 2658/3806/3247 +f 2658/3806/3247 2664/3811/3248 2663/3812/3245 +f 2665/3813/3249 2659/3808/3250 2655/3807/3246 +f 2655/3807/3246 2663/3812/3245 2665/3813/3249 +f 2666/3814/3251 2661/3809/3252 2659/3808/3250 +f 2659/3808/3250 2665/3813/3249 2666/3814/3251 +f 2664/3815/3248 2658/3810/3247 2661/3809/3252 +f 2661/3809/3252 2666/3814/3251 2664/3815/3248 +s off +f 2665/3801/3253 2663/3801/3253 2664/3801/3253 +f 2666/3801/3253 2665/3801/3253 2664/3801/3253 +s 1 +f 2667/3822/3254 2668/3821/3255 2669/3816/3255 +f 2669/3816/3255 2670/3817/3256 2667/3822/3254 +f 2671/3823/3257 2667/3822/3254 2670/3817/3256 +f 2670/3817/3256 2672/3818/3258 2671/3823/3257 +f 2673/3824/3259 2671/3823/3257 2672/3818/3258 +f 2672/3818/3258 2674/3819/3260 2673/3824/3259 +f 2668/3825/3255 2673/3824/3259 2674/3819/3260 +f 2674/3819/3260 2669/3820/3255 2668/3825/3255 +s 2 +f 2675/3827/3261 2676/3826/3262 2668/3821/3262 +f 2668/3821/3262 2667/3822/3263 2675/3827/3261 +f 2677/3828/3264 2675/3827/3261 2667/3822/3263 +f 2667/3822/3263 2671/3823/3264 2677/3828/3264 +f 2678/3829/3265 2677/3828/3264 2671/3823/3264 +f 2671/3823/3264 2673/3824/3266 2678/3829/3265 +f 2676/3830/3262 2678/3829/3265 2673/3824/3266 +f 2673/3824/3266 2668/3825/3262 2676/3830/3262 +s off +f 2677/3816/3267 2676/3816/3267 2675/3816/3267 +f 2678/3816/3267 2676/3816/3267 2677/3816/3267 +usemtl Fence +s 1 +f 2679/3837/3268 2680/3831/3268 2681/3832/3268 +f 2681/3832/3268 2682/3836/3268 2679/3837/3268 +f 2683/3833/3255 2684/3835/3255 2685/3838/3255 +f 2685/3838/3255 2686/3834/3255 2683/3833/3255 +usemtl Railing +f 2687/3844/3269 2688/3843/3270 2689/3839/3271 +f 2689/3839/3271 2690/3840/3269 2687/3844/3269 +f 2688/3846/3270 2691/3845/3272 2692/3841/3273 +f 2692/3841/3273 2689/3842/3271 2688/3846/3270 +f 2693/3853/3274 2694/3852/3275 2695/3847/3276 +f 2695/3847/3276 2696/3848/3261 2693/3853/3274 +f 2697/3854/3277 2693/3853/3274 2696/3848/3261 +f 2696/3848/3261 2698/3849/3257 2697/3854/3277 +f 2699/3855/3259 2697/3854/3277 2698/3849/3257 +f 2698/3849/3257 2700/3850/3265 2699/3855/3259 +f 2694/3856/3275 2699/3855/3259 2700/3850/3265 +f 2700/3850/3265 2695/3851/3276 2694/3856/3275 +s 2 +f 2701/3858/3261 2702/3857/3278 2694/3852/3279 +f 2694/3852/3279 2693/3853/3280 2701/3858/3261 +f 2703/3859/3281 2701/3858/3261 2693/3853/3280 +f 2693/3853/3280 2697/3854/3264 2703/3859/3281 +f 2704/3860/3265 2703/3859/3281 2697/3854/3264 +f 2697/3854/3264 2699/3855/3266 2704/3860/3265 +f 2702/3861/3278 2704/3860/3265 2699/3855/3266 +f 2699/3855/3266 2694/3856/3279 2702/3861/3278 +s off +f 2703/3847/3282 2702/3847/3282 2701/3847/3282 +f 2704/3847/3283 2702/3847/3283 2703/3847/3283 +usemtl Fence +s 1 +f 2705/3868/3284 2706/3862/3284 2707/3863/3285 +f 2707/3863/3285 2708/3867/3286 2705/3868/3284 +f 2709/3864/3287 2710/3866/3288 2711/3869/3289 +f 2711/3869/3289 2712/3865/3290 2709/3864/3287 +usemtl Railing +f 2713/3875/3291 2714/3874/3292 2715/3870/3293 +f 2715/3870/3293 2716/3871/3294 2713/3875/3291 +f 2714/3877/3292 2717/3876/3295 2718/3872/3296 +f 2718/3872/3296 2715/3873/3293 2714/3877/3292 +f 2719/3884/3297 2720/3883/3298 2721/3878/3298 +f 2721/3878/3298 2722/3879/3299 2719/3884/3297 +f 2723/3885/3300 2719/3884/3297 2722/3879/3299 +f 2722/3879/3299 2724/3880/3301 2723/3885/3300 +f 2725/3886/3302 2723/3885/3300 2724/3880/3301 +f 2724/3880/3301 2726/3881/3303 2725/3886/3302 +f 2720/3887/3298 2725/3886/3302 2726/3881/3303 +f 2726/3881/3303 2721/3882/3298 2720/3887/3298 +s 2 +f 2727/3889/3299 2728/3888/3304 2720/3883/3305 +f 2720/3883/3305 2719/3884/3306 2727/3889/3299 +f 2729/3890/3307 2727/3889/3299 2719/3884/3306 +f 2719/3884/3306 2723/3885/3308 2729/3890/3307 +f 2730/3891/3309 2729/3890/3307 2723/3885/3308 +f 2723/3885/3308 2725/3886/3310 2730/3891/3309 +f 2728/3892/3304 2730/3891/3309 2725/3886/3310 +f 2725/3886/3310 2720/3887/3305 2728/3892/3304 +s off +f 2729/3878/3311 2728/3878/3311 2727/3878/3311 +f 2730/3878/3312 2728/3878/3312 2729/3878/3312 +usemtl Fence +s 1 +f 2731/3899/3313 2732/3893/3314 2733/3894/3315 +f 2733/3894/3315 2734/3898/3316 2731/3899/3313 +f 2735/3895/3317 2736/3897/3318 2737/3900/3319 +f 2737/3900/3319 2738/3896/3320 2735/3895/3317 +usemtl Railing +f 2739/3906/3321 2740/3905/3322 2741/3901/3323 +f 2741/3901/3323 2742/3902/3324 2739/3906/3321 +f 2740/3908/3322 2743/3907/3325 2744/3903/3326 +f 2744/3903/3326 2741/3904/3323 2740/3908/3322 +f 2745/3915/3327 2746/3914/3328 2747/3909/3328 +f 2747/3909/3328 2748/3910/3329 2745/3915/3327 +f 2749/3916/3330 2745/3915/3327 2748/3910/3329 +f 2748/3910/3329 2750/3911/3330 2749/3916/3330 +f 2751/3917/3331 2749/3916/3330 2750/3911/3330 +f 2750/3911/3330 2752/3912/3332 2751/3917/3331 +f 2746/3918/3328 2751/3917/3331 2752/3912/3332 +f 2752/3912/3332 2747/3913/3328 2746/3918/3328 +s 2 +f 2753/3920/3333 2754/3919/3334 2746/3914/3334 +f 2746/3914/3334 2745/3915/3335 2753/3920/3333 +f 2755/3921/3336 2753/3920/3333 2745/3915/3335 +f 2745/3915/3335 2749/3916/3337 2755/3921/3336 +f 2756/3922/3338 2755/3921/3336 2749/3916/3337 +f 2749/3916/3337 2751/3917/3339 2756/3922/3338 +f 2754/3923/3334 2756/3922/3338 2751/3917/3339 +f 2751/3917/3339 2746/3918/3334 2754/3923/3334 +s off +f 2755/3909/3340 2754/3909/3340 2753/3909/3340 +f 2756/3909/3340 2754/3909/3340 2755/3909/3340 +usemtl Fence 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2782/3953/3358 2781/3952/3357 2775/3947/3357 +f 2775/3947/3357 2777/3948/3359 2782/3953/3358 +f 2780/3954/3355 2782/3953/3358 2777/3948/3359 +f 2777/3948/3359 2772/3949/3355 2780/3954/3355 +s off +f 2781/3940/3360 2780/3940/3360 2779/3940/3360 +f 2782/3940/3360 2780/3940/3360 2781/3940/3360 +usemtl Fence +s 1 +f 2783/3961/3361 2784/3955/3362 2785/3956/3363 +f 2785/3956/3363 2786/3960/3364 2783/3961/3361 +f 2787/3957/3365 2788/3959/3365 2789/3962/3365 +f 2789/3962/3365 2790/3958/3365 2787/3957/3365 +usemtl Railing +f 2791/3968/3366 2792/3967/3367 2793/3963/3368 +f 2793/3963/3368 2794/3964/3369 2791/3968/3366 +f 2792/3970/3367 2795/3969/3370 2796/3965/3371 +f 2796/3965/3371 2793/3966/3368 2792/3970/3367 +f 2797/3977/3327 2798/3976/3372 2799/3971/3372 +f 2799/3971/3372 2800/3972/3373 2797/3977/3327 +f 2801/3978/3374 2797/3977/3327 2800/3972/3373 +f 2800/3972/3373 2802/3973/3375 2801/3978/3374 +f 2803/3979/3376 2801/3978/3374 2802/3973/3375 +f 2802/3973/3375 2804/3974/3377 2803/3979/3376 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2818/4001/3390 +f 2823/4008/3395 2824/4007/3396 2825/4002/3397 +f 2825/4002/3397 2826/4003/3398 2823/4008/3395 +f 2827/4009/3399 2823/4008/3395 2826/4003/3398 +f 2826/4003/3398 2828/4004/3400 2827/4009/3399 +f 2829/4010/3401 2827/4009/3399 2828/4004/3400 +f 2828/4004/3400 2830/4005/3402 2829/4010/3401 +f 2824/4011/3396 2829/4010/3401 2830/4005/3402 +f 2830/4005/3402 2825/4006/3397 2824/4011/3396 +s 2 +f 2831/4013/3403 2832/4012/3404 2824/4007/3405 +f 2824/4007/3405 2823/4008/3406 2831/4013/3403 +f 2833/4014/3407 2831/4013/3403 2823/4008/3406 +f 2823/4008/3406 2827/4009/3407 2833/4014/3407 +f 2834/4015/3408 2833/4014/3407 2827/4009/3407 +f 2827/4009/3407 2829/4010/3409 2834/4015/3408 +f 2832/4016/3404 2834/4015/3408 2829/4010/3409 +f 2829/4010/3409 2824/4011/3405 2832/4016/3404 +s off +f 2833/4002/3410 2832/4002/3410 2831/4002/3410 +f 2834/4002/3410 2832/4002/3410 2833/4002/3410 +usemtl Fence +s 1 +f 2835/4023/3411 2836/4017/3412 2837/4018/3413 +f 2837/4018/3413 2838/4022/3414 2835/4023/3411 +f 2839/4019/3415 2840/4021/3416 2841/4024/3417 +f 2841/4024/3417 2842/4020/3418 2839/4019/3415 +usemtl Railing +f 2843/4030/3419 2844/4029/3420 2845/4025/3421 +f 2845/4025/3421 2846/4026/3422 2843/4030/3419 +f 2844/4032/3420 2847/4031/3423 2848/4027/3424 +f 2848/4027/3424 2845/4028/3421 2844/4032/3420 +f 2849/4039/3425 2850/4038/3426 2851/4033/3426 +f 2851/4033/3426 2852/4034/3427 2849/4039/3425 +f 2853/4040/3428 2849/4039/3425 2852/4034/3427 +f 2852/4034/3427 2854/4035/3429 2853/4040/3428 +f 2855/4041/3430 2853/4040/3428 2854/4035/3429 +f 2854/4035/3429 2856/4036/3431 2855/4041/3430 +f 2850/4042/3426 2855/4041/3430 2856/4036/3431 +f 2856/4036/3431 2851/4037/3426 2850/4042/3426 +s 2 +f 2857/4044/3432 2858/4043/3433 2850/4038/3434 +f 2850/4038/3434 2849/4039/3435 2857/4044/3432 +f 2859/4045/3436 2857/4044/3432 2849/4039/3435 +f 2849/4039/3435 2853/4040/3436 2859/4045/3436 +f 2860/4046/3437 2859/4045/3436 2853/4040/3436 +f 2853/4040/3436 2855/4041/3438 2860/4046/3437 +f 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2901/4101/3470 +f 2905/4102/3454 2901/4101/3470 2904/4096/3471 +f 2904/4096/3471 2906/4097/3472 2905/4102/3454 +f 2907/4103/3456 2905/4102/3454 2906/4097/3472 +f 2906/4097/3472 2908/4098/3457 2907/4103/3456 +f 2902/4104/3452 2907/4103/3456 2908/4098/3457 +f 2908/4098/3457 2903/4099/3451 2902/4104/3452 +s 2 +f 2909/4106/3453 2910/4105/3458 2902/4100/3473 +f 2902/4100/3473 2901/4101/3474 2909/4106/3453 +f 2911/4107/3475 2909/4106/3453 2901/4101/3474 +f 2901/4101/3474 2905/4102/3460 2911/4107/3475 +f 2912/4108/3476 2911/4107/3475 2905/4102/3460 +f 2905/4102/3460 2907/4103/3462 2912/4108/3476 +f 2910/4109/3458 2912/4108/3476 2907/4103/3462 +f 2907/4103/3462 2902/4104/3473 2910/4109/3458 +s off +f 2911/4095/3463 2910/4095/3463 2909/4095/3463 +f 2912/4095/3477 2910/4095/3477 2911/4095/3477 +usemtl Fence +s 1 +f 2913/4116/3478 2914/4110/3478 2915/4111/3478 +f 2915/4111/3478 2916/4115/3478 2913/4116/3478 +f 2917/4112/3479 2918/4114/3479 2919/4117/3479 +f 2919/4117/3479 2920/4113/3479 2917/4112/3479 +usemtl Railing +f 2921/4123/3480 2922/4122/3481 2923/4118/3482 +f 2923/4118/3482 2924/4119/3483 2921/4123/3480 +f 2922/4125/3481 2925/4124/3484 2926/4120/3485 +f 2926/4120/3485 2923/4121/3482 2922/4125/3481 +f 2927/4132/3486 2928/4131/3487 2929/4126/3487 +f 2929/4126/3487 2930/4127/3488 2927/4132/3486 +f 2931/4133/3489 2927/4132/3486 2930/4127/3488 +f 2930/4127/3488 2932/4128/3490 2931/4133/3489 +f 2933/4134/3491 2931/4133/3489 2932/4128/3490 +f 2932/4128/3490 2934/4129/3492 2933/4134/3491 +f 2928/4135/3487 2933/4134/3491 2934/4129/3492 +f 2934/4129/3492 2929/4130/3487 2928/4135/3487 +s 2 +f 2935/4137/3493 2936/4136/3494 2928/4131/3494 +f 2928/4131/3494 2927/4132/3495 2935/4137/3493 +f 2937/4138/3496 2935/4137/3493 2927/4132/3495 +f 2927/4132/3495 2931/4133/3497 2937/4138/3496 +f 2938/4139/3492 2937/4138/3496 2931/4133/3497 +f 2931/4133/3497 2933/4134/3498 2938/4139/3492 +f 2936/4140/3494 2938/4139/3492 2933/4134/3498 +f 2933/4134/3498 2928/4135/3494 2936/4140/3494 +s 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2961/4168/3511 +f 2963/4169/3497 2961/4168/3511 2953/4163/3514 +f 2953/4163/3514 2957/4164/3497 2963/4169/3497 +f 2964/4170/3492 2963/4169/3497 2957/4164/3497 +f 2957/4164/3497 2959/4165/3498 2964/4170/3492 +f 2962/4171/3494 2964/4170/3492 2959/4165/3498 +f 2959/4165/3498 2954/4166/3513 2962/4171/3494 +s off +f 2963/4157/3500 2962/4157/3500 2961/4157/3500 +f 2964/4157/3500 2962/4157/3500 2963/4157/3500 +usemtl Fence +s 1 +f 2965/4178/3501 2966/4172/3501 2967/4173/3501 +f 2967/4173/3501 2968/4177/3501 2965/4178/3501 +f 2969/4174/3487 2970/4176/3487 2971/4179/3487 +f 2971/4179/3487 2972/4175/3487 2969/4174/3487 +usemtl Railing +f 2973/4185/3515 2974/4184/3516 2975/4180/3517 +f 2975/4180/3517 2976/4181/3502 2973/4185/3515 +f 2974/4187/3516 2977/4186/3506 2978/4182/3518 +f 2978/4182/3518 2975/4183/3517 2974/4187/3516 +f 2979/4194/3508 2980/4193/3510 2981/4188/3487 +f 2981/4188/3487 2982/4189/3488 2979/4194/3508 +f 2983/4195/3519 2979/4194/3508 2982/4189/3488 +f 2982/4189/3488 2984/4190/3489 2983/4195/3519 +f 2985/4196/3520 2983/4195/3519 2984/4190/3489 +f 2984/4190/3489 2986/4191/3492 2985/4196/3520 +f 2980/4197/3510 2985/4196/3520 2986/4191/3492 +f 2986/4191/3492 2981/4192/3487 2980/4197/3510 +s 2 +f 2987/4199/3521 2988/4198/3522 2980/4193/3494 +f 2980/4193/3494 2979/4194/3514 2987/4199/3521 +f 2989/4200/3497 2987/4199/3521 2979/4194/3514 +f 2979/4194/3514 2983/4195/3523 2989/4200/3497 +f 2990/4201/3492 2989/4200/3497 2983/4195/3523 +f 2983/4195/3523 2985/4196/3524 2990/4201/3492 +f 2988/4202/3522 2990/4201/3492 2985/4196/3524 +f 2985/4196/3524 2980/4197/3494 2988/4202/3522 +s off +f 2989/4188/3499 2988/4188/3499 2987/4188/3499 +f 2990/4188/3500 2988/4188/3500 2989/4188/3500 +usemtl Fence +s 1 +f 2991/4209/3525 2992/4203/3526 2993/4204/3525 +f 2993/4204/3525 2994/4208/3527 2991/4209/3525 +f 2995/4205/3528 2996/4207/3528 2997/4210/3528 +f 2997/4210/3528 2998/4206/3529 2995/4205/3528 +usemtl Railing +f 2999/4216/3530 3000/4215/3531 3001/4211/3532 +f 3001/4211/3532 3002/4212/3533 2999/4216/3530 +f 3000/4218/3531 3003/4217/3534 3004/4213/3535 +f 3004/4213/3535 3001/4214/3532 3000/4218/3531 +f 3005/4225/3536 3006/4224/3537 3007/4219/3537 +f 3007/4219/3537 3008/4220/3538 3005/4225/3536 +f 3009/4226/3539 3005/4225/3536 3008/4220/3538 +f 3008/4220/3538 3010/4221/3539 3009/4226/3539 +f 3011/4227/3540 3009/4226/3539 3010/4221/3539 +f 3010/4221/3539 3012/4222/3541 3011/4227/3540 +f 3006/4228/3537 3011/4227/3540 3012/4222/3541 +f 3012/4222/3541 3007/4223/3537 3006/4228/3537 +s 2 +f 3013/4230/3542 3014/4229/3543 3006/4224/3543 +f 3006/4224/3543 3005/4225/3544 3013/4230/3542 +f 3015/4231/3545 3013/4230/3542 3005/4225/3544 +f 3005/4225/3544 3009/4226/3546 3015/4231/3545 +f 3016/4232/3547 3015/4231/3545 3009/4226/3546 +f 3009/4226/3546 3011/4227/3548 3016/4232/3547 +f 3014/4233/3543 3016/4232/3547 3011/4227/3548 +f 3011/4227/3548 3006/4228/3543 3014/4233/3543 +s off +f 3015/4219/3549 3014/4219/3549 3013/4219/3549 +f 3016/4219/3550 3014/4219/3550 3015/4219/3550 +usemtl Fence +s 1 +f 3017/4240/3551 3018/4234/3551 3019/4235/3551 +f 3019/4235/3551 3020/4239/3551 3017/4240/3551 +f 3021/4236/3552 3022/4238/3552 3023/4241/3552 +f 3023/4241/3552 3024/4237/3552 3021/4236/3552 +usemtl Railing +f 3025/4247/3553 3026/4246/3554 3027/4242/3555 +f 3027/4242/3555 3028/4243/3553 3025/4247/3553 +f 3026/4249/3554 3029/4248/3556 3030/4244/3556 +f 3030/4244/3556 3027/4245/3555 3026/4249/3554 +f 3031/4256/3557 3032/4255/3558 3033/4250/3558 +f 3033/4250/3558 3034/4251/3538 3031/4256/3557 +f 3035/4257/3559 3031/4256/3557 3034/4251/3538 +f 3034/4251/3538 3036/4252/3560 3035/4257/3559 +f 3037/4258/3561 3035/4257/3559 3036/4252/3560 +f 3036/4252/3560 3038/4253/3562 3037/4258/3561 +f 3032/4259/3558 3037/4258/3561 3038/4253/3562 +f 3038/4253/3562 3033/4254/3558 3032/4259/3558 +s 2 +f 3039/4261/3563 3040/4260/3543 3032/4255/3543 +f 3032/4255/3543 3031/4256/3564 3039/4261/3563 +f 3041/4262/3545 3039/4261/3563 3031/4256/3564 +f 3031/4256/3564 3035/4257/3545 3041/4262/3545 +f 3042/4263/3562 3041/4262/3545 3035/4257/3545 +f 3035/4257/3545 3037/4258/3565 3042/4263/3562 +f 3040/4264/3543 3042/4263/3562 3037/4258/3565 +f 3037/4258/3565 3032/4259/3543 3040/4264/3543 +s off +f 3041/4250/3550 3040/4250/3550 3039/4250/3550 +f 3042/4250/3566 3040/4250/3566 3041/4250/3566 +usemtl Fence +s 1 +f 3043/4271/3551 3044/4265/3551 3045/4266/3551 +f 3045/4266/3551 3046/4270/3551 3043/4271/3551 +f 3047/4267/3552 3048/4269/3552 3049/4272/3552 +f 3049/4272/3552 3050/4268/3552 3047/4267/3552 +usemtl Railing +f 3051/4278/3567 3052/4277/3568 3053/4273/3555 +f 3053/4273/3555 3054/4274/3567 3051/4278/3567 +f 3052/4280/3568 3055/4279/3556 3056/4275/3556 +f 3056/4275/3556 3053/4276/3555 3052/4280/3568 +f 3057/4287/3569 3058/4286/3537 3059/4281/3537 +f 3059/4281/3537 3060/4282/3542 3057/4287/3569 +f 3061/4288/3570 3057/4287/3569 3060/4282/3542 +f 3060/4282/3542 3062/4283/3560 3061/4288/3570 +f 3063/4289/3540 3061/4288/3570 3062/4283/3560 +f 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3075/4304/3579 3072/4305/3576 +s 2 +f 3077/4307/3581 3069/4302/3582 3072/4301/3583 +f 3072/4301/3583 3078/4306/3583 3077/4307/3581 +f 3079/4308/3584 3073/4303/3585 3069/4302/3582 +f 3069/4302/3582 3077/4307/3581 3079/4308/3584 +f 3080/4309/3580 3075/4304/3586 3073/4303/3585 +f 3073/4303/3585 3079/4308/3584 3080/4309/3580 +f 3078/4310/3583 3072/4305/3583 3075/4304/3586 +f 3075/4304/3586 3080/4309/3580 3078/4310/3583 +s off +f 3079/4296/3587 3077/4296/3587 3078/4296/3587 +f 3080/4296/3588 3079/4296/3588 3078/4296/3588 +usemtl Fence +s 1 +f 3081/4317/3589 3082/4316/3590 3083/4312/3591 +f 3083/4312/3591 3084/4311/3592 3081/4317/3589 +f 3085/4313/3593 3086/4314/3594 3087/4318/3595 +f 3087/4318/3595 3088/4315/3596 3085/4313/3593 +usemtl Railing +f 3089/4324/3597 3090/4320/3598 3091/4319/3599 +f 3091/4319/3599 3092/4323/3600 3089/4324/3597 +f 3092/4326/3600 3091/4322/3599 3093/4321/3601 +f 3093/4321/3601 3094/4325/3602 3092/4326/3600 +f 3095/4333/3603 3096/4328/3604 3097/4327/3605 +f 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3113/4349/3622 3114/4346/3624 3111/4344/3622 +usemtl Railing +f 3115/4355/3625 3116/4351/3626 3117/4350/3627 +f 3117/4350/3627 3118/4354/3628 3115/4355/3625 +f 3118/4357/3628 3117/4353/3627 3119/4352/3629 +f 3119/4352/3629 3120/4356/3630 3118/4357/3628 +f 3121/4364/3631 3122/4359/3632 3123/4358/3633 +f 3123/4358/3633 3124/4363/3633 3121/4364/3631 +f 3125/4365/3634 3126/4360/3635 3122/4359/3632 +f 3122/4359/3632 3121/4364/3631 3125/4365/3634 +f 3127/4366/3636 3128/4361/3637 3126/4360/3635 +f 3126/4360/3635 3125/4365/3634 3127/4366/3636 +f 3124/4367/3633 3123/4362/3633 3128/4361/3637 +f 3128/4361/3637 3127/4366/3636 3124/4367/3633 +s 2 +f 3129/4369/3638 3121/4364/3639 3124/4363/3640 +f 3124/4363/3640 3130/4368/3640 3129/4369/3638 +f 3131/4370/3641 3125/4365/3642 3121/4364/3639 +f 3121/4364/3639 3129/4369/3638 3131/4370/3641 +f 3132/4371/3643 3127/4366/3644 3125/4365/3642 +f 3125/4365/3642 3131/4370/3641 3132/4371/3643 +f 3130/4372/3640 3124/4367/3640 3127/4366/3644 +f 3127/4366/3644 3132/4371/3643 3130/4372/3640 +s off +f 3131/4358/3645 3129/4358/3645 3130/4358/3645 +f 3132/4358/3646 3131/4358/3646 3130/4358/3646 +usemtl Fence +s 1 +f 3133/4379/3647 3134/4378/3648 3135/4374/3649 +f 3135/4374/3649 3136/4373/3650 3133/4379/3647 +f 3137/4375/3651 3138/4376/3652 3139/4380/3651 +f 3139/4380/3651 3140/4377/3653 3137/4375/3651 +usemtl Railing +f 3141/4386/3654 3142/4382/3655 3143/4381/3656 +f 3143/4381/3656 3144/4385/3657 3141/4386/3654 +f 3144/4388/3657 3143/4384/3656 3145/4383/3658 +f 3145/4383/3658 3146/4387/3659 3144/4388/3657 +f 3147/4395/3660 3148/4390/3661 3149/4389/3662 +f 3149/4389/3662 3150/4394/3662 3147/4395/3660 +f 3151/4396/3663 3152/4391/3664 3148/4390/3661 +f 3148/4390/3661 3147/4395/3660 3151/4396/3663 +f 3153/4397/3665 3154/4392/3666 3152/4391/3664 +f 3152/4391/3664 3151/4396/3663 3153/4397/3665 +f 3150/4398/3662 3149/4393/3662 3154/4392/3666 +f 3154/4392/3666 3153/4397/3665 3150/4398/3662 +s 2 +f 3155/4400/3667 3147/4395/3668 3150/4394/3669 +f 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3195/4443/3712 +f 3195/4443/3712 3196/4447/3713 3193/4448/3710 +f 3196/4450/3713 3195/4446/3712 3197/4445/3714 +f 3197/4445/3714 3198/4449/3715 3196/4450/3713 +f 3199/4457/3716 3200/4452/3717 3201/4451/3718 +f 3201/4451/3718 3202/4456/3718 3199/4457/3716 +f 3203/4458/3719 3204/4453/3719 3200/4452/3717 +f 3200/4452/3717 3199/4457/3716 3203/4458/3719 +f 3205/4459/3720 3206/4454/3721 3204/4453/3719 +f 3204/4453/3719 3203/4458/3719 3205/4459/3720 +f 3202/4460/3718 3201/4455/3718 3206/4454/3721 +f 3206/4454/3721 3205/4459/3720 3202/4460/3718 +s 2 +f 3207/4462/3722 3199/4457/3723 3202/4456/3724 +f 3202/4456/3724 3208/4461/3725 3207/4462/3722 +f 3209/4463/3726 3203/4458/3727 3199/4457/3723 +f 3199/4457/3723 3207/4462/3722 3209/4463/3726 +f 3210/4464/3728 3205/4459/3729 3203/4458/3727 +f 3203/4458/3727 3209/4463/3726 3210/4464/3728 +f 3208/4465/3725 3202/4460/3724 3205/4459/3729 +f 3205/4459/3729 3210/4464/3728 3208/4465/3725 +s off +f 3209/4451/3730 3207/4451/3730 3208/4451/3730 +f 3210/4451/3731 3209/4451/3731 3208/4451/3731 +usemtl Fence +s 1 +f 3211/4472/3732 3212/4471/3733 3213/4467/3733 +f 3213/4467/3733 3214/4466/3732 3211/4472/3732 +f 3215/4468/3734 3216/4469/3735 3217/4473/3734 +f 3217/4473/3734 3218/4470/3736 3215/4468/3734 +usemtl Railing +f 3219/4479/3737 3220/4475/3738 3221/4474/3739 +f 3221/4474/3739 3222/4478/3740 3219/4479/3737 +f 3222/4481/3740 3221/4477/3739 3223/4476/3741 +f 3223/4476/3741 3224/4480/3742 3222/4481/3740 +f 3225/4488/3743 3226/4483/3744 3227/4482/3745 +f 3227/4482/3745 3228/4487/3746 3225/4488/3743 +f 3229/4489/3747 3230/4484/3748 3226/4483/3744 +f 3226/4483/3744 3225/4488/3743 3229/4489/3747 +f 3231/4490/3749 3232/4485/3750 3230/4484/3748 +f 3230/4484/3748 3229/4489/3747 3231/4490/3749 +f 3228/4491/3746 3227/4486/3745 3232/4485/3750 +f 3232/4485/3750 3231/4490/3749 3228/4491/3746 +s 2 +f 3233/4493/3751 3225/4488/3752 3228/4487/3753 +f 3228/4487/3753 3234/4492/3753 3233/4493/3751 +f 3235/4494/3754 3229/4489/3755 3225/4488/3752 +f 3225/4488/3752 3233/4493/3751 3235/4494/3754 +f 3236/4495/3756 3231/4490/3757 3229/4489/3755 +f 3229/4489/3755 3235/4494/3754 3236/4495/3756 +f 3234/4496/3753 3228/4491/3753 3231/4490/3757 +f 3231/4490/3757 3236/4495/3756 3234/4496/3753 +s off +f 3235/4482/3758 3233/4482/3758 3234/4482/3758 +f 3236/4482/3759 3235/4482/3759 3234/4482/3759 +usemtl Fence +s 1 +f 3237/4503/3760 3238/4502/3761 3239/4498/3761 +f 3239/4498/3761 3240/4497/3762 3237/4503/3760 +f 3241/4499/3763 3242/4500/3764 3243/4504/3765 +f 3243/4504/3765 3244/4501/3766 3241/4499/3763 +usemtl Railing +f 3245/4510/3767 3246/4506/3768 3247/4505/3769 +f 3247/4505/3769 3248/4509/3770 3245/4510/3767 +f 3248/4512/3770 3247/4508/3769 3249/4507/3771 +f 3249/4507/3771 3250/4511/3772 3248/4512/3770 +f 3251/4519/3773 3252/4514/3774 3253/4513/3775 +f 3253/4513/3775 3254/4518/3776 3251/4519/3773 +f 3255/4520/3777 3256/4515/3778 3252/4514/3774 +f 3252/4514/3774 3251/4519/3773 3255/4520/3777 +f 3257/4521/3779 3258/4516/3780 3256/4515/3778 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4681/6218/5203 +f 4681/6218/5203 4682/6217/5204 4679/6223/5201 +f 4683/6219/5205 4684/6220/5205 4685/6224/5205 +f 4685/6224/5205 4686/6221/5206 4683/6219/5205 +usemtl Railing +f 4687/6230/5207 4688/6226/5208 4689/6225/5209 +f 4689/6225/5209 4690/6229/5210 4687/6230/5207 +f 4690/6232/5210 4689/6228/5209 4691/6227/5211 +f 4691/6227/5211 4692/6231/5212 4690/6232/5210 +f 4693/6239/5213 4694/6234/5214 4695/6233/5215 +f 4695/6233/5215 4696/6238/5216 4693/6239/5213 +f 4697/6240/5217 4698/6235/5218 4694/6234/5214 +f 4694/6234/5214 4693/6239/5213 4697/6240/5217 +f 4699/6241/5219 4700/6236/5220 4698/6235/5218 +f 4698/6235/5218 4697/6240/5217 4699/6241/5219 +f 4696/6242/5216 4695/6237/5215 4700/6236/5220 +f 4700/6236/5220 4699/6241/5219 4696/6242/5216 +s 2 +f 4701/6244/5221 4693/6239/5222 4696/6238/5223 +f 4696/6238/5223 4702/6243/5223 4701/6244/5221 +f 4703/6245/5224 4697/6240/5225 4693/6239/5222 +f 4693/6239/5222 4701/6244/5221 4703/6245/5224 +f 4704/6246/5226 4699/6241/5227 4697/6240/5225 +f 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4763/6317/5291 +f 4763/6317/5291 4764/6314/5293 4761/6312/5291 +usemtl Railing +f 4765/6323/5294 4766/6319/5295 4767/6318/5296 +f 4767/6318/5296 4768/6322/5297 4765/6323/5294 +f 4768/6325/5297 4767/6321/5296 4769/6320/5298 +f 4769/6320/5298 4770/6324/5299 4768/6325/5297 +f 4771/6332/5300 4772/6327/5301 4773/6326/5302 +f 4773/6326/5302 4774/6331/5303 4771/6332/5300 +f 4775/6333/5304 4776/6328/5305 4772/6327/5301 +f 4772/6327/5301 4771/6332/5300 4775/6333/5304 +f 4777/6334/5306 4778/6329/5307 4776/6328/5305 +f 4776/6328/5305 4775/6333/5304 4777/6334/5306 +f 4774/6335/5303 4773/6330/5302 4778/6329/5307 +f 4778/6329/5307 4777/6334/5306 4774/6335/5303 +s 2 +f 4779/6337/5308 4771/6332/5309 4774/6331/5310 +f 4774/6331/5310 4780/6336/5311 4779/6337/5308 +f 4781/6338/5312 4775/6333/5312 4771/6332/5309 +f 4771/6332/5309 4779/6337/5308 4781/6338/5312 +f 4782/6339/5313 4777/6334/5314 4775/6333/5312 +f 4775/6333/5312 4781/6338/5312 4782/6339/5313 +f 4780/6340/5311 4774/6335/5310 4777/6334/5314 +f 4777/6334/5314 4782/6339/5313 4780/6340/5311 +s off +f 4781/6326/5315 4779/6326/5315 4780/6326/5315 +f 4782/6326/5316 4781/6326/5316 4780/6326/5316 +usemtl Fence +s 1 +f 4783/6347/5317 4784/6346/5318 4785/6342/5318 +f 4785/6342/5318 4786/6341/5317 4783/6347/5317 +f 4787/6343/5319 4788/6344/5320 4789/6348/5321 +f 4789/6348/5321 4790/6345/5322 4787/6343/5319 +usemtl Railing +f 4791/6354/5323 4792/6350/5324 4793/6349/5325 +f 4793/6349/5325 4794/6353/5326 4791/6354/5323 +f 4794/6356/5326 4793/6352/5325 4795/6351/5327 +f 4795/6351/5327 4796/6355/5328 4794/6356/5326 +f 4797/6363/5329 4798/6358/5330 4799/6357/5331 +f 4799/6357/5331 4800/6362/5331 4797/6363/5329 +f 4801/6364/5332 4802/6359/5332 4798/6358/5330 +f 4798/6358/5330 4797/6363/5329 4801/6364/5332 +f 4803/6365/5333 4804/6360/5334 4802/6359/5332 +f 4802/6359/5332 4801/6364/5332 4803/6365/5333 +f 4800/6366/5331 4799/6361/5331 4804/6360/5334 +f 4804/6360/5334 4803/6365/5333 4800/6366/5331 +s 2 +f 4805/6368/5335 4797/6363/5336 4800/6362/5337 +f 4800/6362/5337 4806/6367/5337 4805/6368/5335 +f 4807/6369/5338 4801/6364/5339 4797/6363/5336 +f 4797/6363/5336 4805/6368/5335 4807/6369/5338 +f 4808/6370/5340 4803/6365/5341 4801/6364/5339 +f 4801/6364/5339 4807/6369/5338 4808/6370/5340 +f 4806/6371/5337 4800/6366/5337 4803/6365/5341 +f 4803/6365/5341 4808/6370/5340 4806/6371/5337 +s off +f 4807/6357/5342 4805/6357/5342 4806/6357/5342 +f 4808/6357/5343 4807/6357/5343 4806/6357/5343 +usemtl Fence +s 1 +f 4809/6378/5344 4810/6377/5345 4811/6373/5345 +f 4811/6373/5345 4812/6372/5344 4809/6378/5344 +f 4813/6374/5346 4814/6375/5346 4815/6379/5346 +f 4815/6379/5346 4816/6376/5346 4813/6374/5346 +usemtl Railing +f 4817/6385/5347 4818/6381/5348 4819/6380/5349 +f 4819/6380/5349 4820/6384/5350 4817/6385/5347 +f 4820/6387/5350 4819/6383/5349 4821/6382/5351 +f 4821/6382/5351 4822/6386/5352 4820/6387/5350 +f 4823/6394/5353 4824/6389/5354 4825/6388/5355 +f 4825/6388/5355 4826/6393/5356 4823/6394/5353 +f 4827/6395/5357 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5426/7103/5995 5422/7102/5992 +f 5422/7102/5992 5421/7107/5991 5425/7108/5994 +f 5427/7109/5996 5428/7104/5997 5426/7103/5995 +f 5426/7103/5995 5425/7108/5994 5427/7109/5996 +f 5424/7110/5993 5423/7105/5993 5428/7104/5997 +f 5428/7104/5997 5427/7109/5996 5424/7110/5993 +s 2 +f 5429/7112/5998 5421/7107/5999 5424/7106/6000 +f 5424/7106/6000 5430/7111/6001 5429/7112/5998 +f 5431/7113/6002 5425/7108/6003 5421/7107/5999 +f 5421/7107/5999 5429/7112/5998 5431/7113/6002 +f 5432/7114/6004 5427/7109/6005 5425/7108/6003 +f 5425/7108/6003 5431/7113/6002 5432/7114/6004 +f 5430/7115/6001 5424/7110/6000 5427/7109/6005 +f 5427/7109/6005 5432/7114/6004 5430/7115/6001 +s off +f 5431/7101/6006 5429/7101/6006 5430/7101/6006 +f 5432/7101/6007 5431/7101/6007 5430/7101/6007 +usemtl Fence +s 1 +f 5433/7122/6008 5434/7121/6009 5435/7117/6010 +f 5435/7117/6010 5436/7116/6008 5433/7122/6008 +f 5437/7118/6011 5438/7119/6012 5439/7123/6013 +f 5439/7123/6013 5440/7120/6014 5437/7118/6011 +usemtl Railing +f 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5455/7132/6034 5456/7132/6034 +f 5458/7132/6035 5457/7132/6035 5456/7132/6035 +usemtl Fence +s 1 +f 5459/7153/6036 5460/7152/6037 5461/7148/6037 +f 5461/7148/6037 5462/7147/6036 5459/7153/6036 +f 5463/7149/6038 5464/7150/6039 5465/7154/6038 +f 5465/7154/6038 5466/7151/6040 5463/7149/6038 +usemtl Railing +f 5467/7160/6041 5468/7156/6042 5469/7155/6043 +f 5469/7155/6043 5470/7159/6044 5467/7160/6041 +f 5470/7162/6044 5469/7158/6043 5471/7157/6045 +f 5471/7157/6045 5472/7161/6046 5470/7162/6044 +f 5473/7169/6047 5474/7164/6048 5475/7163/6049 +f 5475/7163/6049 5476/7168/6050 5473/7169/6047 +f 5477/7170/6051 5478/7165/6051 5474/7164/6048 +f 5474/7164/6048 5473/7169/6047 5477/7170/6051 +f 5479/7171/6052 5480/7166/6053 5478/7165/6051 +f 5478/7165/6051 5477/7170/6051 5479/7171/6052 +f 5476/7172/6050 5475/7167/6049 5480/7166/6053 +f 5480/7166/6053 5479/7171/6052 5476/7172/6050 +s 2 +f 5481/7174/6054 5473/7169/6055 5476/7168/6056 +f 5476/7168/6056 5482/7173/6057 5481/7174/6054 +f 5483/7175/6058 5477/7170/6059 5473/7169/6055 +f 5473/7169/6055 5481/7174/6054 5483/7175/6058 +f 5484/7176/6053 5479/7171/6060 5477/7170/6059 +f 5477/7170/6059 5483/7175/6058 5484/7176/6053 +f 5482/7177/6057 5476/7172/6056 5479/7171/6060 +f 5479/7171/6060 5484/7176/6053 5482/7177/6057 +s off +f 5483/7163/6061 5481/7163/6061 5482/7163/6061 +f 5484/7163/6062 5483/7163/6062 5482/7163/6062 +usemtl Fence +s 1 +f 5485/7184/6063 5486/7183/6064 5487/7179/6064 +f 5487/7179/6064 5488/7178/6063 5485/7184/6063 +f 5489/7180/6065 5490/7181/6066 5491/7185/6067 +f 5491/7185/6067 5492/7182/6065 5489/7180/6065 +usemtl Railing +f 5493/7191/6068 5494/7187/6069 5495/7186/6070 +f 5495/7186/6070 5496/7190/6071 5493/7191/6068 +f 5496/7193/6071 5495/7189/6070 5497/7188/6072 +f 5497/7188/6072 5498/7192/6073 5496/7193/6071 +f 5499/7200/6074 5500/7195/6075 5501/7194/6076 +f 5501/7194/6076 5502/7199/6077 5499/7200/6074 +f 5503/7201/6078 5504/7196/6079 5500/7195/6075 +f 5500/7195/6075 5499/7200/6074 5503/7201/6078 +f 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5519/7222/6097 +f 5522/7224/6100 5521/7220/6099 5523/7219/6101 +f 5523/7219/6101 5524/7223/6102 5522/7224/6100 +f 5525/7231/6103 5526/7226/6104 5527/7225/6105 +f 5527/7225/6105 5528/7230/6106 5525/7231/6103 +f 5529/7232/6107 5530/7227/6108 5526/7226/6104 +f 5526/7226/6104 5525/7231/6103 5529/7232/6107 +f 5531/7233/6109 5532/7228/6110 5530/7227/6108 +f 5530/7227/6108 5529/7232/6107 5531/7233/6109 +f 5528/7234/6106 5527/7229/6105 5532/7228/6110 +f 5532/7228/6110 5531/7233/6109 5528/7234/6106 +s 2 +f 5533/7236/6111 5525/7231/6112 5528/7230/6113 +f 5528/7230/6113 5534/7235/6114 5533/7236/6111 +f 5535/7237/6115 5529/7232/6116 5525/7231/6112 +f 5525/7231/6112 5533/7236/6111 5535/7237/6115 +f 5536/7238/6117 5531/7233/6118 5529/7232/6116 +f 5529/7232/6116 5535/7237/6115 5536/7238/6117 +f 5534/7239/6114 5528/7234/6113 5531/7233/6118 +f 5531/7233/6118 5536/7238/6117 5534/7239/6114 +s off +f 5535/7225/6119 5533/7225/6119 5534/7225/6119 +f 5536/7225/6120 5535/7225/6120 5534/7225/6120 +usemtl Fence 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5562/7269/6148 5557/7264/6149 5555/7263/6147 +f 5555/7263/6147 5561/7268/6146 5562/7269/6148 +f 5560/7270/6145 5554/7265/6144 5557/7264/6149 +f 5557/7264/6149 5562/7269/6148 5560/7270/6145 +s off +f 5561/7256/6150 5559/7256/6150 5560/7256/6150 +f 5562/7256/6151 5561/7256/6151 5560/7256/6151 +usemtl Fence +s 1 +f 5563/7277/6152 5564/7276/6152 5565/7272/6152 +f 5565/7272/6152 5566/7271/6152 5563/7277/6152 +f 5567/7273/6153 5568/7274/6153 5569/7278/6153 +f 5569/7278/6153 5570/7275/6153 5567/7273/6153 +usemtl Railing +f 5571/7284/6154 5572/7280/6155 5573/7279/6156 +f 5573/7279/6156 5574/7283/6157 5571/7284/6154 +f 5574/7286/6157 5573/7282/6156 5575/7281/6158 +f 5575/7281/6158 5576/7285/6159 5574/7286/6157 +f 5577/7293/6160 5578/7288/6161 5579/7287/6162 +f 5579/7287/6162 5580/7292/6163 5577/7293/6160 +f 5581/7294/6164 5582/7289/6165 5578/7288/6161 +f 5578/7288/6161 5577/7293/6160 5581/7294/6164 +f 5583/7295/6166 5584/7290/6167 5582/7289/6165 +f 5582/7289/6165 5581/7294/6164 5583/7295/6166 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5589/7308/6185 5592/7307/6186 +f 5592/7307/6186 5598/7312/6187 5597/7313/6184 +f 5599/7314/6188 5593/7309/6189 5589/7308/6185 +f 5589/7308/6185 5597/7313/6184 5599/7314/6188 +f 5600/7315/6190 5595/7310/6191 5593/7309/6189 +f 5593/7309/6189 5599/7314/6188 5600/7315/6190 +f 5598/7316/6187 5592/7311/6186 5595/7310/6191 +f 5595/7310/6191 5600/7315/6190 5598/7316/6187 +s off +f 5599/7302/6192 5597/7302/6192 5598/7302/6192 +f 5600/7302/6193 5599/7302/6193 5598/7302/6193 +usemtl Fence +s 1 +f 5601/7323/6194 5602/7322/6194 5603/7318/6194 +f 5603/7318/6194 5604/7317/6194 5601/7323/6194 +f 5605/7319/6195 5606/7320/6195 5607/7324/6195 +f 5607/7324/6195 5608/7321/6195 5605/7319/6195 +usemtl Railing +f 5609/7330/6196 5610/7326/6197 5611/7325/6198 +f 5611/7325/6198 5612/7329/6199 5609/7330/6196 +f 5612/7332/6199 5611/7328/6198 5613/7327/6200 +f 5613/7327/6200 5614/7331/6201 5612/7332/6199 +f 5615/7339/6202 5616/7334/6203 5617/7333/6204 +f 5617/7333/6204 5618/7338/6205 5615/7339/6202 +f 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Railing +f 5635/7361/6222 5636/7357/6223 5637/7356/6224 +f 5637/7356/6224 5638/7360/6225 5635/7361/6222 +f 5638/7363/6225 5637/7359/6224 5639/7358/6226 +f 5639/7358/6226 5640/7362/6227 5638/7363/6225 +f 5641/7370/6228 5642/7365/6229 5643/7364/6230 +f 5643/7364/6230 5644/7369/6231 5641/7370/6228 +f 5645/7371/6232 5646/7366/6233 5642/7365/6229 +f 5642/7365/6229 5641/7370/6228 5645/7371/6232 +f 5647/7372/6234 5648/7367/6235 5646/7366/6233 +f 5646/7366/6233 5645/7371/6232 5647/7372/6234 +f 5644/7373/6231 5643/7368/6230 5648/7367/6235 +f 5648/7367/6235 5647/7372/6234 5644/7373/6231 +s 2 +f 5649/7375/6236 5641/7370/6237 5644/7369/6238 +f 5644/7369/6238 5650/7374/6238 5649/7375/6236 +f 5651/7376/6239 5645/7371/6240 5641/7370/6237 +f 5641/7370/6237 5649/7375/6236 5651/7376/6239 +f 5652/7377/6241 5647/7372/6242 5645/7371/6240 +f 5645/7371/6240 5651/7376/6239 5652/7377/6241 +f 5650/7378/6238 5644/7373/6238 5647/7372/6242 +f 5647/7372/6242 5652/7377/6241 5650/7378/6238 +s off +f 5651/7364/6243 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5713/7454/6305 +f 5716/7456/6308 5715/7452/6307 5717/7451/6309 +f 5717/7451/6309 5718/7455/6310 5716/7456/6308 +f 5719/7463/6311 5720/7458/6312 5721/7457/6313 +f 5721/7457/6313 5722/7462/6314 5719/7463/6311 +f 5723/7464/6315 5724/7459/6316 5720/7458/6312 +f 5720/7458/6312 5719/7463/6311 5723/7464/6315 +f 5725/7465/6317 5726/7460/6318 5724/7459/6316 +f 5724/7459/6316 5723/7464/6315 5725/7465/6317 +f 5722/7466/6314 5721/7461/6313 5726/7460/6318 +f 5726/7460/6318 5725/7465/6317 5722/7466/6314 +s 2 +f 5727/7468/6319 5719/7463/6320 5722/7462/6321 +f 5722/7462/6321 5728/7467/6322 5727/7468/6319 +f 5729/7469/6323 5723/7464/6324 5719/7463/6320 +f 5719/7463/6320 5727/7468/6319 5729/7469/6323 +f 5730/7470/6325 5725/7465/6326 5723/7464/6324 +f 5723/7464/6324 5729/7469/6323 5730/7470/6325 +f 5728/7471/6322 5722/7466/6321 5725/7465/6326 +f 5725/7465/6326 5730/7470/6325 5728/7471/6322 +s off +f 5729/7457/6327 5727/7457/6327 5728/7457/6327 +f 5730/7457/6328 5729/7457/6328 5728/7457/6328 +usemtl Fence 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5794/7549/6403 +f 5797/7556/6406 5798/7551/6407 5799/7550/6408 +f 5799/7550/6408 5800/7555/6409 5797/7556/6406 +f 5801/7557/6410 5802/7552/6411 5798/7551/6407 +f 5798/7551/6407 5797/7556/6406 5801/7557/6410 +f 5803/7558/6412 5804/7553/6413 5802/7552/6411 +f 5802/7552/6411 5801/7557/6410 5803/7558/6412 +f 5800/7559/6409 5799/7554/6408 5804/7553/6413 +f 5804/7553/6413 5803/7558/6412 5800/7559/6409 +s 2 +f 5805/7561/6414 5797/7556/6415 5800/7555/6416 +f 5800/7555/6416 5806/7560/6417 5805/7561/6414 +f 5807/7562/6418 5801/7557/6419 5797/7556/6415 +f 5797/7556/6415 5805/7561/6414 5807/7562/6418 +f 5808/7563/6420 5803/7558/6421 5801/7557/6419 +f 5801/7557/6419 5807/7562/6418 5808/7563/6420 +f 5806/7564/6417 5800/7559/6416 5803/7558/6421 +f 5803/7558/6421 5808/7563/6420 5806/7564/6417 +s off +f 5807/7550/6422 5805/7550/6422 5806/7550/6422 +f 5808/7550/6423 5807/7550/6423 5806/7550/6423 +usemtl Fence +s 1 +f 5809/7571/6424 5810/7570/6425 5811/7566/6426 +f 5811/7566/6426 5812/7565/6427 5809/7571/6424 +f 5813/7567/6428 5814/7568/6429 5815/7572/6430 +f 5815/7572/6430 5816/7569/6431 5813/7567/6428 +usemtl Railing +f 5817/7578/6432 5818/7574/6433 5819/7573/6434 +f 5819/7573/6434 5820/7577/6435 5817/7578/6432 +f 5820/7580/6435 5819/7576/6434 5821/7575/6436 +f 5821/7575/6436 5822/7579/6437 5820/7580/6435 +f 5823/7587/6438 5824/7582/6439 5825/7581/6440 +f 5825/7581/6440 5826/7586/6441 5823/7587/6438 +f 5827/7588/6442 5828/7583/6443 5824/7582/6439 +f 5824/7582/6439 5823/7587/6438 5827/7588/6442 +f 5829/7589/6444 5830/7584/6445 5828/7583/6443 +f 5828/7583/6443 5827/7588/6442 5829/7589/6444 +f 5826/7590/6441 5825/7585/6440 5830/7584/6445 +f 5830/7584/6445 5829/7589/6444 5826/7590/6441 +s 2 +f 5831/7592/6446 5823/7587/6447 5826/7586/6448 +f 5826/7586/6448 5832/7591/6449 5831/7592/6446 +f 5833/7593/6450 5827/7588/6451 5823/7587/6447 +f 5823/7587/6447 5831/7592/6446 5833/7593/6450 +f 5834/7594/6452 5829/7589/6453 5827/7588/6451 +f 5827/7588/6451 5833/7593/6450 5834/7594/6452 +f 5832/7595/6449 5826/7590/6448 5829/7589/6453 +f 5829/7589/6453 5834/7594/6452 5832/7595/6449 +s off +f 5833/7581/6454 5831/7581/6454 5832/7581/6454 +f 5834/7581/6455 5833/7581/6455 5832/7581/6455 +usemtl Fence +s 1 +f 5835/7602/6456 5836/7601/6457 5837/7597/6458 +f 5837/7597/6458 5838/7596/6459 5835/7602/6456 +f 5839/7598/6460 5840/7599/6461 5841/7603/6462 +f 5841/7603/6462 5842/7600/6463 5839/7598/6460 +usemtl Railing +f 5843/7609/6464 5844/7605/6465 5845/7604/6466 +f 5845/7604/6466 5846/7608/6467 5843/7609/6464 +f 5846/7611/6467 5845/7607/6466 5847/7606/6468 +f 5847/7606/6468 5848/7610/6469 5846/7611/6467 +f 5849/7618/6470 5850/7613/6471 5851/7612/6472 +f 5851/7612/6472 5852/7617/6473 5849/7618/6470 +f 5853/7619/6474 5854/7614/6475 5850/7613/6471 +f 5850/7613/6471 5849/7618/6470 5853/7619/6474 +f 5855/7620/6476 5856/7615/6477 5854/7614/6475 +f 5854/7614/6475 5853/7619/6474 5855/7620/6476 +f 5852/7621/6473 5851/7616/6472 5856/7615/6477 +f 5856/7615/6477 5855/7620/6476 5852/7621/6473 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29128/53767/18197 29126/53766/18194 +f 29128/53767/18197 1264/203/18196 1535/204/18198 +f 1535/204/18198 29129/53768/18199 29128/53767/18197 +f 29129/53768/18199 1535/204/18198 1534/195/18200 +f 1534/195/18200 29130/53769/18201 29129/53768/18199 +f 29130/53769/18201 1534/195/18200 1533/196/18202 +f 1533/196/18202 29131/53770/18203 29130/53769/18201 +f 1533/196/18202 182/197/157 183/198/161 +f 29131/53770/18203 1533/196/18202 183/198/161 +f 183/198/161 29132/53772/18204 29133/53803/18205 +f 29131/53770/18203 183/198/161 29133/53803/18205 +usemtl Asphalt +s 1 +f 29132/53771/18206 183/1262/18207 29134/53773/18208 +f 183/1274/18207 181/1263/1068 969/1265/1070 +f 29134/1273/18208 183/1274/18207 969/1265/1070 +f 29134/1273/18208 969/1265/1070 29135/1275/157 +usemtl Track +s 2 +f 29136/55907/18209 185/53699/163 184/53700/162 +f 967/53984/18210 185/53985/163 29136/55908/18209 +f 29001/53983/18178 29000/53777/18177 29068/55917/18185 +f 29001/53983/18178 29068/55917/18185 1862/53764/18211 +f 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29137/53807/18212 29127/53806/18195 29126/53782/18194 +f 29100/53908/157 29065/53907/18182 29102/53910/18188 +f 29102/53910/18188 29101/53911/18187 29100/53908/157 +usemtl Asphalt +s 1 +f 29113/54010/157 29112/54007/157 29100/54006/157 +f 29100/54006/157 29101/54011/18189 29113/54010/157 +f 29124/54023/157 29123/54021/157 29112/54007/157 +f 29112/54007/157 29113/54010/157 29124/54023/157 +usemtl Track +s 2 +f 98/53840/97 97/53841/96 972/53936/18221 +f 972/53936/18221 970/53913/1078 98/53840/97 +f 97/53841/96 100/53842/99 975/53937/18222 +f 975/53937/18222 972/53936/18221 97/53841/96 +f 100/53842/99 102/53843/101 977/53938/18223 +f 977/53938/18223 975/53937/18222 100/53842/99 +f 102/53843/101 87/53844/86 979/53939/18224 +f 979/53939/18224 977/53938/18223 102/53843/101 +f 87/53844/86 86/62986/85 980/62989/18225 +f 980/62989/18225 979/53939/18224 87/53844/86 +usemtl Asphalt +s 1 +f 981/53814/1094 984/1288/1093 1889/1287/2666 +f 1889/1287/2666 982/53813/18226 981/53814/1094 +usemtl Track 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+ + + + + + + + 132.5 0 0 0 0 132.5 0 0 0 0 46 46.12724 0 0 0 1 + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config new file mode 100755 index 0000000..6543f64 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config @@ -0,0 +1,19 @@ + + + + turtlebot_waffle_gps + 2.0 + model.sdf + + + Taehun Lim(Darby) + thlim@robotis.com + + Melih Erdogan(mlherd) + h.meliherdogan@gmail.com + + + + TurtleBot3 Waffle with a gps sensor + + diff --git a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf new file mode 100755 index 0000000..bd94e2f --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf @@ -0,0 +1,561 @@ + + + + + + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + + + + + -0.064 0 0.048 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 1.0 + + + + -0.064 0 0.048 0 0 0 + + + 0.265 0.265 0.089 + + + + + + -0.064 0 0 0 0 0 + + + model://turtlebot_waffle_gps/meshes/waffle_base.dae + 0.001 0.001 0.001 + + + + + + + + true + 200 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + + false + + + ~/out:=imu + + + + + + + + + -0.052 0 0.111 0 0 0 + + 0.001 + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.125 + + + true + 1 + 0 0 0 0 0 0 + + + + + 0.0 + 0.01 + + + + + 0.0 + 0.01 + + + + + + + ~/out:=/gps/fix + + + + + + + + -0.064 0 0.121 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.125 + + + + -0.052 0 0.111 0 0 0 + + + 0.0508 + 0.055 + + + + + + -0.064 0 0.121 0 0 0 + + + model://turtlebot_waffle_gps/meshes/lds.dae + 0.001 0.001 0.001 + + + + + + true + false + -0.064 0 0.15 0 0 0 + 5 + + + + 360 + 1.000000 + 0.000000 + 6.280000 + + + + 0.00000 + 20.0 + 0.015000 + + + gaussian + 0.0 + 0.01 + + + + + + ~/out:=scan + + sensor_msgs/LaserScan + base_scan + + + + + + + + 0.0 0.144 0.023 -1.57 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.1 + + + + 0.0 0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 0.144 0.023 0 0 0 + + + model://turtlebot_waffle_gps/meshes/tire.dae + 0.001 0.001 0.001 + + + + + + + + + 0.0 -0.144 0.023 -1.57 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.1 + + + + 0.0 -0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 -0.144 0.023 0 0 0 + + + model://turtlebot_waffle_gps/meshes/tire.dae + 0.001 0.001 0.001 + + + + + + + -0.177 -0.064 -0.004 0 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + -0.177 0.064 -0.004 0 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + + 0.069 -0.047 0.107 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.035 + + + 0 0.047 -0.005 0 0 0 + + + 0.008 0.130 0.022 + + + + + 0.069 -0.047 0.107 0 0 0 + + + 1 + 5 + 0.064 -0.047 0.107 0 0 0 + + + + + + intel_realsense_r200_depth + camera_depth_frame + 0.07 + 0.001 + 5.0 + + + + + + base_footprint + base_link + 0.0 0.0 0.010 0 0 0 + + + + base_link + imu_link + -0.032 0 0.068 0 0 0 + + 0 0 1 + + + + + base_link + gps_link + -0.05 0 0.05 0 0 0 + + 0 0 1 + + + + + base_link + wheel_left_link + 0.0 0.144 0.023 -1.57 0 0 + + 0 0 1 + + + + + base_link + wheel_right_link + 0.0 -0.144 0.023 -1.57 0 0 + + 0 0 1 + + + + + base_link + caster_back_right_link + + + + base_link + caster_back_left_link + + + + base_link + base_scan + -0.064 0 0.121 0 0 0 + + 0 0 1 + + + + + base_link + camera_link + 0.064 -0.065 0.094 0 0 0 + + 0 0 1 + + + + + + + + + /tf:=tf + + + 30 + + + wheel_left_joint + wheel_right_joint + + + 0.287 + 0.066 + + + 20 + 1.0 + + cmd_vel + + + + true + false + false + + odom + odom + base_footprint + + + + + + + ~/out:=joint_states + + 30 + wheel_left_joint + wheel_right_joint + + + + \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/__init__.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/gps_waypoint_logger.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/gps_waypoint_logger.py new file mode 100644 index 0000000..a80ec1a --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/gps_waypoint_logger.py @@ -0,0 +1,128 @@ +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import NavSatFix, Imu +import yaml +import os +import sys +import tkinter as tk +from tkinter import messagebox +from nav2_gps_waypoint_follower_demo.utils.gps_utils import euler_from_quaternion + + +class GpsGuiLogger(tk.Tk, Node): + """ + ROS2 node to log GPS waypoints to a file + """ + + def __init__(self, logging_file_path): + tk.Tk.__init__(self) + Node.__init__(self, 'gps_waypoint_logger') + self.title("GPS Waypoint Logger") + + self.logging_file_path = logging_file_path + + self.gps_pose_label = tk.Label(self, text="Current Coordinates:") + self.gps_pose_label.pack() + self.gps_pose_textbox = tk.Label(self, text="", width=45) + self.gps_pose_textbox.pack() + + self.log_gps_wp_button = tk.Button(self, text="Log GPS Waypoint", + command=self.log_waypoint) + self.log_gps_wp_button.pack() + + self.gps_subscription = self.create_subscription( + NavSatFix, + '/gps/fix', + self.gps_callback, + 1 + ) + self.last_gps_position = NavSatFix() + + self.imu_subscription = self.create_subscription( + Imu, + '/imu', + self.imu_callback, + 1 + ) + self.last_heading = 0.0 + + def gps_callback(self, msg: NavSatFix): + """ + Callback to store the last GPS pose + """ + self.last_gps_position = msg + self.updateTextBox() + + def imu_callback(self, msg: Imu): + """ + Callback to store the last heading + """ + _, _, self.last_heading = euler_from_quaternion(msg.orientation) + self.updateTextBox() + + def updateTextBox(self): + """ + Function to update the GUI with the last coordinates + """ + self.gps_pose_textbox.config( + text=f"Lat: {self.last_gps_position.latitude:.6f}, Lon: {self.last_gps_position.longitude:.6f}, yaw: {self.last_heading:.2f} rad") + + def log_waypoint(self): + """ + Function to save a new waypoint to a file + """ + # read existing waypoints + try: + with open(self.logging_file_path, 'r') as yaml_file: + existing_data = yaml.safe_load(yaml_file) + # in case the file does not exist, create with the new wps + except FileNotFoundError: + existing_data = {"waypoints": []} + # if other exception, raise the warining + except Exception as ex: + messagebox.showerror( + "Error", f"Error logging position: {str(ex)}") + return + + # build new waypoint object + data = { + "latitude": self.last_gps_position.latitude, + "longitude": self.last_gps_position.longitude, + "yaw": self.last_heading + } + existing_data["waypoints"].append(data) + + # write updated waypoints + try: + with open(self.logging_file_path, 'w') as yaml_file: + yaml.dump(existing_data, yaml_file, default_flow_style=False) + except Exception as ex: + messagebox.showerror( + "Error", f"Error logging position: {str(ex)}") + return + + messagebox.showinfo("Info", "Waypoint logged succesfully") + + +def main(args=None): + rclpy.init(args=args) + + # allow to pass the logging path as an argument + default_yaml_file_path = os.path.expanduser("~/gps_waypoints.yaml") + if len(sys.argv) > 1: + yaml_file_path = sys.argv[1] + else: + yaml_file_path = default_yaml_file_path + + gps_gui_logger = GpsGuiLogger(yaml_file_path) + + while rclpy.ok(): + # we spin both the ROS system and the interface + rclpy.spin_once(gps_gui_logger, timeout_sec=0.1) # Run ros2 callbacks + gps_gui_logger.update() # Update the tkinter interface + + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/interactive_waypoint_follower.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/interactive_waypoint_follower.py new file mode 100644 index 0000000..2783ddf --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/interactive_waypoint_follower.py @@ -0,0 +1,43 @@ +import rclpy +from rclpy.node import Node +from nav2_simple_commander.robot_navigator import BasicNavigator +from geometry_msgs.msg import PointStamped +from nav2_gps_waypoint_follower_demo.utils.gps_utils import latLonYaw2Geopose + + +class InteractiveGpsWpCommander(Node): + """ + ROS2 node to send gps waypoints to nav2 received from mapviz's point click publisher + """ + + def __init__(self): + super().__init__(node_name="gps_wp_commander") + self.navigator = BasicNavigator("basic_navigator") + + self.mapviz_wp_sub = self.create_subscription( + PointStamped, "/clicked_point", self.mapviz_wp_cb, 1) + + def mapviz_wp_cb(self, msg: PointStamped): + """ + clicked point callback, sends received point to nav2 gps waypoint follower if its a geographic point + """ + if msg.header.frame_id != "wgs84": + self.get_logger().warning( + "Received point from mapviz that ist not in wgs84 frame. This is not a gps point and wont be followed") + return + + self.navigator.waitUntilNav2Active(localizer='robot_localization') + wp = [latLonYaw2Geopose(msg.point.y, msg.point.x)] + self.navigator.followGpsWaypoints(wp) + if (self.navigator.isTaskComplete()): + self.get_logger().info("wps completed successfully") + + +def main(): + rclpy.init() + gps_wpf = InteractiveGpsWpCommander() + rclpy.spin(gps_wpf) + + +if __name__ == "__main__": + main() diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/logged_waypoint_follower.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/logged_waypoint_follower.py new file mode 100644 index 0000000..101fbb7 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/logged_waypoint_follower.py @@ -0,0 +1,69 @@ +import rclpy +from nav2_simple_commander.robot_navigator import BasicNavigator +import yaml +from ament_index_python.packages import get_package_share_directory +import os +import sys +import time + +from nav2_gps_waypoint_follower_demo.utils.gps_utils import latLonYaw2Geopose + + +class YamlWaypointParser: + """ + Parse a set of gps waypoints from a yaml file + """ + + def __init__(self, wps_file_path: str) -> None: + with open(wps_file_path, 'r') as wps_file: + self.wps_dict = yaml.safe_load(wps_file) + + def get_wps(self): + """ + Get an array of geographic_msgs/msg/GeoPose objects from the yaml file + """ + gepose_wps = [] + for wp in self.wps_dict["waypoints"]: + latitude, longitude, yaw = wp["latitude"], wp["longitude"], wp["yaw"] + gepose_wps.append(latLonYaw2Geopose(latitude, longitude, yaw)) + return gepose_wps + + +class GpsWpCommander(): + """ + Class to use nav2 gps waypoint follower to follow a set of waypoints logged in a yaml file + """ + + def __init__(self, wps_file_path): + self.navigator = BasicNavigator("basic_navigator") + self.wp_parser = YamlWaypointParser(wps_file_path) + + def start_wpf(self): + """ + Function to start the waypoint following + """ + self.navigator.waitUntilNav2Active(localizer='robot_localization') + wps = self.wp_parser.get_wps() + self.navigator.followGpsWaypoints(wps) + while (not self.navigator.isTaskComplete()): + time.sleep(0.1) + print("wps completed successfully") + + +def main(): + rclpy.init() + + # allow to pass the waypoints file as an argument + default_yaml_file_path = os.path.join(get_package_share_directory( + "nav2_gps_waypoint_follower_demo"), "config", "demo_waypoints.yaml") + if len(sys.argv) > 1: + yaml_file_path = sys.argv[1] + else: + yaml_file_path = default_yaml_file_path + + gps_wpf = GpsWpCommander(yaml_file_path) + gps_wpf.start_wpf() + + +if __name__ == "__main__": + main() diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/__init__.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/gps_utils.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/gps_utils.py new file mode 100644 index 0000000..eb0cda7 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/gps_utils.py @@ -0,0 +1,54 @@ +import math +from geographic_msgs.msg import GeoPose +from geometry_msgs.msg import Quaternion + + +def quaternion_from_euler(roll, pitch, yaw): + """ + Converts euler roll, pitch, yaw to quaternion + """ + cy = math.cos(yaw * 0.5) + sy = math.sin(yaw * 0.5) + cp = math.cos(pitch * 0.5) + sp = math.sin(pitch * 0.5) + cr = math.cos(roll * 0.5) + sr = math.sin(roll * 0.5) + + q = Quaternion() + q.w = cy * cp * cr + sy * sp * sr + q.x = cy * cp * sr - sy * sp * cr + q.y = sy * cp * sr + cy * sp * cr + q.z = sy * cp * cr - cy * sp * sr + return q + + +def euler_from_quaternion(q: Quaternion): + """ + Convert a quaternion into euler angles + taken from: https://automaticaddison.com/how-to-convert-a-quaternion-into-euler-angles-in-python/ + """ + t0 = +2.0 * (q.w * q.x + q.y * q.z) + t1 = +1.0 - 2.0 * (q.x * q.x + q.y * q.y) + roll_x = math.atan2(t0, t1) + + t2 = +2.0 * (q.w * q.y - q.z * q.x) + t2 = +1.0 if t2 > +1.0 else t2 + t2 = -1.0 if t2 < -1.0 else t2 + pitch_y = math.asin(t2) + + t3 = +2.0 * (q.w * q.z + q.x * q.y) + t4 = +1.0 - 2.0 * (q.y * q.y + q.z * q.z) + yaw_z = math.atan2(t3, t4) + + return roll_x, pitch_y, yaw_z + + +def latLonYaw2Geopose(latitude: float, longitude: float, yaw: float = 0.0) -> GeoPose: + """ + Creates a geographic_msgs/msg/GeoPose object from latitude, longitude and yaw + """ + geopose = GeoPose() + geopose.position.latitude = latitude + geopose.position.longitude = longitude + geopose.orientation = quaternion_from_euler(0.0, 0.0, yaw) + return geopose diff --git a/nav2_gps_waypoint_follower_demo/package.xml b/nav2_gps_waypoint_follower_demo/package.xml new file mode 100644 index 0000000..4616b4f --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/package.xml @@ -0,0 +1,19 @@ + + + + nav2_gps_waypoint_follower_demo + 0.0.0 + TODO: Package description + Haroon Rasheed + Apache-2.0 + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + + diff --git a/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf b/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf new file mode 100644 index 0000000..8fa7b2c --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf @@ -0,0 +1,305 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world b/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world new file mode 100644 index 0000000..fcfce57 --- /dev/null +++ b/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world @@ -0,0 +1,69 @@ + + + + + + + EARTH_WGS84 + 38.161479 + -122.454630 + 488.0 + 180 + + + + model://ground_plane + + + + model://sun + + + + model://sonoma_raceway + -287.5 143.5 -7 0 0 0 + + + + model://turtlebot_waffle_gps + 2 -2.5 0.3 0 0 0 + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + +