ObjectLibrary

Object library is a xacro library example for objects available for uwsim scenes when Configuring and creating scenes. This library creates some macros for specific objects that can be easily added to any scene. We recommend to create you own object library with the common objects you use in your simulations such as terrains, rocks, black boxes,... . So you just have to specify its parameters once.

In the example objectLibrary.xacro we have created two object macros. We left pose arguments to be able to attach them anywhere in the scene.

• CIRSterrain: This macro creates CIRS pool that can be seen in cirs.xml scene. Note it already has the offsets and physical parameters, so only pose arguments are required: x, y, z, roll, pitch, yaw.
• blackbox: This macro creates the blackbox present in the cirs.xml scene. As it happens with CIRSterrain, physical parameters are already set so only x, y, z, roll, pitch, yaw parameters must be filled when using it.