Version 2

.gitignore

@@ -20,4 +20,8 @@ mask.png
 result.png
 worlds_new2.sdf~
 fproject_world.sdf~
-fproject_world.sdf.bak
+fproject_world.sdf.bak
+rosbag2_2024_12_16-20_32_03
+*.png
+.gitignore
+*.zip

src/custom_msg_fproject/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(custom_msg_fproject)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/UnboundedInter.msg"
+  "msg/UnboundedFloat.msg"
+  DEPENDENCIES std_msgs
+)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/custom_msg_fproject/msg/UnboundedFloat.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+float32[] float32_values

src/custom_msg_fproject/msg/UnboundedInter.msg

@@ -0,0 +1 @@
+int32[] storage

src/custom_msg_fproject/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>custom_msg_fproject</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="lhodonou349@gmail.com">root</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>std_msgs</depend>
+  <depend>rosidl_default_generators</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/gpg_fgazebo/worlds/final_project_new_world.sdf

@@ -70,7 +70,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='cone'>
-      <pose>2.5363732600268438 -0.80112278462533015 0.49999999846970899 6.5729138181508515e-12 -1.3573746487752694e-05 2.9434920695967671e-11</pose>
+      <pose>3.5084900856018066 -4.8863000869750968 0.50007998943328835 1.5065299587321439e-06 -1.636899968423854e-05 -6.2029800553207759e-07</pose>
       <link name='cone_link'>
         <inertial>
           <inertia>
@@ -119,7 +119,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='box_0'>
-      <pose>3.0250799655914307 -3.766556978225708 0.49999999990199806 4.3528643514705118e-21 -7.19647729771648e-21 1.4704217161817701e-22</pose>
+      <pose>3.0250799655914307 -7.103431224822998 0.49616199731826782 6.8396199260892533e-19 -1.784369977462839e-19 -9.0752201588740355e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -166,7 +166,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='cone_1'>
-      <pose>3.8625005118640274 0.93321859835144638 0.49999999832908254 1.4294517723464686e-11 -1.095599094382217e-05 7.2967956065578558e-09</pose>
+      <pose>3.6618199348449703 1.9262722730636597 0.49999800324440002 1.2282500100848701e-11 -1.1096400158295009e-05 7.2934400063360099e-09</pose>
       <link name='cone_link'>
         <inertial>
           <inertia>
@@ -215,7 +215,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='cone_2'>
-      <pose>4.453384447351727 -2.4193280444908121 0.49999999771937531 4.9310286018203178e-12 -1.1413900008258369e-05 0.00039735288789561593</pose>
+      <pose>3.6361923217773433 -2.5664587020874023 0.49999985098838806 2.9413502168548196e-07 -1.2823601078716922e-06 0.00039737702790333288</pose>
       <link name='cone_link'>
         <inertial>
           <inertia>
@@ -264,7 +264,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='cone_3'>
-      <pose>6.8430671858149577 0.78498223335679773 0.49999999767414682 1.5448136740589461e-11 -8.0348490882515501e-06 1.5838780830737034e-11</pose>
+      <pose>3.6360399723052979 -0.2170737236738205 0.49999979138374329 4.6287199357060178e-07 -2.0394199677252063e-06 -1.2406700326614776e-07</pose>
       <link name='cone_link'>
         <inertial>
           <inertia>
@@ -312,57 +312,8 @@
       <static>false</static>
       <self_collide>false</self_collide>
     </model>
-    <model name='cone_4'>
-      <pose>8.3753870428920862 -1.0539718866350367 0.49999999328581984 4.5424763573070339e-13 -6.0198071594412506e-06 3.9727298803672929e-14</pose>
-      <link name='cone_link'>
-        <inertial>
-          <inertia>
-            <ixx>0.074999999999999997</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.074999999999999997</iyy>
-            <iyz>0</iyz>
-            <izz>0.074999999999999997</izz>
-          </inertia>
-          <mass>1</mass>
-          <pose>0 0 0 0 0 0</pose>
-        </inertial>
-        <collision name='cone_collision'>
-          <geometry>
-            <cone>
-              <radius>0.5</radius>
-              <length>1</length>
-            </cone>
-          </geometry>
-          <surface>
-            <friction>
-              <ode/>
-            </friction>
-            <bounce/>
-            <contact/>
-          </surface>
-        </collision>
-        <visual name='cone_visual'>
-          <geometry>
-            <cone>
-              <radius>0.5</radius>
-              <length>1</length>
-            </cone>
-          </geometry>
-          <material>
-            <ambient>1 0.5 0 1</ambient>
-            <diffuse>1 0.5 0 1</diffuse>
-            <specular>1 1 1 1</specular>
-          </material>
-        </visual>
-        <pose>0 0 0 0 0 0</pose>
-        <enable_wind>false</enable_wind>
-      </link>
-      <static>false</static>
-      <self_collide>false</self_collide>
-    </model>
     <model name='obstacle_1'>
-      <pose>0.93528187274932861 -3.721019983291626 0.049999901152185701 3.9158531513353579e-18 7.7454060110091739e-18 3.7197256459834753e-20</pose>
+      <pose>1.0488699674606323 -2.4860496520996094 0.049999900162220001 3.9156699469856512e-18 7.7465497452815544e-18 3.7198800053824108e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -458,7 +409,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_1'>
-      <pose>0.013356563008388056 -3.8117073265420482 0.049999901152185278 3.9376194225938313e-18 7.6919996772288558e-18 3.7170246867682256e-20</pose>
+      <pose>0.30450239777565002 -2.0890100002288818 0.049999900162220001 3.9402401063106201e-18 7.6927002874043523e-18 3.7160901610837255e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -505,7 +456,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_2'>
-      <pose>0.8416714580967537 -2.5757948134049022 0.049999901152185278 3.9376962056216585e-18 7.69307262342453e-18 3.7173909086980559e-20</pose>
+      <pose>1.7968200445175171 -2.7600438594818115 0.049999900162220001 3.9402599586453214e-18 7.6943199070437311e-18 3.71722010272517e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -552,7 +503,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_4'>
-      <pose>4.1581422306674831 -1.488395035635325 0.049999901152185278 3.9377765141972875e-18 7.6950985280545685e-18 3.7171162566952042e-20</pose>
+      <pose>1.0895800590515137 -0.93555700778961182 0.049999900162220001 3.9396201344415116e-18 7.7009299073186424e-18 3.7178799085106517e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -599,7 +550,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_5'>
-      <pose>0.13756405494454182 -1.0513805918298864 0.049999901152185278 3.9453594697948961e-18 7.6901497063274743e-18 3.7168130591222518e-20</pose>
+      <pose>0.34709501266479492 -0.44078299403190613 0.049999900162220001 3.9387499404371058e-18 7.6873798617044112e-18 3.717899941791112e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -646,7 +597,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_6'>
-      <pose>1.0996535508002552 0.24602853746299003 0.049999901152185278 3.9453958552831698e-18 7.6900072206275729e-18 3.7172416794418986e-20</pose>
+      <pose>1.0996500253677368 0.760772705078125 0.049999900162220001 3.9388798077932766e-18 7.6870200381379506e-18 3.7183700776470748e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -693,7 +644,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_7'>
-      <pose>2.9735159531075981 0.039177734632563022 0.049999901152185278 3.9447443518316567e-18 7.705324462983486e-18 3.7175843135111715e-20</pose>
+      <pose>1.8049399852752686 0.29998359084129333 0.049999900162220001 3.9370798627803613e-18 7.7054802278682966e-18 3.7180899348380572e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -740,7 +691,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_8'>
-      <pose>2.1315328186118649 -2.2259022002784734 0.049999901152185278 3.9419464567571984e-18 7.6933586260454131e-18 3.716253038745501e-20</pose>
+      <pose>1.7610900402069092 -1.2950215339660645 0.049999900162220001 3.939379838473565e-18 7.6900500007217324e-18 3.7144700503058586e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>
@@ -787,7 +738,7 @@
       <self_collide>false</self_collide>
     </model>
     <model name='obstacle_1_3'>
-      <pose>-0.44637602705250679 1.0239373472672866 0.049999901152185278 3.9183953316390883e-18 7.7378141686947243e-18 3.7207537265826434e-20</pose>
+      <pose>0.42512500286102295 1.654688835144043 0.049999900162220001 3.9117400118954118e-18 7.7347103091740829e-18 3.7218600689737096e-20</pose>
       <link name='box_link'>
         <inertial>
           <inertia>