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ROS Bridge Update

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2026-01-02 06:50:31 +00:00
parent 1bbd9c8377
commit 924d803e71
4 changed files with 60 additions and 137 deletions
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103
gazebo/worlds/drone_landing.sdf
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@@ -1,47 +1,29 @@
<?xml version="1.0" ?>
<!--
Drone Landing Simulation - Gazebo World
This world contains:
- Ground plane with grid texture
- Landing pad (rover) at origin - can be moved via pose commands
- Drone spawned at 5m altitude
- Sun for lighting
Drone Landing Simulation - Gazebo World (Ignition Fortress compatible)
-->
<sdf version="1.8">
<world name="drone_landing_world">
<!-- Physics configuration -->
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<!-- Required plugins -->
<plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"/>
<plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands"/>
<plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster"/>
<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu"/>
<!-- Ignition Fortress plugins -->
<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics"/>
<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
<!-- Lighting -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<!-- Ground Plane -->
<!-- Ground -->
<model name="ground_plane">
<static>true</static>
<link name="link">
@@ -61,43 +43,18 @@
</plane>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
</material>
</visual>
</link>
</model>
<!-- Landing Pad (Rover) - Non-static so it can be moved -->
<!-- Landing Pad (static for now) -->
<model name="landing_pad">
<static>false</static>
<static>true</static>
<pose>0 0 0.15 0 0 0</pose>
<!-- Pose publisher to track position -->
<plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_model_pose>true</publish_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<update_frequency>50</update_frequency>
</plugin>
<link name="base_link">
<inertial>
<mass>100.0</mass>
<inertia>
<ixx>10.0</ixx>
<iyy>10.0</iyy>
<izz>10.0</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
@@ -105,49 +62,17 @@
</box>
</geometry>
<material>
<ambient>0.1 0.4 0.1 1</ambient>
<diffuse>0.2 0.6 0.2 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<ambient>0.1 0.5 0.1 1</ambient>
<diffuse>0.2 0.7 0.2 1</diffuse>
</material>
</visual>
<!-- Landing pad "H" marker -->
<visual name="h_marker">
<pose>0 0 0.151 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.6 0.1 0.001</size>
<size>1.0 1.0 0.3</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<visual name="h_left">
<pose>-0.25 0 0.151 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.6 0.001</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<visual name="h_right">
<pose>0.25 0 0.151 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.6 0.001</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
</collision>
</link>
</model>