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Gazebo World Model Update

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2026-01-02 07:13:39 +00:00
parent 93fe686fab
commit 9450f286a1
3 changed files with 321 additions and 89 deletions
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150
gazebo/worlds/drone_landing.sdf
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@@ -1,20 +1,32 @@
<?xml version="1.0" ?>
<!--
Drone Landing Simulation - Gazebo World (Ignition Fortress compatible)
Drone Landing Simulation - Ignition Fortress World
Compatible with ROS 2 Humble
-->
<sdf version="1.8">
<world name="drone_landing_world">
<physics name="1ms" type="ignored">
<!-- Physics -->
<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<!-- 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"/>
<!-- 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"/>
<plugin filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu"/>
<!-- Lighting -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
@@ -23,7 +35,7 @@
<direction>-0.5 0.1 -0.9</direction>
</light>
<!-- Ground -->
<!-- Ground Plane -->
<model name="ground_plane">
<static>true</static>
<link name="link">
@@ -50,16 +62,14 @@
</link>
</model>
<!-- Landing Pad (static for now) -->
<!-- Landing Pad (Rover) -->
<model name="landing_pad">
<static>true</static>
<pose>0 0 0.15 0 0 0</pose>
<link name="base_link">
<visual name="visual">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</box>
<box><size>1.0 1.0 0.3</size></box>
</geometry>
<material>
<ambient>0.1 0.5 0.1 1</ambient>
@@ -68,13 +78,125 @@
</visual>
<collision name="collision">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</box>
<box><size>1.0 1.0 0.3</size></box>
</geometry>
</collision>
<!-- H marker -->
<visual name="h_center">
<pose>0 0 0.151 0 0 0</pose>
<geometry><box><size>0.6 0.1 0.001</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 0.5 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 0.5 0.001</size></box></geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
</link>
</model>
<!-- Drone -->
<model name="drone">
<pose>0 0 5 0 0 0</pose>
<link name="base_link">
<inertial>
<mass>1.0</mass>
<inertia>
<ixx>0.029</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.029</iyy><iyz>0</iyz>
<izz>0.055</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry><box><size>0.3 0.3 0.1</size></box></geometry>
</collision>
<visual name="body">
<geometry><box><size>0.3 0.3 0.1</size></box></geometry>
<material>
<ambient>0.8 0.1 0.1 1</ambient>
<diffuse>0.9 0.2 0.2 1</diffuse>
</material>
</visual>
<!-- Arms -->
<visual name="arm_fl">
<pose>0.12 0.12 0 0 0 0.785</pose>
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
</visual>
<visual name="arm_fr">
<pose>0.12 -0.12 0 0 0 -0.785</pose>
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
</visual>
<visual name="arm_bl">
<pose>-0.12 0.12 0 0 0 -0.785</pose>
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
</visual>
<visual name="arm_br">
<pose>-0.12 -0.12 0 0 0 0.785</pose>
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
</visual>
<!-- Rotors -->
<visual name="rotor_fl">
<pose>0.17 0.17 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
</visual>
<visual name="rotor_fr">
<pose>0.17 -0.17 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
</visual>
<visual name="rotor_bl">
<pose>-0.17 0.17 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
</visual>
<visual name="rotor_br">
<pose>-0.17 -0.17 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
</visual>
<!-- IMU -->
<sensor name="imu" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<topic>/drone/imu</topic>
</sensor>
</link>
<!-- Odometry Publisher -->
<plugin filename="libignition-gazebo-odometry-publisher-system.so"
name="ignition::gazebo::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<odom_topic>/model/drone/odometry</odom_topic>
<odom_publish_frequency>50</odom_publish_frequency>
</plugin>
</model>
</world>
</sdf>