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2025-12-31 23:50:26 +00:00
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gazebo/worlds/drone_landing.sdf Normal file
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<?xml version="1.0" ?>
<!--
Drone Landing Competition - Gazebo World
This world contains:
- Ground plane with grid texture
- Landing pad (rover) at origin
- Drone spawned at 5m altitude
- Sun for lighting
-->
<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="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
<!-- 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 -->
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.3 0.3 0.3 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) -->
<model name="landing_pad">
<static>true</static>
<pose>0 0 0.15 0 0 0</pose>
<link name="base_link">
<collision name="collision">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1.0 1.0 0.3</size>
</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>
</material>
</visual>
<!-- Landing pad "H" marker -->
<visual name="h_marker">
<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 0.6 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>
</link>
</model>
</world>
</sdf>