RDC_Simulation/gazebo/worlds/iris_camera.sdf

<?xml version="1.0" ?>
<!--
  ArduPilot Iris Drone with Camera - GPS-Denied Simulation
  
  This world includes:
  - Iris quadcopter with downward camera
  - ArduPilot plugin for SITL
  - Landing pad for targeting
  
  Usage:
    gz sim -v4 -r iris_camera.sdf
    sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
-->
<sdf version="1.9">
  <world name="iris_camera_world">
    
    <!-- Physics optimized for real-time -->
    <physics name="1ms" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    
    <!-- GPU rendering plugins -->
    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::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>
    
    <!-- Sky -->
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.9 1</background>
      <shadows>true</shadows>
    </scene>
    
    <!-- Ground plane with texture -->
    <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>0.5 0.5 0.5 1</diffuse>
          </material>
        </visual>
      </link>
    </model>
    
    <!-- Landing Pad (Green with H marker) -->
    <model name="landing_pad">
      <static>false</static>
      <pose>0 0 0.02 0 0 0</pose>
      <link name="pad_link">
        <inertial>
          <mass>50</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>1.5 1.5 0.04</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1.5 1.5 0.04</size>
            </box>
          </geometry>
          <material>
            <ambient>0.1 0.6 0.1 1</ambient>
            <diffuse>0.2 0.8 0.2 1</diffuse>
          </material>
        </visual>
        <!-- H marker -->
        <visual name="h_marker">
          <pose>0 0 0.025 0 0 0</pose>
          <geometry>
            <box>
              <size>0.1 0.6 0.01</size>
            </box>
          </geometry>
          <material>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
          </material>
        </visual>
        <visual name="h_marker_cross">
          <pose>0 0 0.025 0 0 1.5708</pose>
          <geometry>
            <box>
              <size>0.1 0.3 0.01</size>
            </box>
          </geometry>
          <material>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
          </material>
        </visual>
      </link>
      
      <!-- Velocity control for moving pad -->
      <plugin filename="gz-sim-velocity-control-system"
              name="gz::sim::systems::VelocityControl">
        <topic>/landing_pad/cmd_vel</topic>
      </plugin>
    </model>
    
    <!-- Iris Drone with Camera -->
    <include>
      <uri>model://iris_with_ardupilot</uri>
      <name>iris</name>
      <pose>0 0 0.195 0 0 0</pose>
    </include>
    
    <!-- If iris model doesn't exist, create simple drone -->
    <model name="camera_drone">
      <pose>0 2 0.5 0 0 0</pose>
      <link name="base_link">
        <inertial>
          <mass>1.5</mass>
          <inertia>
            <ixx>0.029</ixx>
            <iyy>0.029</iyy>
            <izz>0.055</izz>
          </inertia>
        </inertial>
        
        <collision name="collision">
          <geometry>
            <box>
              <size>0.4 0.4 0.1</size>
            </box>
          </geometry>
        </collision>
        
        <visual name="body">
          <geometry>
            <box>
              <size>0.4 0.4 0.1</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1</ambient>
            <diffuse>0.3 0.3 0.3 1</diffuse>
          </material>
        </visual>
        
        <!-- Downward Camera -->
        <sensor name="camera" type="camera">
          <pose>0 0 -0.05 0 1.5708 0</pose>
          <always_on>true</always_on>
          <update_rate>30</update_rate>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <topic>/drone/camera</topic>
        </sensor>
        
        <!-- IMU -->
        <sensor name="imu" type="imu">
          <always_on>true</always_on>
          <update_rate>250</update_rate>
          <topic>/drone/imu</topic>
        </sensor>
      </link>
      
      <!-- Velocity control -->
      <plugin filename="gz-sim-velocity-control-system"
              name="gz::sim::systems::VelocityControl">
        <topic>/drone/cmd_vel</topic>
      </plugin>
      
      <!-- Odometry -->
      <plugin filename="gz-sim-odometry-publisher-system"
              name="gz::sim::systems::OdometryPublisher">
        <odom_topic>/drone/odometry</odom_topic>
        <odom_frame>world</odom_frame>
        <robot_base_frame>camera_drone</robot_base_frame>
      </plugin>
    </model>
    
  </world>
</sdf>