81 lines
2.3 KiB
XML
81 lines
2.3 KiB
XML
<?xml version="1.0" ?>
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<!--
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Drone Landing Simulation - Gazebo World (Ignition Fortress compatible)
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-->
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<sdf version="1.8">
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<world name="drone_landing_world">
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<!-- Ignition Fortress plugins -->
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<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics"/>
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<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
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<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<!-- Ground -->
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.5 0.5 0.5 1</ambient>
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<diffuse>0.7 0.7 0.7 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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<!-- Landing Pad (static for now) -->
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<model name="landing_pad">
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<static>true</static>
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<pose>0 0 0.15 0 0 0</pose>
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<link name="base_link">
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<visual name="visual">
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<geometry>
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<box>
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<size>1.0 1.0 0.3</size>
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</box>
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</geometry>
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<material>
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<ambient>0.1 0.5 0.1 1</ambient>
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<diffuse>0.2 0.7 0.2 1</diffuse>
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</material>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>1.0 1.0 0.3</size>
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</box>
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</geometry>
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</collision>
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</link>
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</model>
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</world>
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</sdf>
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