127 lines
3.7 KiB
XML
127 lines
3.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.9">
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<world name="custom_landing">
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<physics name="1ms" type="ode">
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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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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
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<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
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<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
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<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.8 0.9 1</background>
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<shadows>true</shadows>
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</scene>
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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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<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>0.3 0.3 0.3 1</ambient>
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<diffuse>0.5 0.5 0.5 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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<model name="landing_pad">
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<static>false</static>
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<pose>0 0 0.05 0 0 0</pose>
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<link name="base">
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<inertial>
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<mass>10</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.75</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="pad">
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<geometry>
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<cylinder>
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<radius>0.75</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<material>
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<ambient>0.1 0.6 0.1 1</ambient>
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<diffuse>0.2 0.8 0.2 1</diffuse>
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</material>
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</visual>
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<visual name="h_bar">
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<pose>0 0 0.06 0 0 0</pose>
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<geometry>
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<box>
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<size>0.1 0.5 0.02</size>
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</box>
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</geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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<visual name="h_cross">
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<pose>0 0 0.06 0 0 1.5708</pose>
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<geometry>
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<box>
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<size>0.1 0.25 0.02</size>
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</box>
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</geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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</link>
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<plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
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<topic>/landing_pad/cmd_vel</topic>
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</plugin>
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<plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
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<odom_topic>/landing_pad/odom</odom_topic>
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</plugin>
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</model>
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<include>
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<uri>model://iris_with_ardupilot</uri>
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<name>iris</name>
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<pose>0 0 0.195 0 0 0</pose>
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</include>
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</world>
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</sdf>
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