235 lines
7.9 KiB
XML
235 lines
7.9 KiB
XML
<?xml version="1.0" ?>
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<!--
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Drone Landing Simulation - Ignition Fortress World
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With velocity control for drone and rover
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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 -->
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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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</physics>
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<!-- Ignition Fortress Plugins -->
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<plugin filename="libignition-gazebo-physics-system.so"
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name="ignition::gazebo::systems::Physics"/>
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<plugin filename="libignition-gazebo-user-commands-system.so"
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name="ignition::gazebo::systems::UserCommands"/>
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<plugin filename="libignition-gazebo-scene-broadcaster-system.so"
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name="ignition::gazebo::systems::SceneBroadcaster"/>
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<plugin filename="libignition-gazebo-sensors-system.so"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="libignition-gazebo-imu-system.so"
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name="ignition::gazebo::systems::Imu"/>
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<!-- Lighting -->
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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 Plane -->
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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 (Rover) - Now with velocity control -->
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<model name="landing_pad">
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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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<inertial>
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<mass>10.0</mass>
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<inertia>
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<ixx>1.0</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>1.0</iyy><iyz>0</iyz>
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<izz>1.0</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<box><size>1.0 1.0 0.3</size></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><size>1.0 1.0 0.3</size></box>
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</geometry>
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</collision>
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<!-- H marker -->
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<visual name="h_center">
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<pose>0 0 0.151 0 0 0</pose>
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<geometry><box><size>0.6 0.1 0.001</size></box></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_left">
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<pose>-0.25 0 0.151 0 0 0</pose>
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<geometry><box><size>0.1 0.5 0.001</size></box></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_right">
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<pose>0.25 0 0.151 0 0 0</pose>
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<geometry><box><size>0.1 0.5 0.001</size></box></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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<!-- Rover velocity control - subscribes to /rover/cmd_vel -->
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<plugin filename="libignition-gazebo-velocity-control-system.so"
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name="ignition::gazebo::systems::VelocityControl">
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<topic>/rover/cmd_vel</topic>
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<initial_linear>0 0 0</initial_linear>
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</plugin>
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<!-- Keep rover on ground -->
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<plugin filename="libignition-gazebo-planar-move-system.so"
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name="ignition::gazebo::systems::PlanarMove">
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<cmd_topic>/rover/cmd_vel</cmd_topic>
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<odom_topic>/rover/odom</odom_topic>
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</plugin>
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</model>
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<!-- Drone with velocity control -->
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<model name="drone">
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<pose>0 0 2 0 0 0</pose>
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<link name="base_link">
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>0.029</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.029</iyy><iyz>0</iyz>
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<izz>0.055</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry><box><size>0.3 0.3 0.1</size></box></geometry>
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</collision>
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<visual name="body">
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<geometry><box><size>0.3 0.3 0.1</size></box></geometry>
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<material>
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<ambient>0.8 0.1 0.1 1</ambient>
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<diffuse>0.9 0.2 0.2 1</diffuse>
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</material>
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</visual>
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<!-- Arms -->
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<visual name="arm_fl">
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<pose>0.12 0.12 0 0 0 0.785</pose>
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<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
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<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
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</visual>
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<visual name="arm_fr">
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<pose>0.12 -0.12 0 0 0 -0.785</pose>
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<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
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<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
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</visual>
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<visual name="arm_bl">
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<pose>-0.12 0.12 0 0 0 -0.785</pose>
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<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
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<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
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</visual>
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<visual name="arm_br">
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<pose>-0.12 -0.12 0 0 0 0.785</pose>
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<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
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<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
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</visual>
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<!-- Rotors -->
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<visual name="rotor_fl">
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<pose>0.17 0.17 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
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<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
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</visual>
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<visual name="rotor_fr">
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<pose>0.17 -0.17 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
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<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
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</visual>
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<visual name="rotor_bl">
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<pose>-0.17 0.17 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
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<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
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</visual>
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<visual name="rotor_br">
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<pose>-0.17 -0.17 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
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<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
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</visual>
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<!-- IMU -->
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<sensor name="imu" type="imu">
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<always_on>true</always_on>
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<update_rate>100</update_rate>
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<topic>/drone/imu</topic>
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</sensor>
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</link>
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<!-- Drone velocity control - subscribes to /drone/cmd_vel -->
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<plugin filename="libignition-gazebo-velocity-control-system.so"
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name="ignition::gazebo::systems::VelocityControl">
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<topic>/drone/cmd_vel</topic>
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<initial_linear>0 0 0</initial_linear>
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</plugin>
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<!-- Odometry Publisher -->
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<plugin filename="libignition-gazebo-odometry-publisher-system.so"
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name="ignition::gazebo::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<odom_topic>/model/drone/odometry</odom_topic>
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<odom_publish_frequency>50</odom_publish_frequency>
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</plugin>
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</model>
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</world>
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</sdf>
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