SirBlob/simulation
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update Install Scripts

Browse Source
This commit is contained in:
default
2026-02-09 04:20:22 +00:00
parent e70d4a8fcd
commit 5c0d3e2fb4
10 changed files with 1072 additions and 836 deletions
Download Patch File Download Diff File Expand all files Collapse all files

106
worlds/iris_runway.world Normal file
View File

@@ -0,0 +1,106 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="iris_runway">
<physics type="ode">
<ode>
<solver>
<type>quick</type>
<iters>100</iters>
<sor>1.0</sor>
</solver>
<constraints>
<cfm>0.0</cfm>
<erp>0.9</erp>
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</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>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<!-- ArduPilot Iris Quadcopter -->
<model name="iris">
<include>
<uri>model://iris_with_ardupilot</uri>
</include>
</model>
<!-- Visual Navigation Markers -->
<model name="marker_red">
<static>true</static>
<pose>10 0 0.01 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry><box><size>1 1 0.02</size></box></geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="marker_green">
<static>true</static>
<pose>10 10 0.01 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry><box><size>1 1 0.02</size></box></geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="marker_blue">
<static>true</static>
<pose>0 10 0.01 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry><box><size>1 1 0.02</size></box></geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="origin_marker">
<static>true</static>
<pose>0 0 0.01 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<cylinder><radius>0.5</radius><length>0.02</length></cylinder>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
</material>
</visual>
</link>
</model>
<!-- Spherical coordinates for GPS geofencing -->
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>-35.363262</latitude_deg>
<longitude_deg>149.165237</longitude_deg>
<elevation>584</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
</world>
</sdf>