121 lines
4.1 KiB
XML
121 lines
4.1 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<!-- Simple quadcopter model for testing without ArduPilot -->
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<model name="iris_with_camera">
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<pose>0 0 0.1 0 0 0</pose>
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<!-- Base/Body -->
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<link name="base_link">
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<inertial>
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<mass>1.5</mass>
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<inertia>
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<ixx>0.029125</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.029125</iyy><iyz>0</iyz><izz>0.055225</izz>
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</inertia>
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</inertial>
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<!-- Main body -->
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<visual name="body_visual">
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<geometry>
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<box><size>0.3 0.3 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.8 1</ambient>
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<diffuse>0.2 0.2 0.8 1</diffuse>
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</material>
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</visual>
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<collision name="body_collision">
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<geometry>
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<box><size>0.3 0.3 0.1</size></box>
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</geometry>
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</collision>
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<!-- Arms -->
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<visual name="arm1_visual">
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<pose>0.15 0.15 0 0 0 0.785</pose>
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<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
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<material><ambient>0.3 0.3 0.3 1</ambient></material>
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</visual>
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<visual name="arm2_visual">
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<pose>-0.15 0.15 0 0 0 -0.785</pose>
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<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
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<material><ambient>0.3 0.3 0.3 1</ambient></material>
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</visual>
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<visual name="arm3_visual">
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<pose>-0.15 -0.15 0 0 0 0.785</pose>
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<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
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<material><ambient>0.3 0.3 0.3 1</ambient></material>
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</visual>
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<visual name="arm4_visual">
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<pose>0.15 -0.15 0 0 0 -0.785</pose>
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<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
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<material><ambient>0.3 0.3 0.3 1</ambient></material>
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</visual>
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<!-- Rotors -->
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<visual name="rotor1">
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<pose>0.22 0.22 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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<visual name="rotor2">
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<pose>-0.22 0.22 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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<visual name="rotor3">
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<pose>-0.22 -0.22 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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<visual name="rotor4">
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<pose>0.22 -0.22 0.05 0 0 0</pose>
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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<!-- Forward camera (small black box) -->
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<visual name="forward_camera_visual">
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<pose>0.18 0 0 0 0 0</pose>
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<geometry><box><size>0.03 0.03 0.03</size></box></geometry>
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<material><ambient>0 0 0 1</ambient></material>
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</visual>
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<!-- Forward Camera Sensor -->
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<sensor name="forward_camera" type="camera">
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<pose>0.18 0 0 0 0 0</pose>
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<camera>
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<horizontal_fov>1.57</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip><near>0.1</near><far>100</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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<!-- Downward Camera Sensor -->
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<sensor name="downward_camera" type="camera">
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<pose>0 0 -0.06 0 1.5708 0</pose>
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<camera>
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<horizontal_fov>1.2</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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<format>R8G8B8</format>
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</image>
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<clip><near>0.1</near><far>50</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>false</visualize>
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</sensor>
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</link>
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</model>
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</sdf>
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