103 lines
2.7 KiB
XML
103 lines
2.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="empty_custom">
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<physics type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</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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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- UAV - Iris Quadcopter with Cameras -->
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<include>
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<uri>model://iris_with_camera</uri>
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<name>uav</name>
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<pose>0 0 0.1 0 0 0</pose>
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</include>
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<!-- UGV - Ground Vehicle -->
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<include>
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<uri>model://custom_ugv</uri>
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<name>ugv</name>
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<pose>2 2 0.1 0 0 0</pose>
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</include>
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<!-- Visual Markers for GPS-Denied Navigation -->
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<model name="visual_markers">
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<static>true</static>
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<link name="marker_0">
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<pose>5 0 0.01 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box><size>0.5 0.5 0.01</size></box>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>1 0 0 1</diffuse>
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</material>
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</visual>
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</link>
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<link name="marker_1">
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<pose>10 5 0.01 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box><size>0.5 0.5 0.01</size></box>
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</geometry>
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<material>
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<ambient>0 1 0 1</ambient>
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<diffuse>0 1 0 1</diffuse>
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</material>
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</visual>
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</link>
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<link name="marker_2">
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<pose>5 10 0.01 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<box><size>0.5 0.5 0.01</size></box>
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</geometry>
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<material>
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<ambient>0 0 1 1</ambient>
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<diffuse>0 0 1 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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<!-- Origin Marker (Yellow) -->
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<model name="origin_marker">
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<static>true</static>
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<pose>0 0 0.01 0 0 0</pose>
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<link name="link">
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.3</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<ambient>1 1 0 1</ambient>
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<diffuse>1 1 0 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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<!-- Spherical coordinates for geofencing reference -->
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>47.397742</latitude_deg>
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<longitude_deg>8.545594</longitude_deg>
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<elevation>488.0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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</world>
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</sdf>
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