237 lines
7.3 KiB
XML
237 lines
7.3 KiB
XML
<?xml version="1.0" ?>
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<!--
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Custom UAV-UGV Search & Land World
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===================================
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- ArduPilot iris quadcopter (with SITL plugin + gimbal camera)
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- UGV target vehicle at (10, 5) for the drone to search for and land on
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- Visual navigation markers (colored squares on the ground)
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- Optimized for WSL: lower physics rate, no shadows
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-->
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<sdf version="1.9">
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<world name="uav_ugv_search">
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<!-- Physics: 4ms step (250 Hz) for better WSL performance -->
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<physics name="2ms" type="ignore">
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<!-- Required Gazebo Harmonic system plugins -->
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<plugin filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin filename="gz-sim-sensors-system"
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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"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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<state_hertz>25</state_hertz>
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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<plugin filename="gz-sim-navsat-system"
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name="gz::sim::systems::NavSat">
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</plugin>
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<!-- Scene: no shadows for WSL performance -->
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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<background>0.6 0.75 0.9</background>
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<sky></sky>
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<shadows>false</shadows>
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</scene>
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<!-- Spherical coordinates (matches ArduPilot SITL default location) -->
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<spherical_coordinates>
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<latitude_deg>-35.363262</latitude_deg>
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<longitude_deg>149.165237</longitude_deg>
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<elevation>584</elevation>
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<heading_deg>0</heading_deg>
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<surface_model>EARTH_WGS84</surface_model>
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</spherical_coordinates>
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<!-- Sun (no shadows for performance) -->
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<light type="directional" name="sun">
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<cast_shadows>false</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.9 0.9 0.9 1</diffuse>
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<specular>0.5 0.5 0.5 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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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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<pose>0 0 -0.02 0 0 0</pose>
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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 0.55 0.45 1</ambient>
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<diffuse>0.5 0.55 0.45 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="axes">
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<static>1</static>
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<link name="link">
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<visual name="r">
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<cast_shadows>0</cast_shadows>
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<pose>5 0 0.05 0 0 0</pose>
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<geometry><box><size>10 0.02 0.02</size></box></geometry>
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<material>
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<ambient>1 0 0 0.8</ambient>
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<diffuse>1 0 0 0.8</diffuse>
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<emissive>1 0 0 0.5</emissive>
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</material>
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</visual>
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<visual name="g">
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<cast_shadows>0</cast_shadows>
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<pose>0 5 0.05 0 0 0</pose>
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<geometry><box><size>0.02 10 0.02</size></box></geometry>
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<material>
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<ambient>0 1 0 0.8</ambient>
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<diffuse>0 1 0 0.8</diffuse>
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<emissive>0 1 0 0.5</emissive>
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</material>
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</visual>
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<visual name="b">
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<cast_shadows>0</cast_shadows>
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<pose>0 0 5.05 0 0 0</pose>
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<geometry><box><size>0.02 0.02 10</size></box></geometry>
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<material>
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<ambient>0 0 1 0.8</ambient>
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<diffuse>0 0 1 0.8</diffuse>
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<emissive>0 0 1 0.5</emissive>
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</material>
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</visual>
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<sensor name="navsat_sensor" type="navsat">
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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</sensor>
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</link>
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</model>
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<!-- ===================== UAV: ArduPilot Iris ===================== -->
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<include>
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<uri>model://iris_with_gimbal</uri>
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<pose degrees="true">0.0 0.0 0.4 0 0 90</pose>
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</include>
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<!-- ===================== UGV: Driveable Rover ===================== -->
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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>0.0 0.0 0 0 0 0</pose>
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</include>
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<!-- ===================== TARGET ArUco Tag (ID 1) ===================== -->
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<model name="target_tag_1">
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<static>true</static>
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<pose>8 -6 0.005 0 0 0</pose>
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<link name="link">
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<visual name="v">
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<geometry><box><size>0.5 0.5 0.01</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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<pbr><metal><albedo_map>tags/aruco_DICT_4X4_50_1.png</albedo_map></metal></pbr>
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</material>
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</visual>
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</link>
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</model>
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<!-- ===================== VISUAL MARKERS ===================== -->
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<!-- Origin marker (yellow circle) -->
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<model name="origin_marker">
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<static>true</static>
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<pose>0 0 0.005 0 0 0</pose>
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<link name="link">
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<visual name="v">
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<geometry><cylinder><radius>0.4</radius><length>0.01</length></cylinder></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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<emissive>0.8 0.8 0 0.6</emissive>
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</material>
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</visual>
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</link>
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</model>
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<!-- Waypoint marker 1 (red) at 5,0 -->
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<model name="marker_red">
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<static>true</static>
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<pose>5 0 0.005 0 0 0</pose>
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<link name="link">
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<visual name="v">
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<geometry><box><size>0.5 0.5 0.01</size></box></geometry>
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<material>
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<ambient>1 0.1 0.1 1</ambient>
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<diffuse>1 0.1 0.1 1</diffuse>
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<emissive>0.8 0 0 0.5</emissive>
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</material>
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</visual>
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</link>
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</model>
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<!-- Waypoint marker 2 (green) at 10,0 -->
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<model name="marker_green">
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<static>true</static>
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<pose>10 0 0.005 0 0 0</pose>
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<link name="link">
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<visual name="v">
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<geometry><box><size>0.5 0.5 0.01</size></box></geometry>
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<material>
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<ambient>0.1 1 0.1 1</ambient>
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<diffuse>0.1 1 0.1 1</diffuse>
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<emissive>0 0.8 0 0.5</emissive>
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</material>
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</visual>
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</link>
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</model>
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<!-- Waypoint marker 3 (blue) at 10,10 -->
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<model name="marker_blue">
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<static>true</static>
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<pose>10 10 0.005 0 0 0</pose>
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<link name="link">
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<visual name="v">
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<geometry><box><size>0.5 0.5 0.01</size></box></geometry>
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<material>
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<ambient>0.1 0.1 1 1</ambient>
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<diffuse>0.1 0.1 1 1</diffuse>
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<emissive>0 0 0.8 0.5</emissive>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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