Attempt to use new plugin format for tree nodes.
Crude support for gazebo ignition
This commit is contained in:
Bastian Hofmann
314
src/gaz_simulation/world/gaz_ign.sdf
Normal file
314
src/gaz_simulation/world/gaz_ign.sdf
Normal file
@@ -0,0 +1,314 @@
|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<sdf version='1.7'>
|
||||
<world name='default'>
|
||||
<physics name="1ms" type="ignored">
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
</physics>
|
||||
<plugin
|
||||
filename="ignition-gazebo-physics-system"
|
||||
name="ignition::gazebo::systems::Physics">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="ignition-gazebo-sensors-system"
|
||||
name="ignition::gazebo::systems::Sensors">
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="ignition-gazebo-scene-broadcaster-system"
|
||||
name="ignition::gazebo::systems::SceneBroadcaster">
|
||||
</plugin>
|
||||
|
||||
<light type="directional" name="sun">
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<pose>0 0 10 0 0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
</light>
|
||||
|
||||
<model name='walls'>
|
||||
<static>1</static>
|
||||
<link name='walls_1'>
|
||||
<self_collide>0</self_collide>
|
||||
<pose>3 8 1.2 0 0 0</pose>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10.1 .1 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10.1 .1 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='walls_2'>
|
||||
<self_collide>0</self_collide>
|
||||
<pose>3 -2 1.2 0 0 0</pose>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10.1 .1 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10.1 .1 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='walls_3'>
|
||||
<self_collide>0</self_collide>
|
||||
<pose>8 3 1.2 0 0 0</pose>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>.1 9.9 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>.1 9.9 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='walls_4'>
|
||||
<self_collide>0</self_collide>
|
||||
<pose>-2 3 1.2 0 0 0</pose>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>.1 9.9 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>.1 9.9 2.4</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<model name="lidar_1">
|
||||
<static>1</static>
|
||||
<link name="lidar_1_link">
|
||||
<pose>1 -1.85 1 0 0 1.5707963267949</pose>
|
||||
<sensor name='laser_1' type='gpu_lidar'>
|
||||
<topic>laser_1</topic>
|
||||
<update_rate>10</update_rate>
|
||||
<lidar>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>270</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.3561944901923</min_angle>
|
||||
<max_angle>2.3561944901923</max_angle>
|
||||
</horizontal>
|
||||
<vertical>
|
||||
<samples>1</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</vertical>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.05</min>
|
||||
<max>10.0</max>
|
||||
<resolution>0.05</resolution>
|
||||
</range>
|
||||
</lidar>
|
||||
<alwaysOn>1</alwaysOn>
|
||||
<visualize>true</visualize>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
<model name="lidar_2">
|
||||
<static>1</static>
|
||||
<link name="lidar_2_link">
|
||||
<pose>-1.85 1 1 0 0 0</pose>
|
||||
<sensor name='laser_2' type='gpu_lidar'>
|
||||
<topic>laser_2</topic>
|
||||
<update_rate>10</update_rate>
|
||||
<lidar>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>270</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.3561944901923</min_angle>
|
||||
<max_angle>2.3561944901923</max_angle>
|
||||
</horizontal>
|
||||
<vertical>
|
||||
<samples>1</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0</min_angle>
|
||||
<max_angle>0</max_angle>
|
||||
</vertical>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.05</min>
|
||||
<max>10.0</max>
|
||||
<resolution>0.05</resolution>
|
||||
</range>
|
||||
</lidar>
|
||||
<alwaysOn>1</alwaysOn>
|
||||
<visualize>true</visualize>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
<model name='ground_plane'>
|
||||
<static>1</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<collide_bitmask>65535</collide_bitmask>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100</mu>
|
||||
<mu2>50</mu2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce/>
|
||||
</surface>
|
||||
<max_contacts>10</max_contacts>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<actor name="actor1">
|
||||
<pose>0 1 1.25 0 0 0</pose>
|
||||
|
||||
<skin>
|
||||
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
|
||||
<scale>1.0</scale>
|
||||
</skin>
|
||||
<animation name="walk">
|
||||
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
|
||||
</animation>
|
||||
<!--<plugin name="actor1_plugin" filename="/home/bastian/dev_ws/build/gazebo_ros_actor/libRosActorPlugin.so">
|
||||
<target>2 2 1</target>
|
||||
<target_weight>1.15</target_weight>
|
||||
<obstacle_weight>1.8</obstacle_weight>
|
||||
<animation_factor>5.1</animation_factor>
|
||||
<ignore_obstacles>
|
||||
<model>ground_plane</model>
|
||||
</ignore_obstacles>
|
||||
</plugin>-->
|
||||
</actor>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
||||
<atmosphere type='adiabatic'/>
|
||||
<physics type='ode'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>1000</real_time_update_rate>
|
||||
</physics>
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>1</shadows>
|
||||
</scene>
|
||||
<wind/>
|
||||
<spherical_coordinates>
|
||||
<surface_model>EARTH_WGS84</surface_model>
|
||||
<latitude_deg>0</latitude_deg>
|
||||
<longitude_deg>0</longitude_deg>
|
||||
<elevation>0</elevation>
|
||||
<heading_deg>0</heading_deg>
|
||||
</spherical_coordinates>
|
||||
<state world_name='default'>
|
||||
<sim_time>21 655000000</sim_time>
|
||||
<real_time>21 863005214</real_time>
|
||||
<wall_time>1644846646 70909467</wall_time>
|
||||
<iterations>21655</iterations>
|
||||
<model name='ground_plane'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<velocity>0 0 0 0 -0 0</velocity>
|
||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<light name='sun'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
</light>
|
||||
</state>
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose>5 -5 2 0 0.275643 2.35619</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user