DroneControl/iq_sim/worlds/drone.world

<?xml version="1.0"?> 
<sdf version="1.5">
  <world name="default">
    <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>
      <real_time_update_rate>-1</real_time_update_rate>
    </physics>
  
  <scene>
    <ambient>0.0 0.0 0.0 1.0</ambient>
    <shadows>0</shadows>
  </scene>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>5000 5000</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="runway">
          <pose>000 0 0.005 0 0 0</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1829 45</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Runway</name>
            </script>
          </material>
        </visual>

        <visual name="grass">
          <pose>0 0 -0.1 0 0 0</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>5000 5000</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grass</name>
            </script>
          </material>
        </visual>

      </link>
    </model>

    <include>
      <uri>model://sun</uri>
    </include>
    <model name="drone1">
      <pose> 0 0 0 0 0 0</pose>
      <include>
        <uri>model://drone1</uri>
      </include>
    </model>
    <!-- <model name="drone2">
      <pose> 0 5 0 0 0 0</pose>
      <include>
        <uri>model://drone1</uri>
      </include>
    </model>   -->

    <!-- <model name="tree">
      <pose> 5 -10 0 0 0 3.14</pose>
      <include>
        <uri>model://oak_tree</uri>
      </include>
    </model> -->

    <plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
      <frameId>base_link</frameId>
      <robotNamespace/>
      <windVelocityMean>4.0</windVelocityMean>
      <windVelocityMax>20.0</windVelocityMax>
      <windVelocityVariance>0</windVelocityVariance>
      <windDirectionMean>0 1 0</windDirectionMean>
      <windDirectionVariance>0</windDirectionVariance>
      <windGustStart>0</windGustStart>
      <windGustDuration>0</windGustDuration>
      <windGustVelocityMean>0</windGustVelocityMean>
      <windGustVelocityMax>20.0</windGustVelocityMax>
      <windGustVelocityVariance>0</windGustVelocityVariance>
      <windGustDirectionMean>1 0 0</windGustDirectionMean>
      <windGustDirectionVariance>0</windGustDirectionVariance>
      <windPubTopic>world_wind</windPubTopic>
    </plugin>    
    <!--<model name="drone4">
      <pose> 5 0 0 0 0 4.71</pose>
      <include>
        <uri>model://drone4</uri>
      </include>
    </model>
     <model name="drone5">
      <pose> 6 0 0 0 0 0</pose>
      <include>
        <uri>model://drone5</uri>
      </include>
    </model>
    <model name="drone6">
      <pose> 6 2 0 0 0 0</pose>
      <include>
        <uri>model://drone6</uri>
      </include>
    </model>
    <model name="drone7">
      <pose> 8 0 0 0 0 0</pose>
      <include>
        <uri>model://drone7</uri>
      </include>
    </model>
    <model name="drone8">
      <pose> 8 2 0 0 0 0</pose>
      <include>
        <uri>model://drone8</uri>
      </include>
    </model>
    <model name="drone9">
      <pose> 12 0 0 0 0 0</pose>
      <include>
        <uri>model://drone9</uri>
      </include>
    </model>
    <model name="drone10">
      <pose> 12 2 0 0 0 0</pose>
      <include>
        <uri>model://drone10</uri>
      </include>
    </model>
    <model name="drone11">
      <pose> 14 0 0 0 0 0</pose>
      <include>
        <uri>model://drone11</uri>
      </include>
    </model>
    <model name="drone12">
      <pose> 14 2 0 0 0 0</pose>
      <include>
        <uri>model://drone12</uri>
      </include>
    </model> -->

  </world>
</sdf>