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62 lines
2.0 KiB
Plaintext
62 lines
2.0 KiB
Plaintext
4 years ago
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://asphalt_plane</uri>
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</include>
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<plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
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<frameId>base_link</frameId>
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<robotNamespace/>
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<windVelocityMean>4.0</windVelocityMean>
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<windVelocityMax>20.0</windVelocityMax>
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<windVelocityVariance>0</windVelocityVariance>
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<windDirectionMean>0 1 0</windDirectionMean>
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<windDirectionVariance>0</windDirectionVariance>
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<windGustStart>0</windGustStart>
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<windGustDuration>0</windGustDuration>
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<windGustVelocityMean>0</windGustVelocityMean>
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<windGustVelocityMax>20.0</windGustVelocityMax>
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<windGustVelocityVariance>0</windGustVelocityVariance>
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<windGustDirectionMean>1 0 0</windGustDirectionMean>
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<windGustDirectionVariance>0</windGustDirectionVariance>
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<windPubTopic>world_wind</windPubTopic>
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</plugin>
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<physics name='default_physics' default='0' type='ode'>
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<gravity>0 0 -9.8066</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100</contact_max_correcting_vel>
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<contact_surface_layer>0.001</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
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</physics>
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<model name="drone1">
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<pose> 0 0 0.1 0 0 0</pose>
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<include>
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<uri>model://drone1</uri>
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</include>
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</model>
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</world>
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</sdf>
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