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gazebo-rover.world
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gazebo-rover.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="rover_world">
<!--<include>
<uri>model://sun</uri>
</include>-->
<light name='sun' type='directional'>
<cast_shadows>1</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>
<!-- Ground Plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- -->
<!-- ROVER -->
<!-- -->
<model name="rover">
<static>false</static>
<link name='chassis'>
<pose>0 0 .1 0 0 0</pose>
<collision name='collision'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</visual>
<sensor name='my_contact' type='contact'>
<contact>
<collision>collision</collision>
</contact>
</sensor>
</link>
<link name="front_left_wheel">
<pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="front_right_wheel">
<pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="back_left_wheel">
<pose>-0.1 0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="back_right_wheel">
<pose>-0.1 -0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.075</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<joint type="revolute" name="front_left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>front_left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="front_right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>front_right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="back_left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>back_left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="back_right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>back_right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<!-- -->
<!-- CAMERA -->
<!-- -->
<link name="camera_link">
<gravity>false</gravity>
<!--<pose>-1.0 -3.0 0.85 0 0 1.0</pose>-->
<!--<pose>0.75 -3.0 0.85 0 0 1.5</pose>-->
<pose>0.0 0.0 1.75 0 1.57079632679 0</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>64</width>
<height>64</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<!--<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>-->
</camera>
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
</sensor>
</link>
<joint name="camera_joint" type="revolute">
<parent>chassis</parent>
<child>camera_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.1 0.0 0.0</xyz>
</axis>
</joint>
<plugin name="RoverPlugin" filename="libgazeboRoverPlugin.so" />
</model>
<!-- -->
<!-- OBSTACLES -->
<!-- -->
<!--<model name="ball">
<link name="link">
<pose>0.75 -2.0 0.0 0 0 0</pose>
<collision name="ball_collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>1.0 0.5 0.0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
</visual>
<sensor name='my_contact' type='contact'>
<contact>
<collision>ball_collision</collision>
</contact>
</sensor>
</link>
<plugin name="PropPlugin" filename="libgazeboPropPlugin.so" />
</model>-->
<model name="goal">
<link name="link">
<pose>1.0 0.0 0.0 0 0 0</pose>
<collision name="box_collision">
<geometry>
<box>
<size>0.25 0.25 0.25</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.25 0.25 0.25</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.0 1.0 1.0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
</visual>
</link>
<plugin name="PropPlugin" filename="libgazeboPropPlugin.so" />
</model>
<!-- -->
<!-- MAZE -->
<!-- -->
<model name="maze">
<link name="wall_0">
<pose>-1.0 0.0 0.0 0 0 0</pose>
<collision name="box_collision">
<geometry>
<box>
<size>0.25 2.25 0.15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.25 2.25 0.15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>1.0 0.5 0.0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
</visual>
</link>
<link name="wall_1">
<pose>1.0 1.0 0.0 0 0 0</pose>
<collision name="box_collision">
<geometry>
<box>
<size>4.0 0.25 0.15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>4.0 0.25 0.15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>1.0 0.5 0.0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
</visual>
</link>
<link name="wall_2">
<pose>1.0 -1.0 0.0 0 0 0</pose>
<collision name="box_collision">
<geometry>
<box>
<size>4.0 0.25 0.15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>4.0 0.25 0.15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>1.0 0.5 0.0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
</visual>
</link>
</model>
</world>
</sdf>