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<sdf version='1.4'> | |
<world name='default'> | |
<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> | |
<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> | |
<friction> | |
<ode> | |
<mu>100</mu> | |
<mu2>50</mu2> | |
</ode> | |
</friction> | |
<bounce/> | |
<contact> | |
<ode/> | |
</contact> | |
</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> | |
<script> | |
<uri>file://media/materials/scripts/gazebo.material</uri> | |
<name>Gazebo/Grey</name> | |
</script> | |
</material> | |
</visual> | |
<velocity_decay> | |
<linear>0</linear> | |
<angular>0</angular> | |
</velocity_decay> | |
<self_collide>0</self_collide> | |
<kinematic>0</kinematic> | |
<gravity>1</gravity> | |
</link> | |
</model> | |
<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> | |
<gravity>0 0 -9.8</gravity> | |
</physics> | |
<scene> | |
<ambient>0.4 0.4 0.4 1</ambient> | |
<background>0.7 0.7 0.7 1</background> | |
<shadows>1</shadows> | |
</scene> | |
<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>45 916000000</sim_time> | |
<real_time>46 100466052</real_time> | |
<wall_time>1394007061 548129841</wall_time> | |
<model name='ground_plane'> | |
<pose>0 0 0 0 -0 0</pose> | |
<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> | |
</state> | |
<gui fullscreen='0'> | |
<camera name='user_camera'> | |
<pose>5 -5 2 0 0.275643 2.35619</pose> | |
<view_controller>orbit</view_controller> | |
</camera> | |
</gui> | |
</world> | |
</sdf> |
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<launch> | |
<arg name="paused" default="false"/> | |
<arg name="use_sim_time" default="true"/> | |
<arg name="gui" default="true"/> | |
<arg name="headless" default="false"/> | |
<arg name="debug" default="false"/> | |
<arg name="world_name" default="/tmp/empty.world"/> | |
<group if="$(arg use_sim_time)"> | |
<param name="/use_sim_time" value="true" /> | |
</group> | |
<arg unless="$(arg paused)" name="command_arg1" value=""/> | |
<arg if="$(arg paused)" name="command_arg1" value="-u"/> | |
<arg unless="$(arg headless)" name="command_arg2" value=""/> | |
<arg if="$(arg headless)" name="command_arg2" value="-r"/> | |
<arg unless="$(arg debug)" name="script_type" value="gzserver"/> | |
<arg if="$(arg debug)" name="script_type" value="debug"/> | |
<!-- start gazebo server--> | |
<node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen" | |
args="$(arg command_arg1) $(arg command_arg2) $(arg world_name)" /> | |
<!-- start gazebo client --> | |
<group if="$(arg gui)"> | |
<node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen" | |
args="" /> | |
</group> | |
</launch> |
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<launch> | |
<arg name="paused" default="false"/> | |
<arg name="use_sim_time" default="true"/> | |
<arg name="gui" default="true"/> | |
<arg name="headless" default="false"/> | |
<arg name="debug" default="false"/> | |
<arg name="world_name" default="/tmp/empty.world"/> | |
<group if="$(arg use_sim_time)"> | |
<param name="/use_sim_time" value="true" /> | |
</group> | |
<arg unless="$(arg paused)" name="command_arg1" value=""/> | |
<arg if="$(arg paused)" name="command_arg1" value="-u"/> | |
<arg unless="$(arg headless)" name="command_arg2" value=""/> | |
<arg if="$(arg headless)" name="command_arg2" value="-r"/> | |
<arg unless="$(arg debug)" name="script_type" value="gzserver"/> | |
<arg if="$(arg debug)" name="script_type" value="debug"/> | |
<!-- start gazebo server--> | |
<node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen" | |
args="$(arg command_arg1) $(arg command_arg2) -s libGazeboMISServerPlugin.so $(arg world_name)" /> | |
<!-- start gazebo client --> | |
<group if="$(arg gui)"> | |
<node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen" | |
args="-g libGazeboMISGuiPlugin.so" /> | |
</group> | |
</launch> |
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