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Created November 11, 2016 08:42
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copter_circuit.world
<!--
This work is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc/4.0/.
-->
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="vrc_task_1">
<!-- Light Source -->
<light type="directional" name="sun">
<cast_shadows>false</cast_shadows>
<pose>0 0 100 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.9 0.9 0.9 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<!--<direction>0.2 0.2 -0.9</direction>-->
<!-- Vertical direction, for easier position debug -->
<direction>0 0 -1</direction>
</light>
<include>
<uri>model://jarama</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<plugin name="ardupilot_sitl_gazebo_plugin" filename="/home/prasad/simulation/ros_catkin_ws/devel/lib/libardupilot_sitl_gazebo_plugin.so">
<UAV_MODEL>erlecopter</UAV_MODEL>
</plugin>
</world>
</sdf>
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