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April 26, 2021 22:18
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sensors_particle_scattering2.sdf
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<?xml version="1.0" ?> | |
<sdf version="1.6"> | |
<world name="particle_emitters"> | |
<physics name="1ms" type="ode"> | |
<max_step_size>0.001</max_step_size> | |
<real_time_factor>1.0</real_time_factor> | |
</physics> | |
<plugin | |
filename="ignition-gazebo-physics-system" | |
name="ignition::gazebo::systems::Physics"> | |
</plugin> | |
<plugin | |
filename="ignition-gazebo-user-commands-system" | |
name="ignition::gazebo::systems::UserCommands"> | |
</plugin> | |
<plugin | |
filename="ignition-gazebo-sensors-system" | |
name="ignition::gazebo::systems::Sensors"> | |
<render_engine>ogre2</render_engine> | |
</plugin> | |
<plugin | |
filename="ignition-gazebo-scene-broadcaster-system" | |
name="ignition::gazebo::systems::SceneBroadcaster"> | |
</plugin> | |
<gui fullscreen="0"> | |
<!-- 3D scene --> | |
<plugin filename="GzScene3D" name="3D View"> | |
<ignition-gui> | |
<title>3D View</title> | |
<property type="bool" key="showTitleBar">false</property> | |
<property type="string" key="state">docked</property> | |
</ignition-gui> | |
<engine>ogre2</engine> | |
<scene>scene</scene> | |
<ambient_light>0.4 0.4 0.4</ambient_light> | |
<background_color>0.8 0.8 0.8</background_color> | |
<camera_pose>-6 0 6 0 0.5 0</camera_pose> | |
</plugin> | |
<!-- World control --> | |
<plugin filename="WorldControl" name="World control"> | |
<ignition-gui> | |
<title>World control</title> | |
<property type="bool" key="showTitleBar">false</property> | |
<property type="bool" key="resizable">false</property> | |
<property type="double" key="height">72</property> | |
<property type="double" key="width">121</property> | |
<property type="double" key="z">1</property> | |
<property type="string" key="state">floating</property> | |
<anchors target="3D View"> | |
<line own="left" target="left"/> | |
<line own="bottom" target="bottom"/> | |
</anchors> | |
</ignition-gui> | |
<play_pause>true</play_pause> | |
<step>true</step> | |
<start_paused>true</start_paused> | |
</plugin> | |
<!-- World statistics --> | |
<plugin filename="WorldStats" name="World stats"> | |
<ignition-gui> | |
<title>World stats</title> | |
<property type="bool" key="showTitleBar">false</property> | |
<property type="bool" key="resizable">false</property> | |
<property type="double" key="height">110</property> | |
<property type="double" key="width">290</property> | |
<property type="double" key="z">1</property> | |
<property type="string" key="state">floating</property> | |
<anchors target="3D View"> | |
<line own="right" target="right"/> | |
<line own="bottom" target="bottom"/> | |
</anchors> | |
</ignition-gui> | |
<sim_time>true</sim_time> | |
<real_time>true</real_time> | |
<real_time_factor>true</real_time_factor> | |
<iterations>true</iterations> | |
</plugin> | |
<plugin filename="EntityTree" name="Entity tree"> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display"> | |
<ignition-gui> | |
<title>RGB camera</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
</ignition-gui> | |
<topic>camera</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display 2"> | |
<ignition-gui> | |
<title>Depth camera</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
<property type="double" key="x">500</property> | |
</ignition-gui> | |
<topic>depth_camera</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display 3"> | |
<ignition-gui> | |
<title>RGBD: image</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
<property type="double" key="y">320</property> | |
</ignition-gui> | |
<topic>rgbd_camera/image</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display 3"> | |
<ignition-gui> | |
<title>RGBD: depth</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
<property type="double" key="x">500</property> | |
<property type="double" key="y">320</property> | |
</ignition-gui> | |
<topic>rgbd_camera/depth_image</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display 5"> | |
<ignition-gui> | |
<title>Thermal camera</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
<property type="double" key="x">500</property> | |
<property type="double" key="y">640</property> | |
</ignition-gui> | |
<topic>thermal_camera</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
</gui> | |
<light type="directional" name="sun"> | |
<cast_shadows>true</cast_shadows> | |
<pose>0 0 10 0 0 0</pose> | |
<diffuse>1 1 1 1</diffuse> | |
<specular>0.5 0.5 0.5 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>true</static> | |
<link name="link"> | |
<collision name="collision"> | |
<geometry> | |
<plane> | |
<normal>0 0 1</normal> | |
</plane> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane> | |
</geometry> | |
<material> | |
<ambient>0.8 0.8 0.8 1</ambient> | |
<diffuse>0.8 0.8 0.8 1</diffuse> | |
<specular>0.8 0.8 0.8 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
<include> | |
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/fog generator</uri> | |
</include> | |
<!-- <model name="cameras_alone"> | |
<pose>2.5 0 1.5 0 0.0 3.14</pose> | |
<link name="link"> | |
<pose>0.05 0.05 0.05 0 0 0</pose> | |
<inertial> | |
<mass>0.1</mass> | |
<inertia> | |
<ixx>0.000166667</ixx> | |
<iyy>0.000166667</iyy> | |
<izz>0.000166667</izz> | |
</inertia> | |
</inertial> | |
<collision name="collision"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</visual> | |
<sensor name="cameras_alone" type="camera"> | |
<camera> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>30</update_rate> | |
<visualize>true</visualize> | |
<topic>camera_alone</topic> | |
</sensor> | |
<sensor name="depth_camera1" type="depth_camera"> | |
<update_rate>10</update_rate> | |
<topic>depth_camera</topic> | |
<camera> | |
<horizontal_fov>1.05</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
<format>R_FLOAT32</format> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>10.0</far> | |
</clip> | |
</camera> | |
</sensor> | |
</link> | |
<static>true</static> | |
</model> | |
--> | |
<model name="camera_with_lidar"> | |
<pose>10 0 3.0 0 0.0 3.14</pose> | |
<link name="link"> | |
<pose>0.05 0.05 0.05 0 0 0</pose> | |
<inertial> | |
<mass>0.1</mass> | |
<inertia> | |
<ixx>0.000166667</ixx> | |
<iyy>0.000166667</iyy> | |
<izz>0.000166667</izz> | |
</inertia> | |
</inertial> | |
<collision name="collision"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<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>320</width> | |
<height>240</height> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>30</update_rate> | |
<visualize>true</visualize> | |
<topic>camera</topic> | |
</sensor> | |
<sensor name="depth_camera1" type="depth_camera"> | |
<update_rate>10</update_rate> | |
<topic>depth_camera</topic> | |
<camera> | |
<horizontal_fov>1.05</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
<format>R_FLOAT32</format> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>10.0</far> | |
</clip> | |
</camera> | |
</sensor> | |
<sensor name='gpu_lidar' type='gpu_lidar'>" | |
<topic>lidar</topic> | |
<update_rate>10</update_rate> | |
<ray> | |
<scan> | |
<horizontal> | |
<samples>640</samples> | |
<resolution>1</resolution> | |
<min_angle>-1.396263</min_angle> | |
<max_angle>1.396263</max_angle> | |
</horizontal> | |
<vertical> | |
<samples>1</samples> | |
<resolution>0.01</resolution> | |
<min_angle>0</min_angle> | |
<max_angle>0</max_angle> | |
</vertical> | |
</scan> | |
<range> | |
<min>0.08</min> | |
<max>10.0</max> | |
<resolution>0.01</resolution> | |
</range> | |
</ray> | |
<alwaysOn>1</alwaysOn> | |
<visualize>true</visualize> | |
</sensor> | |
</link> | |
<static>true</static> | |
</model> | |
<model name="rgbd_camera"> | |
<pose>5 0 0.5 0 0.0 3.14</pose> | |
<link name="link"> | |
<pose>0.05 0.05 0.05 0 0 0</pose> | |
<inertial> | |
<mass>0.1</mass> | |
<inertia> | |
<ixx>0.000166667</ixx> | |
<iyy>0.000166667</iyy> | |
<izz>0.000166667</izz> | |
</inertia> | |
</inertial> | |
<collision name="collision"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</visual> | |
<sensor name="rgbd_camera" type="rgbd_camera"> | |
<camera> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>30</update_rate> | |
<visualize>true</visualize> | |
<topic>rgbd_camera</topic> | |
</sensor> | |
</link> | |
<static>true</static> | |
</model> | |
<model name="thermal_camera"> | |
<pose>3 0 0.5 0 0.0 3.14</pose> | |
<link name="link"> | |
<pose>0.05 0.05 0.05 0 0 0</pose> | |
<inertial> | |
<mass>0.1</mass> | |
<inertia> | |
<ixx>0.000166667</ixx> | |
<iyy>0.000166667</iyy> | |
<izz>0.000166667</izz> | |
</inertia> | |
</inertial> | |
<collision name="collision"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</visual> | |
<sensor name="thermal_camera" type="thermal_camera"> | |
<camera> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>30</update_rate> | |
<visualize>true</visualize> | |
<topic>thermal_camera</topic> | |
</sensor> | |
</link> | |
</model> | |
<include> | |
<pose>0 0 0 0 0 1.570796</pose> | |
<name>rescue_randy</name> | |
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy</uri> | |
</include> | |
</world> | |
</sdf> |
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