profile_lidar.sdf

<?xml version="1.0" ?>

<sdf version="1.6">
  <world name="profile_lidar">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <scene>
      <ambient>1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8</background>
      <grid>true</grid>
    </scene>

    <gui fullscreen="0">

      <!-- 3D scene -->
      <plugin filename="MinimalScene" name="3D View">
        <gz-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </gz-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>

      <!-- Plugins that add functionality to the scene -->
      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
        <gz-gui>
          <property key="state" type="string">floating</property>
          <property key="width" type="double">5</property>
          <property key="height" type="double">5</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin filename="GzSceneManager" name="Scene Manager">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property key="width" type="double">5</property>
          <property key="height" type="double">5</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin filename="InteractiveViewControl" name="Interactive view control">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property key="width" type="double">5</property>
          <property key="height" type="double">5</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin filename="CameraTracking" name="Camera Tracking">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property key="width" type="double">5</property>
          <property key="height" type="double">5</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <!-- World control -->
      <plugin filename="WorldControl" name="World control">
        <gz-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>
        </gz-gui>

        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>
        <use_event>true</use_event>

      </plugin>

      <!-- World statistics -->
      <plugin filename="WorldStats" name="World stats">
        <gz-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>
        </gz-gui>

        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
      </plugin>

      <!-- Inspector -->
      <plugin filename="ComponentInspector" name="Component inspector">
        <gz-gui>
          <property type="string" key="state">docked</property>
        </gz-gui>
      </plugin>

      <!-- Entity tree -->
      <plugin filename="EntityTree" name="Entity tree">
        <gz-gui>
          <property type="string" key="state">docked</property>
        </gz-gui>
      </plugin>
    </gui>

    <include>
      <uri>
      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot
      </uri>
    </include>

    <model name="lidar">
      <static>true</static>
      <pose>4 0 0.5 0 0.0 3.14</pose>
      <link name="link">
        <pose>0.05 0.05 0.05 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='gpu_lidar' type='gpu_lidar'>"
          <topic>lidar</topic>
          <update_rate>60</update_rate>
          <enable_metrics>true</enable_metrics>
          <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>
    </model>


    <model name="lidar2">
      <static>true</static>
      <pose>4 0 0.5 0 0.0 3.14</pose>
      <link name="link">
        <pose>0.05 0.05 0.05 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='gpu_lidar' type='gpu_lidar'>"
          <update_rate>60</update_rate>
          <enable_metrics>true</enable_metrics>
          <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>
          <topic>lidar2</topic>
        </sensor>
      </link>
    </model>

    <model name="lidar3">
      <static>true</static>
      <pose>4 0 0.5 0 0.0 3.14</pose>
      <link name="link">
        <pose>0.05 0.05 0.05 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='gpu_lidar' type='gpu_lidar'>"
          <update_rate>60</update_rate>
          <enable_metrics>true</enable_metrics>
          <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>
          <topic>lidar3</topic>
        </sensor>
      </link>
    </model>

    <model name="lidar4">
      <static>true</static>
      <pose>4 0 0.5 0 0.0 3.14</pose>
      <link name="link">
        <pose>0.05 0.05 0.05 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='gpu_lidar' type='gpu_lidar'>"
          <update_rate>60</update_rate>
          <enable_metrics>true</enable_metrics>
          <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>
          <topic>lidar4</topic>
        </sensor>
      </link>
    </model>

    <model name="lidar5">
      <static>true</static>
      <pose>4 0 0.5 0 0.0 3.14</pose>
      <link name="link">
        <pose>0.05 0.05 0.05 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='gpu_lidar' type='gpu_lidar'>"
          <update_rate>60</update_rate>
          <enable_metrics>true</enable_metrics>
          <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>
          <topic>lidar5</topic>
        </sensor>
      </link>
    </model>

  </world>
</sdf>