Created
January 13, 2024 00:18
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<?xml version="1.0" ?> | |
<sdf version="1.6"> | |
<world name="lidar_profile"> | |
<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> | |
<light type="directional" name="sun"> | |
<cast_shadows>true</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>true</static> | |
<link name="link"> | |
<collision name="collision"> | |
<geometry> | |
<!--plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane--> | |
<box> | |
<size>20 20 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<!--plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane--> | |
<box> | |
<size>20 20 0.1</size> | |
</box> | |
</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> | |
<model name="box"> | |
<pose>0 -1 0.5 0 0 0</pose> | |
<link name="box_link"> | |
<inertial> | |
<inertia> | |
<ixx>1</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>1</iyy> | |
<iyz>0</iyz> | |
<izz>1</izz> | |
</inertia> | |
<mass>1.0</mass> | |
</inertial> | |
<collision name="box_collision"> | |
<geometry> | |
<box> | |
<size>1 1 1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="box_visual"> | |
<geometry> | |
<box> | |
<size>1 1 1</size> | |
</box> | |
</geometry> | |
<material> | |
<ambient>1 0 0 1</ambient> | |
<diffuse>1 0 0 1</diffuse> | |
<specular>1 0 0 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
<model name="lidar"> | |
<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> | |
<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='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> | |
<visualize>true</visualize> | |
</sensor> | |
</link> | |
<static>true</static> | |
</model> | |
</world> | |
</sdf> |
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