smallworld.world

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">

	<physics type="ode">
		<real_time_factor>1</real_time_factor>
		<real_time_update_rate>250</real_time_update_rate>
		<max_step_size>0.004</max_step_size>
		<ode>
			<solver>
				<iters>20</iters>
			</solver>
		</ode>
	</physics>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://smallworld</uri>
    </include>

    <!-- Pioneer2dx with camera and lidar -->
    <model name="pioneer2dx">

	  <pose>0 0 0 0 0 0</pose>
      <include>
        <uri>model://pioneer2dx</uri>
      </include>

      <include>
        <uri>model://hokuyo</uri>
        <pose>0.2 0 .38 0 0 0</pose>
      </include>

      <include>
        <uri>model://camera</uri>
        <pose>0.2 0 .3 0 0 0</pose>
      </include>

      <joint name="camera_joint" type="revolute">
        <parent>pioneer2dx::pioneer2dx::chassis</parent>
        <child>pioneer2dx::camera::link</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
        </axis>
      </joint>

      <joint name="laser_joint" type="revolute">
        <parent>pioneer2dx::pioneer2dx::chassis</parent>
        <child>pioneer2dx::hokuyo::link</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
        </axis>
      </joint>

    </model>

    <!-- Single marble -->
	<model name="marble">
	    <pose>5 0 0.5 0 0 0</pose>
		<include>
		  <static>true</static>
		  <uri>model://marble</uri>
		</include>
	</model>

	<scene>
		<grid>true</grid>
		<origin_visual>true</origin_visual>
  		<ambient>0.8 0.8 0.8 1.0</ambient>
		<shadows>true</shadows>
	</scene>

    <gui>
	  <camera name="user_camera">
	    <pose>0 0 20 0 1.57 1.57</pose>
	  </camera>
    </gui>
  </world>
</sdf>