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gpu_lidar_sensor.sdf
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gpu_lidar_sensor.sdf
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<?xml version="1.0" ?>
<!--
You can echo lidar messages using:
ign topic -e -t /lidar
-->
<sdf version="1.6">
<world name="gpu_lidar_sensor">
<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
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>
<service>/world/gpu_lidar_sensor/control</service>
<stats_topic>/world/gpu_lidar_sensor/stats</stats_topic>
</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>
<topic>/world/gpu_lidar_sensor/stats</topic>
</plugin>
</gui>
<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>
</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="model_with_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>
<lidar>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-1.396263</min_angle>
<max_angle>1.396263</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<resolution>1</resolution>
<min_angle>-0.261799</min_angle>
<max_angle>0.261799</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
</lidar>
<alwaysOn>1</alwaysOn>
<visualize>true</visualize>
</sensor>
</link>
<static>true</static>
</model>
<include>
<pose>0 0 0 0 0 1.57</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Playground
</uri>
</include>
</world>
</sdf>