forked from xtdrone/XTDrone
57 lines
1.6 KiB
XML
57 lines
1.6 KiB
XML
<?xml version="1.0" ?>
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<!--
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Copyright (C) 2019 Rhys Mainwaring
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
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<world name="ocean_world">
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<!-- GUI -->
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<gui>
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<plugin name="keyboard_gui_plugin" filename="libKeyboardGUIPlugin.so"/>
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<camera name='user_camera'>
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<pose frame=''>73.3604 -0.353679 10.7644 0 0.271643 3.09219</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<!-- Scene -->
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<scene>
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<sky>
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<time>10</time>
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<sunrise>6</sunrise>
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<sunset>18</sunset>
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<clouds>
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<speed>12</speed>
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<direction>1.57079</direction>
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</clouds>
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</sky>
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<grid>false</grid>
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<origin_visual>false</origin_visual>
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</scene>
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<!-- Lights -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- World models -->
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<xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
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<xacro:ocean_waves gain="0.6"/>
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</world>
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</sdf>
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