forked from xtdrone/XTDrone
111 lines
3.2 KiB
XML
111 lines
3.2 KiB
XML
<?xml version="1.0" ?>
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<!-- Macro to insert the sandisland into the world -->
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<world xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="sandisland">
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<scene>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<grid>0</grid>
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<origin_visual>0</origin_visual>
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</scene>
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<!-- Estimated latitude/longitude of sandisland from satellite imagery -->
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<world_frame_orientation>ENU</world_frame_orientation>
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<latitude_deg>21.30996</latitude_deg>
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<longitude_deg>-157.8901</longitude_deg>
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<elevation>0.0</elevation>
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<!-- For legacy gazebo reasons, need to rotate -->
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<!--<heading_deg>180</heading_deg>-->
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</spherical_coordinates>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>175.544 123.61 4.70958 0 0.168 -2.40718</pose>
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<view_controller>orbit</view_controller>
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</camera>
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<!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
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</gui>
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<include>
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<!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
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to go into the model file to change the altitutde/height!-->
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<pose> 0 0 0 0 0 0 </pose>
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<uri>model://sandisland</uri>
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</include>
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<!-- The posts for securing the WAM-V -->
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<include>
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<name>post_0</name>
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<pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
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<uri>model://post</uri>
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</include>
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<include>
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<name>post_1</name>
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<pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
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<uri>model://post</uri>
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</include>
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<include>
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<name>post_2</name>
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<pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
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<uri>model://post</uri>
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</include>
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<!-- Antenna for communication with the WAM-V -->
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<include>
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<pose>175.69 114.29 1.37 0 0 2.00</pose>
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<uri>model://antenna</uri>
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</include>
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<!-- ground station tents -->
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<include>
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<name>ground_station_0</name>
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<pose>177.61 117.20 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_1</name>
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<pose>179.16 113.73 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_2</name>
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<pose>180.61 110.31 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_3</name>
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<pose>182.05 106.83 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_4</name>
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<pose>183.71 103.14 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_5</name>
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<pose>185.28 99.51 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_6</name>
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<pose>186.80 96.02 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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<include>
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<name>ground_station_7</name>
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<pose>188.17 92.45 1.55 0 0 3.54</pose>
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<uri>model://ground_station</uri>
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</include>
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</xacro:macro>
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</world>
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