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gazebo / worlds / simplecar.world

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<?xml version="1.0"?>

<gazebo:world 
  xmlns:xi="http://www.w3.org/2001/XInclude"
  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" 
  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" 
  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 
  xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window" 
  xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param" 
  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" 
  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" 
  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" 
  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 
  xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
  xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" 
  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >

  <verbosity>5</verbosity>

  <physics:ode>
    <stepTime>0.03</stepTime>
    <gravity>0 0 -9.8</gravity>
    <cfm>10e-5</cfm>
    <erp>0.8</erp>
  </physics:ode>

  <rendering:gui>
    <type>fltk</type>
    <size>640 480</size>
    <pos>0 0</pos>
  </rendering:gui>

  <rendering:ogre>
    <ambient>0.4 0.4 0.4 1.0</ambient>
    <sky>
      <material>Gazebo/CloudySky</material>
    </sky>
    </rendering:ogre>

   <!-- Ground Plane -->
  <model:physical name="plane1_model">
    <xyz>0 0 0</xyz>
    <rpy>0 0 0</rpy>
    <static>true</static>

    <body:plane name="plane1_body">
      <geom:plane name="plane1_geom">
        <normal>0 0 1</normal>
        <size>2000 2000</size>
        <segments>10 10</segments>
        <uvTile>100 100</uvTile>
        <material>Gazebo/GrassFloor</material>
      </geom:plane>
    </body:plane>
  </model:physical>

  <!-- The camera -->
  <model:physical name="cam1_model">
    <xyz>0.07 -1.10 0.5</xyz>
    <rpy>0 -19 -134</rpy>
    <static>true</static>

    <body:empty name="cam1_body">
      <sensor:camera name="cam1_sensor">
        <imageSize>640 480</imageSize>
        <hfov>60</hfov>
        <nearClip>0.1</nearClip>
        <farClip>100</farClip>
      </sensor:camera>
    </body:empty>
  </model:physical>

  <model:physical name="simpleCar_model">
    <xyz>0 0 0.145</xyz>
    <rpy>0.0 0.0 0.0</rpy>

  <controller:steering_position2d name="a car">
    <wheel>
       <joint>left_front_wheel_hinge</joint>
       <type>steer</type>
       <torque>1000</torque>
        <steerTorque>1000</steerTorque>
    </wheel>
    <wheel>
       <joint>right_front_wheel_hinge</joint>
       <type>steer</type>
       <torque>1000</torque>
        <steerTorque>1000</steerTorque>
    </wheel>
    <wheel>
      <joint>left_rear_wheel_hinge</joint>
       <type>drive</type>
       <torque>1000</torque>
    </wheel>
    <wheel>
      <joint>right_rear_wheel_hinge</joint>
       <type>drive</type>
       <torque>1000</torque>
    </wheel>
    <steerPD>10 0</steerPD>
    <steerMaxAngle>50</steerMaxAngle>
    <interface:position name="position_iface_0"/>
  </controller:steering_position2d>

    <!-- 
    The include should be last within a model. All previous statements
    will override those in the included file 
    -->
    <include embedded="true">
      <xi:include href="models/simplecar.model" />
    </include>
  </model:physical>

  <!-- White Directional light -->
  <model:renderable name="directional_white">
    <light>
      <type>directional</type>
      <direction>0 -0.8 -0.3</direction>
      <diffuseColor>0.9 0.9 0.9</diffuseColor>
      <specularColor>0.0 0.0 0.0</specularColor>
      <attenuation>100 0.0 1.0 0.4</attenuation>
    </light>
  </model:renderable>

</gazebo:world>