53 lines
1.3 KiB
Plaintext
53 lines
1.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="box">
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<pose>0 2 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sonar_model">
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<pose>0 0 -0.8 0 0 0</pose>
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<static>false</static>
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<link name="link">
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<pose>0 0 1.5 0 0 0</pose>
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<gravity>false</gravity>
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<sensor name="sonar" type="sonar">
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<pose>0 0 0 0 -1.5707 1.5707</pose>
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<sonar>
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<min>0</min>
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<max>2.00</max>
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<radius>0.3</radius>
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</sonar>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>
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