57 lines
1.2 KiB
Plaintext
57 lines
1.2 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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<!-- Ground -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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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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<!-- Pioneer2dx model -->
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<model name="pioneer2dx">
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<include>
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<uri>model://pioneer2dx</uri>
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</include>
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<include>
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<uri>model://hokuyo</uri>
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<pose>0.2 0 .38 0 0 0</pose>
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</include>
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<include>
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<uri>model://camera</uri>
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<pose>0.2 0 .3 0 0 0</pose>
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</include>
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<joint name="camera_joint" type="revolute">
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<parent>pioneer2dx::pioneer2dx::chassis</parent>
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<child>pioneer2dx::camera::link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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</axis>
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</joint>
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<joint name="laser_joint" type="revolute">
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<parent>pioneer2dx::pioneer2dx::chassis</parent>
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<child>pioneer2dx::hokuyo::link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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</axis>
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</joint>
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</model>
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</world>
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</sdf>
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