89 lines
2.4 KiB
XML
89 lines
2.4 KiB
XML
<?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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<!-- Wireless transmitter sensor model -->
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<model name="wirelessTransmitter">
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<static>true</static>
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<pose>0 0 0.025 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="base">
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<geometry>
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<box>
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<size>.05 .05 .05</size>
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</box>
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</geometry>
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</visual>
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<visual name="antenna">
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<pose>0 0 .04 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>.005</radius>
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<length>.07</length>
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</cylinder>
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</geometry>
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</visual>
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<sensor name="wirelessTransmitter" type="wireless_transmitter">
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<visualize>true</visualize>
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<transceiver>
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<essid>osrf</essid>
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<frequency>2442.0</frequency>
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<power>14.5</power>
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<gain>2.6</gain>
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</transceiver>
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</sensor>
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</link>
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</model>
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<!-- Wireless receiver sensor model -->
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<model name="wirelessReceiver">
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<static>true</static>
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<pose>0 -3 0.025 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="base">
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<geometry>
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<box>
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<size>.05 .05 .05</size>
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</box>
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</geometry>
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</visual>
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<visual name="antenna">
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<pose>0 0 .04 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>.005</radius>
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<length>.07</length>
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</cylinder>
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</geometry>
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</visual>
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<sensor name="wirelessReceiver" type="wireless_receiver">
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<visualize>true</visualize>
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<transceiver>
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<min_frequency>2412.0</min_frequency>
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<max_frequency>2484.0</max_frequency>
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<power>14.5</power>
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<gain>2.5</gain>
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<sensitivity>-90.0</sensitivity>
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</transceiver>
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</sensor>
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</link>
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</model>
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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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</world>
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</sdf>
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