test_world.world

<sdf version='1.4'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <physics type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <model name='House 3'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://house_3/meshes/house_3.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://house_3/meshes/house_3.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://house_3/materials/scripts</uri>
              <uri>model://house_3/materials/textures</uri>
              <uri>model://house_1/materials/textures</uri>
              <name>House_3/Diffuse</name>
            </script>
            <shader type='normal_map_object_space'>
              <normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
            </shader>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>-5 9 0 0 -0 0</pose>
    </model>
    <model name='House 2'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://house_2/meshes/house_2.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://house_2/meshes/house_2.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://house_2/materials/scripts</uri>
              <uri>model://house_2/materials/textures</uri>
              <uri>model://house_1/materials/textures</uri>
              <name>House_2/Diffuse</name>
            </script>
            <shader type='normal_map_object_space'>
              <normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
            </shader>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>2 10 0 0 -0 0</pose>
    </model>
    <model name='House 1'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://house_1/meshes/house_1.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://house_1/meshes/house_1.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://house_1/materials/scripts</uri>
              <uri>model://house_1/materials/textures</uri>
              <name>House_1/Diffuse</name>
            </script>
            <shader type='normal_map_object_space'>
              <normal_map>House_1_Normal.png</normal_map>
            </shader>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>-1 -0.46328 0 0 -0 0</pose>
    </model>
    <model name='jersey_barrier'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base'>
          <pose>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base2'>
          <pose>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base3'>
          <pose>0 0 0.2 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose>0 -0.224 0.2401 0.9 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose>0 0.224 0.2401 -0.9 0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>3 -3 0 0 -0 0</pose>
    </model>
    <model name='jersey_barrier_0'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base'>
          <pose>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base2'>
          <pose>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base3'>
          <pose>0 0 0.2 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose>0 -0.224 0.2401 0.9 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose>0 0.224 0.2401 -0.9 0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>7 -1 0 0 -0 0</pose>
    </model>
    <model name='grey_wall'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>8.55113 5 0 0 -0 0</pose>
    </model>
    <model name='nist_stairs_120'>
      <static>1</static>
      <link name='nist_stairs_120_link'>
        <pose>0 0 0 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://nist_stairs_120/meshes/nist_stairs_120.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://nist_stairs_120/meshes/nist_stairs_120.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>5 5 0 0 -0 0</pose>
    </model>
    <model name='nist_elevated_floor_120'>
      <static>1</static>
      <link name='nist_elevated_floor_120'>
        <pose>0 0 0 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://nist_elevated_floor_120/meshes/nist_elevated_floor_120.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>9 4 0 0 -0 0</pose>
    </model>
    <model name='nist_maze_wall_240'>
      <static>1</static>
      <link name='nist__maze_wall_240_link'>
        <pose>0 0 0 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://nist_maze_wall_240/meshes/nist_maze_wall_240.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://nist_maze_wall_240/meshes/nist_maze_wall_240.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>9 4 0 0 -0 0</pose>
    </model>
    <model name='nist'>
      <static>1</static>
      <link name='nist_maze_wall_triple_holes_120_link'>
        <pose>0 0 0 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>11 3 0 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>962 542000000</sim_time>
      <real_time>96 489511525</real_time>
      <wall_time>1508644775 842542495</wall_time>
      <model name='House 1'>
        <pose>-4.18156 -5.60557 0 0 -0 3.12318</pose>
        <link name='link'>
          <pose>-4.18156 -5.60557 0 0 -0 3.12318</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='House 2'>
        <pose>2 10 0 0 -0 0</pose>
        <link name='link'>
          <pose>2 10 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='House 3'>
        <pose>-5 9 0 0 -0 0</pose>
        <link name='link'>
          <pose>-5 9 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='grey_wall'>
        <pose>10.402 7.71769 0 0 -0 0</pose>
        <link name='link'>
          <pose>10.402 7.71769 1.4 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='grey_wall_0'>
        <pose>0.032158 -1.42528 0.117142 -1.6033 0 0</pose>
        <link name='link'>
          <pose>0.032158 -0.026021 0.071645 -1.6033 0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='jersey_barrier'>
        <pose>3 -3 0 0 -0 0</pose>
        <link name='link'>
          <pose>3 -3 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='jersey_barrier_0'>
        <pose>6 -1 0 0 -0 1.6</pose>
        <link name='link'>
          <pose>6 -1 0 0 -0 1.6</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='nist'>
        <pose>9.02578 4.02961 1.2 0 -0 1.6</pose>
        <link name='nist_maze_wall_triple_holes_120_link'>
          <pose>9.02578 4.02961 1.2 0 -0 1.6</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='nist_elevated_floor_120'>
        <pose>9 4 0 0 -0 0</pose>
        <link name='nist_elevated_floor_120'>
          <pose>9 4 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='nist_maze_wall_240'>
        <pose>9 4 0 0 -0 0</pose>
        <link name='nist__maze_wall_240_link'>
          <pose>9 4 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='nist_stairs_120'>
        <pose>9.01164 2.82223 0 0 -0 0</pose>
        <link name='nist_stairs_120_link'>
          <pose>9.01164 2.82223 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='quadrotor'>
        <pose>-0.018581 -0.086244 0.113615 -0.03247 0.00144 0.046367</pose>
        <link name='base_link'>
          <pose>-0.018581 -0.086244 0.113615 -0.03247 0.00144 0.046367</pose>
          <velocity>-0.003134 -0.001169 -0.007061 0.027049 -0.07352 0.001225</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>0.453079 -6.86363 10.3539 0.010449 1.10651 1.0079</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='quadrotor'>
      <link name='base_link'>
        <pose>0 0 0 0 -0 0</pose>
        <inertial>
          <pose>0.00254 0 7.33333e-05 0 -0 0</pose>
          <mass>1.5</mass>
          <inertia>
            <ixx>0.0137211</ixx>
            <ixy>0</ixy>
            <ixz>-2.28206e-05</ixz>
            <iyy>0.0144665</iyy>
            <iyz>0</iyz>
            <izz>0.0247454</izz>
          </inertia>
        </inertial>
        <collision name='base_link_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/rsa/workspace/src/tum_simulator/cvg_sim_gazebo/meshes/quadrotor/quadrotor_4.stl</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_ardrone_base_bottomcam'>
          <pose>0.15 0 0 -3.14159 4.89657e-12 -1.5708</pose>
          <geometry>
            <box>
              <size>0.001 0.001 0.001</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_ardrone_base_frontcam'>
          <pose>0.21 0 0.01 -1.5708 -5.55112e-17 -1.5708</pose>
          <geometry>
            <box>
              <size>0.001 0.001 0.001</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_bottom_link'>
          <pose>0.15 0 0 3.14159 1.57079 3.14159</pose>
          <geometry>
            <box>
              <size>0.01 0.01 0.01</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_front_link'>
          <pose>0.21 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.01 0.01 0.01</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_sonar_link'>
          <pose>-0.15 0 0 3.14159 1.57079 3.14159</pose>
          <geometry>
            <box>
              <size>0.01 0.01 0.01</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='base_link_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/rsa/workspace/src/tum_simulator/cvg_sim_gazebo/meshes/quadrotor/quadrotor_4.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_link_visual_ardrone_base_bottomcam'>
          <pose>0.15 0 0 -3.14159 4.89657e-12 -1.5708</pose>
          <geometry>
            <box>
              <size>0.001 0.001 0.001</size>
            </box>
          </geometry>
        </visual>
        <visual name='base_link_visual_ardrone_base_frontcam'>
          <pose>0.21 0 0.01 -1.5708 -5.55112e-17 -1.5708</pose>
          <geometry>
            <box>
              <size>0.001 0.001 0.001</size>
            </box>
          </geometry>
        </visual>
        <visual name='base_link_visual_bottom_link'>
          <pose>0.15 0 0 3.14159 1.57079 3.14159</pose>
          <geometry>
            <box>
              <size>0.01 0.01 0.01</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <visual name='base_link_visual_front_link'>
          <pose>0.21 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.01 0.01 0.01</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <visual name='base_link_visual_sonar_link'>
          <pose>-0.15 0 0 3.14159 1.57079 3.14159</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/home/rsa/workspace/src/tum_simulator/cvg_sim_gazebo/meshes/sonar_sensor/max_sonar_ez4.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <sensor name='bottom_camera_sensor' type='camera'>
          <update_rate>60</update_rate>
          <camera name='head'>
            <horizontal_fov>1.41372</horizontal_fov>
            <image>
              <width>640</width>
              <height>360</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.01</near>
              <far>100</far>
            </clip>
          </camera>
          <plugin name='bottom_camera_controller' filename='libgazebo_ros_camera.so'>
            <cameraName>/ardrone/bottom</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>60</updateRate>
            <imageTopicName>/ardrone/bottom/image_raw</imageTopicName>
            <cameraInfoTopicName>/ardrone/bottom/camera_info</cameraInfoTopicName>
            <frameName>ardrone_base_bottomcam</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose>0.15 0 0 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <sensor name='front_camera_sensor' type='camera'>
          <update_rate>60</update_rate>
          <camera name='head'>
            <horizontal_fov>1.41372</horizontal_fov>
            <image>
              <width>640</width>
              <height>360</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.01</near>
              <far>100</far>
            </clip>
          </camera>
          <plugin name='front_camera_controller' filename='libgazebo_ros_camera.so'>
            <cameraName>/ardrone/front</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>60</updateRate>
            <imageTopicName>/ardrone/front/image_raw</imageTopicName>
            <cameraInfoTopicName>/ardrone/front/camera_info</cameraInfoTopicName>
            <frameName>ardrone_base_frontcam</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose>0.21 0 0.01 0 -0 0</pose>
        </sensor>
        <gravity>1</gravity>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <sensor name='sonar' type='ray'>
          <update_rate>10</update_rate>
          <ray>
            <range>
              <min>0.01</min>
              <max>3</max>
              <resolution>0.01</resolution>
            </range>
            <scan>
              <horizontal>
                <samples>3</samples>
                <min_angle>-0.349066</min_angle>
                <max_angle>0.349066</max_angle>
                <resolution>1</resolution>
              </horizontal>
              <vertical>
                <samples>3</samples>
                <min_angle>-0.349066</min_angle>
                <max_angle>0.349066</max_angle>
              </vertical>
            </scan>
          </ray>
          <plugin name='gazebo_ros_sonar_controller' filename='libhector_gazebo_ros_sonar.so'>
            <gaussianNoise>0.000</gaussianNoise>
            <topicName>sonar_height</topicName>
            <frameId>sonar_link</frameId>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose>-0.15 0 0 3.14159 1.57079 3.14159</pose>
        </sensor>
        <kinematic>0</kinematic>
      </link>
      <plugin name='quadrotor_imu_sim' filename='libhector_gazebo_ros_imu.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>base_link</bodyName>
        <frameId>ardrone_base_link</frameId>
        <topicName>/ardrone/imu</topicName>
        <rpyOffsets>0 0 0</rpyOffsets>
        <gaussianNoise>0</gaussianNoise>
        <accelDrift>0.5 0.5 0.5</accelDrift>
        <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
        <rateDrift>0.0 0.0 0.0</rateDrift>
        <rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
        <headingDrift>0.0</headingDrift>
        <headingGaussianNoise>0.00</headingGaussianNoise>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <plugin name='quadrotor_baro_sim' filename='libhector_gazebo_ros_baro.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>10.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>pressure_height</topicName>
        <altimeterTopicName>altimeter</altimeterTopicName>
        <offset>0</offset>
        <drift>0.1</drift>
        <gaussianNoise>0.5</gaussianNoise>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <plugin name='quadrotor_magnetic_sim' filename='libhector_gazebo_ros_magnetic.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>10.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>magnetic</topicName>
        <offset>0 0 0</offset>
        <drift>0.0 0.0 0.0</drift>
        <gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <plugin name='quadrotor_gps_sim' filename='libhector_gazebo_ros_gps.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>4.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>fix</topicName>
        <velocityTopicName>fix_velocity</velocityTopicName>
        <drift>5.0 5.0 5.0</drift>
        <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
        <velocityDrift>0 0 0</velocityDrift>
        <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <plugin name='quadrotor_groundtruth_sim' filename='libgazebo_ros_p3d.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>ground_truth/state</topicName>
        <gaussianNoise>0.0</gaussianNoise>
        <frameName>map</frameName>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <static>0</static>
      <plugin name='quadrotor_simple_controller' filename='libhector_gazebo_quadrotor_simple_controller.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <bodyName>base_link</bodyName>
        <stateTopic>ground_truth/state</stateTopic>
        <imuTopic>ardrone/imu</imuTopic>
        <topicName>cmd_vel</topicName>
        <rollpitchProportionalGain>10.0</rollpitchProportionalGain>
        <rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
        <rollpitchLimit>0.5</rollpitchLimit>
        <yawProportionalGain>2.0</yawProportionalGain>
        <yawDifferentialGain>1.0</yawDifferentialGain>
        <yawLimit>1.5</yawLimit>
        <velocityXYProportionalGain>5.0</velocityXYProportionalGain>
        <velocityXYDifferentialGain>1.0</velocityXYDifferentialGain>
        <velocityXYLimit>2</velocityXYLimit>
        <velocityZProportionalGain>5.0</velocityZProportionalGain>
        <velocityZDifferentialGain>1.0</velocityZDifferentialGain>
        <velocityZLimit>0.5</velocityZLimit>
        <maxForce>30</maxForce>
        <motionSmallNoise>0.05</motionSmallNoise>
        <motionDriftNoise>0.03</motionDriftNoise>
        <motionDriftNoiseTime>5.0</motionDriftNoiseTime>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <plugin name='quadrotor_state_controller' filename='libhector_gazebo_quadrotor_state_controller.so'>
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <bodyName>base_link</bodyName>
        <stateTopic>ground_truth/state</stateTopic>
        <imuTopic>ardrone/imu</imuTopic>
        <sonarTopic>sonar_height</sonarTopic>
        <topicName>cmd_vel</topicName>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose>0 0 0.5 0 -0 0</pose>
    </model>
    <model name='grey_wall_0'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0 0.5</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>0.5 0 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>4 0 0 0 -0 0</pose>
    </model>
  </world>
</sdf>