forest.world

<?xml version="1.0" ?>
<?xml-model href="http://sdformat.org/schemas/root.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<sdf version="1.5">
  <world name="default">
    <!-- <plugin name="mrs_gazebo_link_attacher_plugin" filename="libMRSGazeboLinkAttacherPlugin.so"/> -->
    <plugin name="mrs_gazebo_static_transform_republisher_plugin" filename="libMrsGazeboCommonResources_StaticTransformRepublisher.so"/>

    <!-- coordinate system {-->
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>47.397743</latitude_deg>
      <longitude_deg>8.545594</longitude_deg>
      <elevation>0.0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <!--}-->

    <physics name="default_physics" default="0" type="ode">
      <gravity>0 0 -9.8066</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>50</iters>
          <sor>1.0</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>1000</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.004</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>250</real_time_update_rate>
      <magnetic_field>6.0e-06 2.3e-05 -4.2e-05</magnetic_field>
    </physics>

    <scene>
      <shadows>false</shadows>
      <!-- <sky> -->
      <!--   <clouds/> -->
      <!-- </sky> -->
    </scene>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>250 250 600 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 0 -1</direction>
    </light>

    <!-- Trees {-->
    <model name='tree_simple499'>
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      <link name='link'>
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        <collision name='collision_trunk'>
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            </cylinder>
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          <material>
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              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
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        </visual>
        <visual name='treetop'>
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              <uri>model://tree_simple/materials/textures</uri>
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        <kinematic>0</kinematic>
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              <length>4</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Trunk</name>
            </script>
          </material>
        </visual>
        <visual name='treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Treetop</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-4.53333118385 -42.8142187994 0 0 -0 0</pose>
    </model>

    <model name='tree_simple3'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <collision name='collision_trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='collision_treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name='trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Trunk</name>
            </script>
          </material>
        </visual>
        <visual name='treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Treetop</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>24.571631205 -21.3215863424 0 0 -0 0</pose>
    </model>

    <model name='tree_simple2'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <collision name='collision_trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='collision_treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name='trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Trunk</name>
            </script>
          </material>
        </visual>
        <visual name='treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Treetop</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-2.32374702534 -5.59991455471 0 0 -0 0</pose>
    </model>

    <model name='tree_simple1'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <collision name='collision_trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='collision_treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name='trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Trunk</name>
            </script>
          </material>
        </visual>
        <visual name='treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Treetop</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>35.5272832609 -30.417089687 0 0 -0 0</pose>
    </model>

    <model name='tree_simple0'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <collision name='collision_trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='collision_treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name='trunk'>
          <pose frame=''>0 0 2 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>4</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Trunk</name>
            </script>
          </material>
        </visual>
        <visual name='treetop'>
          <pose frame=''>0 0 5.2 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>model://tree_simple/scripts</uri>
              <uri>model://tree_simple/materials/textures</uri>
              <name>TreeSimple/Treetop</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-21.3714553001 -31.0269025129 0 0 -0 0</pose>
    </model>
    <!--}-->

<model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>250 250</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="grass">
          <pose>0 0 0 0 0 0</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>150 250</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/Gazebo.material</uri>
              <name>Gazebo/Grass</name>
            </script>
          </material>
        </visual> 
      </link>
    </model>
    <gui>
      <camera name="camera">
        <pose>-60 -100 30 0 0.4 0.89</pose>
      </camera>
    </gui>

    <!-- GUI frame synchronization {-->
    <plugin name="mrs_gazebo_rviz_cam_synchronizer" filename="libMrsGazeboCommonResources_RvizCameraSynchronizer.so" >
      <target_frame_id>gazebo_user_camera</target_frame_id>
      <world_origin_frame_id>uav1/gps_origin</world_origin_frame_id>
      <frame_to_follow>uav1::base_link</frame_to_follow>
    </plugin>
    <!--}-->
 
  </world>
</sdf>