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dem_gps.world
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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<model name="box1">
<pose>-64 64 0.1 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry> <box> <size>1 1 1</size> </box> </geometry>
</collision>
<visual name="visual">
<geometry> <box> <size>1 1 1</size> </box> </geometry>
</visual>
<sensor name="gps" type="gps">
<pose>0 0 0 0 0 0</pose>
<update_rate>10.0</update_rate>
<always_on>true</always_on>
<gps>
<position_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0</stddev>
<bias_mean>0</bias_mean>
<bias_stddev>0</bias_stddev>
<precision>0.5</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0</stddev>
<bias_mean>0</bias_mean>
<bias_stddev>0</bias_stddev>
<precision>1.0</precision>
</noise>
</vertical>
</position_sensing>
<velocity_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0</stddev>
<bias_mean>0</bias_mean>
<bias_stddev>0</bias_stddev>
<precision>0.1</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0</stddev>
<bias_mean>0</bias_mean>
<bias_stddev>0</bias_stddev>
<precision>0.2</precision>
</noise>
</vertical>
</velocity_sensing>
</gps>
</sensor>
</link>
</model>
<model name="heightmap">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<heightmap>
<uri>file://media/dem/volcano.tif</uri>
<size>129 129 0.1</size>
<pos>0 0 0</pos>
</heightmap>
</geometry>
</collision>
<visual name="visual_abcedf">
<geometry>
<heightmap>
<texture>
<diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>1</size>
</texture>
<texture>
<diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>1</size>
</texture>
<texture>
<diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>1</size>
</texture>
<blend>
<min_height>2</min_height>
<fade_dist>5</fade_dist>
</blend>
<blend>
<min_height>4</min_height>
<fade_dist>5</fade_dist>
</blend>
<uri>file://media/dem/volcano.tif</uri>
<size>129 129 0.1</size>
<pos>0 0 0</pos>
</heightmap>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>