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gps_test.world
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<sdf version="1.4">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane ->
<include>
<uri>model://ground_plane</uri>
</include>
<!- -->
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>37.4</latitude_deg>
<longitude_deg>-122.1</longitude_deg>
<elevation>0.0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name="pendulum_x">
<pose>0 0 5.0 0 0 0</pose>
<joint name="pin" type="revolute">
<pose>-10 0 0 0 0 0</pose>
<parent>world</parent>
<child>link_x</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<link name="link_x">
<pose>10.0 0 0 0 0 0</pose>
<collision name="collision_box">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</collision>
<visual name="visual_box">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</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>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>0.5</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>1.0</precision>
</noise>
</vertical>
</position_sensing>
<velocity_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.1</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.1</bias_stddev>
<precision>0.1</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.2</stddev>
<bias_mean>0.2</bias_mean>
<bias_stddev>0.2</bias_stddev>
<precision>0.2</precision>
</noise>
</vertical>
</velocity_sensing>
</gps>
</sensor>
</link>
</model>
<model name="pendulum_y">
<pose>0 0 3.0 0 0 0</pose>
<joint name="pin" type="revolute">
<pose>0 -8 0 0 0 0</pose>
<parent>world</parent>
<child>link_y</child>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<link name="link_y">
<pose>0 8.0 0 0 0 0</pose>
<collision name="collision_box">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</collision>
<visual name="visual_box">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</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>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>0.5</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>1.0</precision>
</noise>
</vertical>
</position_sensing>
<velocity_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.1</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.1</bias_stddev>
<precision>0.1</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.2</stddev>
<bias_mean>0.2</bias_mean>
<bias_stddev>0.2</bias_stddev>
<precision>0.2</precision>
</noise>
</vertical>
</velocity_sensing>
</gps>
</sensor>
</link>
</model>
</world>
</sdf>