gpu_laser_heightmap.world

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <model name="gpu_laser">
      <static>true</static>
      <pose>0 0 0.035 0 0 0</pose>
      <link name="link_1">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>model://hokuyo/meshes/hokuyo.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name="collision-base">
          <pose>0 0 -0.0145 0 0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.041</size>
            </box>
          </geometry>
        </collision>
        <collision name="collision-top">
          <pose>0 0 0.0205 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.021</radius>
              <length>0.029</length>
            </cylinder>
          </geometry>
        </collision>
        <sensor name="gpu_laser_sensor" type="gpu_ray">
          <pose>0.1 0 0.0175 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-1.396263</min_angle>
                <max_angle>1.396263</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <resolution>0.5</resolution>
                <min_angle>-0.7554</min_angle>
                <max_angle>0.7554</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10.0</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>

    <model name="heightmap">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <heightmap>
              <uri>file://media/materials/textures/heightmap_bowl.png</uri>
              <size>129 129 10</size>
              <pos>0 0 -6</pos>
            </heightmap>
          </geometry>
        </collision>

        <visual name="visual_abcedf">
          <geometry>
            <heightmap>
              <use_terrain_paging>false</use_terrain_paging>
              <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/materials/textures/heightmap_bowl.png</uri>
              <size>129 129 10</size>
              <pos>0 0 -6</pos>
            </heightmap>
          </geometry>
        </visual>

      </link>
    </model>

  </world>
</sdf>