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plugin.world
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<gazebo version="1.0">
<world name="world_1">
<scene>
<ambient rgba="0.5 0.5 0.5 1.0"/>
<background rgba="0.5 0.5 0.5 1.0">
<sky material="Gazebo/Sky"/>
</background>
<shadows enabled="true" rgba="0.0 0.0 0.5 0.5" type="texture_gpu"/>
<fog rgba="0.0 0.0 0.5 0.5" type="linear" start="2.0" end="10.0" density="0.5"/>
</scene>
<physics type="ode">
<ode>
<max_contacts>250</max_contacts>
<solver type="quick" dt="0.001" iters="20" sor="1.3"/>
<constraints cfm="0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.0"/>
</ode>
<gravity xyz="0.0 0.0 -9.81"/>
</physics>
<model name="model_1" static="false">
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<inertial mass="10.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<damping linear="0.0" angular="0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0"/>
</inertial>
<visual cast_shadows="true" name="visual_box" laser_retro="100.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<geometry>
<box size="1.0 1.0 2.0"/>
</geometry>
<material script="Gazebo/Green" normal_map="normal_map.png">
<color rgba="0.03 0.5 0.5 1.0"/>
</material>
</visual>
<collision name="collision_box" laser_retro="100.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<max_contacts>250</max_contacts>
<geometry>
<box size="1.0 1.0 2.0"/>
</geometry>
<surface>
<friction>
<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
</friction>
<bounce restitution_coefficient="0" threshold="1000000.0"/>
<contact>
<ode soft_cfm="0" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
</contact>
</surface>
</collision>
<sensor name="sensor_camera" always_on="true" update_rate="2.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<camera>
<horizontal_fov angle="1.57"/>
<image width="2560" height="1600" format="BAYER_BGGR8"/>
<clip near="0.01" far="100.0"/>
<save enable="false" path="/tmp"/>
</camera>
</sensor>
<sensor name="sensor_ray" always_on="true" update_rate="2.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<ray>
<scan display="true">
<horizontal samples="500" resolution="1.0" min_angle="-1.57" max_angle="1.57" />
<vertical samples="300" resolution="1.0" min_angle="-1.57" max_angle="1.57" />
</scan>
<range min="0.01" max="30.0"/>
</ray>
</sensor>
<sensor name="sensor_contact" always_on="true" update_rate="2.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<collision name="collision_box"/> <!-- necessary because there might be multiple collisions -->
</sensor>
</link>
</model>
<plugin name="plugin_1" filename="libgazebo_ros_camera.so">
<data name="sensor" value="model_1::sensor_camera" />
<data name="alwaysOn" value="true" />
<data name="updateRate" value="25.0" />
<data name="imageTopicName" value="narrow_stereo/left/image_raw" />
<data name="cameraInfoTopicName" value="narrow_stereo/left/camera_info" />
<data name="frameName" value="narrow_stereo_optical_frame" />
<data name="hackBaseline" value="0" />
<data name="CxPrime" value="320.5" />
<data name="Cx" value="320.5" />
<data name="Cy" value="240.5" />
<!-- image_width / (2*tan(hfov_radian /2)) -->
<!-- 320 for wide and 772.55 for narrow stereo camera -->
<data name="focal_length" value="772.55" />
<data name="distortion_k1" value="0.0" />
<data name="distortion_k2" value="0.0" />
<data name="distortion_k3" value="0.0" />
<data name="distortion_t1" value="0.0" />
<data name="distortion_t2" value="0.0" />
</plugin>
<plugin name="plugin_2" filename="libgazebo_ros_laser.so">
<data name="sensor" value="model_1::sensor_ray" />
<data name="gaussianNoise" value="0.005" />
<data name="alwaysOn" value="true" />
<data name="updateRate" value="20" />
<data name="topicName" value="base_scan" />
<data name="frameName" value="base_laser_link" />
</plugin>
<plugin name="plugin_3" filename="libgazebo_ros_bumper.so">
<data name="sensor" value="model_1::sensor_contact" />
<data name="alwaysOn" value="true" />
<data name="updateRate" value="100.0" />
<data name="frameName" value="r_gripper_palm_link" />
<data name="bumperTopicName" value="r_gripper_palm_bumper" />
</plugin>
</world>
</gazebo>