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Signed-off-by: Louise Poubel <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,116 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- | ||
| Ignition Gazebo kinetic energy monitory plugin demo | ||
| Monitor output using: | ||
| ign topic -et "/model/sphere/kinetic_energy" | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="kinetic_energy_monitor"> | ||
|
|
||
| <physics name="1ms" type="ignored"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="ignition-gazebo-physics-system" | ||
| name="ignition::gazebo::systems::Physics"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-user-commands-system" | ||
| name="ignition::gazebo::systems::UserCommands"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-scene-broadcaster-system" | ||
| name="ignition::gazebo::systems::SceneBroadcaster"> | ||
| </plugin> | ||
|
|
||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0.5 0.5 0.5 1</specular> | ||
| <attenuation> | ||
| <range>1000</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
|
|
||
| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.8 0.8 0.8 1</ambient> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.8 0.8 0.8 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="sphere"> | ||
| <pose>0 0 5 0 0 0</pose> | ||
| <link name="sphere_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>3</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>3</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>3</izz> | ||
| </inertia> | ||
| <mass>3.0</mass> | ||
| </inertial> | ||
| <collision name="sphere_collision"> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.5</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="sphere_visual"> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.5</radius> | ||
| </sphere> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0 0 1 1</ambient> | ||
| <diffuse>0 0 1 1</diffuse> | ||
| <specular>0 0 1 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <plugin | ||
| filename="ignition-gazebo-kinetic-energy-monitor-system" | ||
| name="ignition::gazebo::systems::KineticEnergyMonitor"> | ||
| <link_name>sphere_link</link_name> | ||
| <kinetic_energy_threshold>100</kinetic_energy_threshold> | ||
| </plugin> | ||
|
|
||
| </model> | ||
|
|
||
| </world> | ||
| </sdf> | ||
|
|
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