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Gazebo Map w/ Drone (Dependency)
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@r3xley
r3xley committed Jul 23, 2024
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<?xml version="1.0" ?>
<sdf version="1.11">
<!--
Try moving a model using the command in the following CDATA block::
-->
<![CDATA[
gz service -s /world/shapes/set_pose \
--reqtype gz.msgs.Pose --reptype gz.msgs.Boolean \
--timeout 300 --req 'name: "box", position: {z: 5.0}'
]]>
<world name="dron">
<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 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>
<size>100 100</size>
</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='drone'>
<pose>0 0 0.5 1.5707963267948966 0 0</pose>

<link name='body'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>1.32741228718348</mass>
<inertia>
<ixx>86.28907821859966</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>86.28907821859966</iyy>
<iyz>0</iyz>
<izz>5.026548245743671</izz>
</inertia>
</inertial>

<!-- Body as a simple cylinder -->
<visual name='body_visual'>
<geometry>
<cylinder>
<radius>0.2</radius>
<length>1.5</length>
</cylinder>
</geometry>
</visual>
<collision name='body_collision'>
<geometry>
<cylinder>
<radius>0.2</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
</link>

<link name='propeller'>
<pose>0 0 0.65 3.14159 0 0</pose>
<inertial>
<mass>1.820000000000004</mass>
<inertia>
<ixx>0.45999415237916674</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.45999415237916674</iyy>
<iyz>0</iyz>
<izz>0.9091666666666668</izz>
</inertia>
</inertial>

<!-- Propeller as a simple box with multiple blades -->
<visual name="propeller_visual">
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</visual>
<collision name="propeller_collision">
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>

<!-- Blade arrangements simplified -->
<visual name="blade1_visual">
<pose>0.3 0 0 -0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</visual>
<collision name="blade1_collision">
<pose>0.3 0 0 -0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>

<!-- Other blades as simple boxes -->
<visual name="blade2_visual">
<pose>0 -0.3 0 0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</visual>
<collision name="blade2_collision">
<pose>0 -0.3 0 0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>

<visual name="blade3_visual">
<pose>-0.3 0 0 0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>

</box>
</geometry>
</visual>
<collision name="blade3_collision">
<pose>-0.3 0 0 0.7853981633974483 0 0.0</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>

<visual name="blade4_visual">
<pose>0 -0.3 0 0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</visual>
<collision name="blade4_collision">
<pose>0 -0.3 0 0.7853981633974483 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.2 0.05455</size>
</box>
</geometry>
</collision>
</link>

<joint name='propeller_joint' type='revolute'>
<parent>body</parent>
<child>propeller</child>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
</axis>
</joint>

</model>


</world>
</sdf>

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