add sdf world file to spwan robot in Sonoma Raceway

Author: star

nav2_gps_waypoint_follower_demo/worlds/sonoma_world.sdf

@@ -0,0 +1,88 @@
+<sdf version='1.7'>
+  <world name='my_world'>
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+        filename="gz-sim-navsat-system"
+        name="gz::sim::systems::NavSat">
+    </plugin>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</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>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
+      (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
+      therefore we rotate the default frame 180 so that it would go back to ENU 
+      see: https://github.com/osrf/gazebo/issues/2022 --> 
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>38.161479</latitude_deg>
+      <longitude_deg>-122.454630</longitude_deg>
+      <elevation>488.0</elevation>
+      <!-- <heading_deg>180</heading_deg> -->
+    </spherical_coordinates>
+    <include>
+        <pose>-287.5 143.5 -7 0 0 0</pose>
+        <uri>
+          https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sonoma Raceway
+        </uri>
+    </include>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>3.17226 -5.10401 6.58845 0 0.739643 2.19219</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>