road.world

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

<?xml version="1.0"?>
<gz:world xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window" xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param">

  <param:Global>
    <utmOffset>499015.29 3846508.76</utmOffset>
  </param:Global>

  <model:LightSource>
    <id>light0</id>
    <xyz>-5.000 -5.000 10.000</xyz>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
    <color>0.5 0.5 0.5</color>
    <textureFile>grid.ppm</textureFile>
  </model:GroundPlane>

  <model:Road>
    <roadFile>road.txt</roadFile>
    <color>1.0 0.9 0.8</color>
    <textureFile>grid.ppm</textureFile>
  </model:Road>

  <model:CarChassis>
    <id>car1</id>
    <xyz>3.775 9.529 0.631</xyz>
    <rpy>-4 -4 54</rpy>
  </model:CarChassis>

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>4.934 -0.688 5.071</xyz>
    <rpy>0 15 83</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>


</gz:world>