pioneer2at.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">

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-0.389 -0.898 1.046</xyz>
    <rpy>0 37 31</rpy>
    <imageSize>640 480</imageSize>
    <updateRate>10</updateRate>

    <nearClip>0.2</nearClip>
    <farClip>100</farClip>

    <displayRays>false</displayRays>
    <displayAxes>false</displayAxes>
    <displayCoM>false</displayCoM>
    <displayTextures>true</displayTextures>
  </model:ObserverCam>


  <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:Pioneer2AT>
    <id>robot1</id>
    <xyz>0.012 -0.005 -0.000</xyz>
    <model:SickLMS200>
      <id>laser1</id>
      <xyz>0.100 0.000 0.30</xyz>
      <rpy>0 0 0</rpy>
      <scanRate>75</scanRate>
      <model:MonoCam>
        <id>camera1</id>
        <xyz>0 0 0.20</xyz>

        <nearClip>0.5</nearClip>
        <farClip>3</farClip>

      </model:MonoCam>
    </model:SickLMS200>
  </model:Pioneer2AT>

</gz:world>