iris_ardupilot.world

<?xml version="1.0" ?>

<!--

To run this demo, you must have following arducopter repo checked out:

https://github.com/iche033/ardupilot/tree/gazebo_sitl_irlock

Compile ArduCopter with SITL mode. Instructions are similar to:

http://ardupilot.org/dev/docs/building-px4-for-linux-with-make.html

but change the make target to sitl instead of px4-v2, i.e.

$ cd ardupilot/ArduCopter && make sitl

To start simulation, first run gazebo:

gazebo worlds/iris_irlock_demo.world

Gazebo starts up paused in a black screen. To run the simulation,
setup ArduCopter and run the command below in a separate terminal:

sim_vehicle.sh -j 4 -f Gazebo

This will start mavproxy. Wait until you have a GPS lock.
You can then do the usual mavprox commands with Gazebo, e.g.

# arm the motors
STABILIZE> arm throttle

# switch to LOITER mode
STABILIZE> mode LOITER

# take off using rc command
LOITER> rc 3 1700

# wait until the irlock beacon is within the view then switch to land mode
# to begin precision landing
LOITER> mode LAND

-->

<sdf version="1.6">
  <world name="default">
    <physics type="ode">
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.9</erp>
          <contact_max_correcting_vel>0.1</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>0</real_time_update_rate>
      <max_step_size>0.0025</max_step_size>
    </physics>

      <include>
      <uri>model://sun</uri>
    </include>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>5000 5000</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        
        <!--<visual name="runway">
          <pose>000 0 -0.14500 0 0 -1.5707</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1829 45</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Runway</name>
            </script>
          </material>
        </visual>-->

        <!--<visual name="grass">
          <pose>0 0 -0.15 0 0 0</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>5000 5000</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grass</name>
            </script>
          </material>
        </visual>-->

      </link>
    </model>

    <model name="iris">
      <pose> -8 0 0 0 0 0 </pose>
      <include>
        <uri>model://iris_with_standoffs_demo</uri>
         <pose> 0 0 0 0 0 0 </pose>
      </include>
    </model>

    <!--<model name="red_trial">
      <pose> 0 0 0 0 0 0 </pose>
      <link name='black_sheet'>
    <inertial>
        <mass>0.2</mass>
    </inertial>
    <collision name='black_sheet_collision'>
      <pose>0 0 0 0 0 0</pose>
      <geometry>
        <box>
          <size>1.5 1.5 .05</size>
        </box>
      </geometry>
    </collision>
    <visual name='black_sheet_visual'>
      <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>__default__</uri>
          </script>
      </material>
      <pose>0 0 0 0 0 0</pose>
      <geometry>
        <box>
          <size>1.5 1.5 .05</size>
        </box>
      </geometry>
    </visual>
  </link>
  <link name='red_sheet'>
    <inertial>
        <mass>0.05</mass>
    </inertial>
    <collision name='red_sheet_collision'>
      <pose>0 0 0.05 0 0 0</pose>
      <geometry>
        <cylinder>
            <radius>0.25</radius>
            <length>0.001</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name='red_sheet_visual'>
      <material>
          <ambient>1 0 0 0.2</ambient>
          <diffuse>1 0.1 0.2 1</diffuse>
          <specular>0 0 0 0</specular>
          <emissive>0 0 0 1</emissive>
      </material>
      <pose>0 0 0.05 0 0 0</pose>
      <geometry>
        <cylinder>
            <radius>0.25</radius>
            <length>0.001</length>
        </cylinder>
      </geometry>
    </visual>
  </link>
  <joint name='red_sheet_joint' type='fixed'>
      <parent>black_sheet</parent>
      <child>red_sheet</child>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
  </joint>
    </model>-->

    <model name="rover_ardupilot">
      <pose>0 0 0 0 0 0 </pose>
      <include>
        <uri>model://rover_ardupilot</uri>
        <pose>0 0 0 0 0 0</pose>
      </include>
    </model>


    <!--<population name="population">
      <model name="shelf">
        <include>
          <static>true</static>
          <uri>model://bookshelf</uri>
        </include>
      </model>
      <pose>0 0 0 0 0 0</pose>
      <box>
        <size>20 20 10</size>
      </box>
      <model_count>10</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>-->


  </world>
</sdf>