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Viewing changes to test/worlds/non_rendering_sensors.sdf

  • Committer: Jose Luis Rivero
  • Date: 2022-02-15 17:35:59 UTC
  • Revision ID: jrivero@osrfoundation.org-20220215173559-qyu3wjmqnrby30k7
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test/worlds/non_rendering_sensors.sdf
 
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<?xml version="1.0" ?>
 
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<sdf version="1.7">
 
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  <world name="non_rendering_sensors">
 
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    <plugin
 
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      filename="ignition-gazebo-sensors-system"
 
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      name="ignition::gazebo::systems::Sensors">
 
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      <render_engine>ogre2</render_engine>
 
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    </plugin>
 
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    <plugin
 
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      filename="ignition-gazebo-scene-broadcaster-system"
 
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      name="ignition::gazebo::systems::SceneBroadcaster">
 
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    </plugin>
 
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    <model name="model">
 
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      <link name="link">
 
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        <pose> 0 0 3  0 0 0</pose>
 
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        <sensor name="altimeter_sensor" type="altimeter">
 
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          <altimeter>
 
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            <vertical_position>
 
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              <noise type="gaussian">
 
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                <mean>0.1</mean>
 
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                <stddev>0.2</stddev>
 
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              </noise>
 
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            </vertical_position>
 
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            <vertical_velocity>
 
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              <noise type="gaussian">
 
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                <mean>2.3</mean>
 
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                <stddev>4.5</stddev>
 
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              </noise>
 
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            </vertical_velocity>
 
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          </altimeter>
 
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        </sensor>
 
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       <sensor name="contact_sensor" type="contact">
 
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          <pose relative_to="__model__">4 5 6 0 0 0</pose>
 
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          <enable_metrics>true</enable_metrics>
 
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        </sensor>
 
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        <sensor name="force_torque_sensor" type="force_torque">
 
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          <pose>10 11 12 0 0 0</pose>
 
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          <force_torque>
 
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            <frame>child</frame>
 
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            <measure_direction>parent_to_child</measure_direction>
 
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            <force>
 
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              <x>
 
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                <noise type="gaussian_quantized">
 
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                  <mean>0.02</mean>
 
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                  <stddev>0.0005</stddev>
 
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                </noise>
 
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              </x>
 
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             </force>
 
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            <torque>
 
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              <y>
 
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                <noise type="gaussian">
 
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                  <mean>0.009</mean>
 
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                  <stddev>0.0000985</stddev>
 
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                </noise>
 
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              </y>
 
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             </torque>
 
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          </force_torque>
 
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        </sensor>
 
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        <sensor name="imu_sensor" type="imu">
 
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          <pose>4 5 6 0 0 0</pose>
 
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          <imu>
 
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            <linear_acceleration>
 
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              <x>
 
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                <noise type="gaussian">
 
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                  <mean>0</mean>
 
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                  <stddev>0.1</stddev>
 
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                  <dynamic_bias_stddev>0.2</dynamic_bias_stddev>
 
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                  <dynamic_bias_correlation_time>1</dynamic_bias_correlation_time>
 
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                </noise>
 
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              </x>
 
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              <y>
 
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                <noise type="gaussian">
 
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                  <mean>1</mean>
 
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                  <stddev>1.1</stddev>
 
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                  <dynamic_bias_stddev>1.2</dynamic_bias_stddev>
 
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                  <dynamic_bias_correlation_time>2</dynamic_bias_correlation_time>
 
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                </noise>
 
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              </y>
 
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              <z>
 
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                <noise type="gaussian">
 
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                  <mean>2</mean>
 
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                  <stddev>2.1</stddev>
 
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                  <dynamic_bias_stddev>2.2</dynamic_bias_stddev>
 
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                  <dynamic_bias_correlation_time>3</dynamic_bias_correlation_time>
 
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                </noise>
 
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              </z>
 
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            </linear_acceleration>
 
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            <angular_velocity>
 
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              <x>
 
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                <noise type="gaussian">
 
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                  <mean>3</mean>
 
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                  <stddev>3.1</stddev>
 
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                  <dynamic_bias_stddev>4.2</dynamic_bias_stddev>
 
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                  <dynamic_bias_correlation_time>4</dynamic_bias_correlation_time>
 
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                </noise>
 
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              </x>
 
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              <y>
 
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                <noise type="gaussian">
 
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                  <mean>4</mean>
 
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                  <stddev>4.1</stddev>
 
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                  <dynamic_bias_stddev>5.2</dynamic_bias_stddev>
 
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                  <dynamic_bias_correlation_time>5</dynamic_bias_correlation_time>
 
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                </noise>
 
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              </y>
 
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              <z>
 
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                <noise type="gaussian">
 
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                  <mean>5</mean>
 
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                  <stddev>5.1</stddev>
 
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                  <dynamic_bias_stddev>6.2</dynamic_bias_stddev>
 
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                  <dynamic_bias_correlation_time>6</dynamic_bias_correlation_time>
 
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                </noise>
 
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              </z>
 
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            </angular_velocity>
 
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            <orientation_reference_frame>
 
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              <localization>ENU</localization>
 
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              <custom_rpy parent_frame="linka">0 1 0</custom_rpy>
 
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              <grav_dir_x parent_frame="linkb">0 0 1</grav_dir_x>
 
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            </orientation_reference_frame>
 
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            <enable_orientation>false</enable_orientation>
 
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          </imu>
 
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        </sensor>
 
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        <sensor name="logical_camera_sensor" type="logical_camera">
 
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          <pose>7 8 9 0 0 0</pose>
 
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          <logical_camera>
 
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            <near>0.1</near>
 
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            <far>100.1</far>
 
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            <aspect_ratio>1.33</aspect_ratio>
 
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            <horizontal_fov>1.234</horizontal_fov>
 
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          </logical_camera>
 
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        </sensor>
 
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        <sensor name="magnetometer_sensor" type="magnetometer">
 
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          <pose>10 11 12 0 0 0</pose>
 
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          <magnetometer>
 
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            <x>
 
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              <noise type="gaussian">
 
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                <mean>0.1</mean>
 
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                <stddev>0.2</stddev>
 
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              </noise>
 
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            </x>
 
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            <y>
 
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              <noise type="gaussian">
 
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                <mean>1.2</mean>
 
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                <stddev>2.3</stddev>
 
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              </noise>
 
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            </y>
 
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            <z>
 
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              <noise type="gaussian">
 
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                <mean>3.4</mean>
 
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                <stddev>5.6</stddev>
 
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              </noise>
 
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            </z>
 
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          </magnetometer>
 
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        </sensor>
 
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        <sensor name="air_pressure_sensor" type="air_pressure">
 
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          <pose>10 20 30 0 0 0</pose>
 
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          <air_pressure>
 
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            <reference_altitude>123.4</reference_altitude>
 
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            <pressure>
 
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              <noise type="gaussian">
 
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                <mean>3.4</mean>
 
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                <stddev>5.6</stddev>
 
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              </noise>
 
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            </pressure>
 
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          </air_pressure>
 
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        </sensor>
 
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      </link>
 
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    </model>
 
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  </world>
 
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</sdf>