forked from gazebosim/gz-sim
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Acoustic comms plugin (gazebosim#1608)
* Added acoustic comms plugin Signed-off-by: Aditya <[email protected]>
- Loading branch information
1 parent
e303baa
commit 59c3a8c
Showing
8 changed files
with
966 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,254 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- | ||
| Gazebo acoustic-comms plugin demo. | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="acoustic_comms"> | ||
|
|
||
| <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-acoustic-comms-system" | ||
| name="gz::sim::systems::AcousticComms"> | ||
| <max_range>6</max_range> | ||
| <speed_of_sound>1400</speed_of_sound> | ||
| </plugin> | ||
|
|
||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0.5 0.5 0.5 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> | ||
| </light> | ||
|
|
||
| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.8 0.8 0.8 1</ambient> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.8 0.8 0.8 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="box1"> | ||
| <pose>2 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 0 1</ambient> | ||
| <diffuse>1 0 0 1</diffuse> | ||
| <specular>1 0 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <plugin | ||
| filename="gz-sim-comms-endpoint-system" | ||
| name="gz::sim::systems::CommsEndpoint"> | ||
| <address>addr1</address> | ||
| <topic>addr1/rx</topic> | ||
| </plugin> | ||
| </model> | ||
|
|
||
| <model name="box2"> | ||
| <pose>-2 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0 0 1 1</ambient> | ||
| <diffuse>0 0 1 1</diffuse> | ||
| <specular>0 0 1 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <plugin | ||
| filename="gz-sim-comms-endpoint-system" | ||
| name="gz::sim::systems::CommsEndpoint"> | ||
| <address>addr2</address> | ||
| <topic>addr2/rx</topic> | ||
| <broker> | ||
| <bind_service>/broker/bind</bind_service> | ||
| <unbind_service>/broker/unbind</unbind_service> | ||
| </broker> | ||
| </plugin> | ||
|
|
||
| </model> | ||
|
|
||
| <model name="box3"> | ||
| <pose>5 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 0 1</ambient> | ||
| <diffuse>1 0 0 1</diffuse> | ||
| <specular>1 0 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <plugin | ||
| filename="gz-sim-comms-endpoint-system" | ||
| name="gz::sim::systems::CommsEndpoint"> | ||
| <address>addr3</address> | ||
| <topic>addr3/rx</topic> | ||
| </plugin> | ||
| </model> | ||
|
|
||
| <model name="box4"> | ||
| <pose>-5 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 0 1</ambient> | ||
| <diffuse>1 0 0 1</diffuse> | ||
| <specular>1 0 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <plugin | ||
| filename="gz-sim-comms-endpoint-system" | ||
| name="gz::sim::systems::CommsEndpoint"> | ||
| <address>addr4</address> | ||
| <topic>addr4/rx</topic> | ||
| </plugin> | ||
| </model> | ||
|
|
||
| </world> | ||
| </sdf> |
Oops, something went wrong.