From 347b9b9c45cdfe67069a674191d6dbce32c474ec Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Thu, 11 Jul 2024 23:22:44 +0100
Subject: [PATCH] OmniRover: add example world

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Gazebo/worlds/omnirover_playpen.sdf | 72 +++++++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100755 Gazebo/worlds/omnirover_playpen.sdf

diff --git a/Gazebo/worlds/omnirover_playpen.sdf b/Gazebo/worlds/omnirover_playpen.sdf
new file mode 100755
index 00000000..994c7da6
--- /dev/null
+++ b/Gazebo/worlds/omnirover_playpen.sdf
@@ -0,0 +1,72 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <world name="playpen">
+    <physics name="1ms" type="ignore">
+      <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-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </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-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+    <plugin filename="gz-sim-magnetometer-system"
+      name="gz::sim::systems::Magnetometer">
+    </plugin>
+    <plugin filename="gz-sim-navsat-system"
+      name="gz::sim::systems::NavSat">
+    </plugin>
+
+    <scene>
+      <ambient>1.0 1.0 1.0</ambient>
+      <background>0.8 0.8 0.8</background>
+      <sky></sky>
+    </scene>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 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>
+
+    <spherical_coordinates>
+      <latitude_deg>-35.3632621</latitude_deg>
+      <longitude_deg>149.1652374</longitude_deg>
+      <elevation>10.0</elevation>
+      <heading_deg>0</heading_deg>
+      <surface_model>EARTH_WGS84</surface_model>
+    </spherical_coordinates>
+
+    <include>
+      <pose degrees="true">0 0 0 0 0 90</pose>
+      <uri>model://rover_playpen</uri>
+    </include>
+
+    <include>
+      <uri>model://omni4rover</uri>
+      <pose degrees="true">0 0 0.1 0 0 90</pose>
+    </include>
+
+  </world>
+</sdf>