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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| <?xml version="1.0" ?> | ||
|
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| <!-- | ||
| Launch this example with: | ||
| ign gazebo -r particle_emitter.sdf | ||
| Try modifying some parameters of the emitter: | ||
| To disable the particle emitter: | ||
| ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: false}' | ||
| Enable back the particle emitter: | ||
| ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: true}' | ||
| Then, change the particle rate: | ||
| ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'rate: {data: 100}' | ||
| --> | ||
|
|
||
| <sdf version="1.6"> | ||
| <world name="particle_emitters"> | ||
|
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| <physics name="1ms" type="ode"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="ignition-gazebo-physics-system" | ||
| name="ignition::gazebo::systems::Physics"> | ||
| <!-- Use TPE in order to use nested models --> | ||
| <engine><filename>libignition-physics-tpe-plugin.so</filename></engine> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-user-commands-system" | ||
| name="ignition::gazebo::systems::UserCommands"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-scene-broadcaster-system" | ||
| name="ignition::gazebo::systems::SceneBroadcaster"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-particle-emitter2-system" | ||
| name="ignition::gazebo::systems::ParticleEmitter2"> | ||
| </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> | ||
| </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> | ||
|
|
||
| <include> | ||
| <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/fog generator</uri> | ||
| </include> | ||
|
|
||
| <!-- Nested model example, where the particles are bright red | ||
| billboards --> | ||
| <model name="nested"> | ||
| <static>true</static> | ||
| <pose>20 20 0 0 0 0</pose> | ||
| <model name="fog_generator"> | ||
| <link name="fog_link_nested"> | ||
| <particle_emitter name="emitter" type="box"> | ||
| <emitting>true</emitting> | ||
| <size>10 10 0</size> | ||
| <particle_size>1 1 1</particle_size> | ||
| <lifetime>25</lifetime> | ||
| <min_velocity>0.1</min_velocity> | ||
| <max_velocity>0.2</max_velocity> | ||
| <scale_rate>0.5</scale_rate> | ||
| <rate>5</rate> | ||
| <material> | ||
| <diffuse>1.0 0.0 0.0</diffuse> | ||
| <specular>1.0 0.0 0.0</specular> | ||
| </material> | ||
| </particle_emitter> | ||
| </link> | ||
| </model> | ||
| </model> | ||
|
|
||
| </world> | ||
| </sdf> |
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