Add ResourceSpawner example file (#1701)

Add an example file for the ResourceSpawner plugin. I'm using this to link from https://github.com/gazebosim/docs/blob/master/garden/Model_insertion_fuel.md. To improve gazebosim/garden-tutorial-party#1991.

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

examples/worlds/resource_spawner.sdf

@@ -0,0 +1,167 @@
+<?xml version="1.0" ?>
+<!--
+ Demo world with a Resource Spawner plugin. It might take some minutes to
+ download the models
+-->
+<sdf version="1.6">
+ <world name="resource_spawner">
+ <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-sensors-system"
+ name="gz::sim::systems::Sensors">
+ <render_engine>ogre2</render_engine>
+ </plugin>
+ <plugin
+ filename="gz-sim-scene-broadcaster-system"
+ name="gz::sim::systems::SceneBroadcaster">
+ </plugin>
+
+ <gui fullscreen="0">
+ <!-- 3D scene -->
+ <plugin filename="MinimalScene" name="3D View">
+ <gz-gui>
+ <title>3D View</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="string" key="state">docked</property>
+ </gz-gui>
+ <engine>ogre2</engine>
+ <scene>scene</scene>
+ <ambient_light>0.4 0.4 0.4</ambient_light>
+ <background_color>0.8 0.8 0.8</background_color>
+ <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+ </plugin>
+
+ <!-- Plugins that add functionality to the scene -->
+ <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+ <gz-gui>
+ <property key="state" type="string">floating</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </gz-gui>
+ </plugin>
+ <plugin filename="GzSceneManager" name="Scene Manager">
+ <gz-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </gz-gui>
+ </plugin>
+ <plugin filename="InteractiveViewControl" name="Interactive view control">
+ <gz-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </gz-gui>
+ </plugin>
+ <plugin filename="CameraTracking" name="Camera Tracking">
+ <gz-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </gz-gui>
+ </plugin>
+ <!-- World control -->
+ <plugin filename="WorldControl" name="World control">
+ <gz-gui>
+ <title>World control</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">72</property>
+ <property type="double" key="width">121</property>
+ <property type="double" key="z">1</property>
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="left" target="left"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </gz-gui>
+ <play_pause>true</play_pause>
+ <step>true</step>
+ <start_paused>true</start_paused>
+ <use_event>true</use_event>
+ </plugin>
+
+ <!-- World statistics -->
+ <plugin filename="WorldStats" name="World stats">
+ <gz-gui>
+ <title>World stats</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">110</property>
+ <property type="double" key="width">290</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="right" target="right"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </gz-gui>
+
+ <sim_time>true</sim_time>
+ <real_time>true</real_time>
+ <real_time_factor>true</real_time_factor>
+ <iterations>true</iterations>
+ </plugin>
+ <!-- Resource Spawner plugin -->
+ <plugin filename="ResourceSpawner" name="ResourceSpawner">
+ <gz-gui>
+ <property type="string" key="state">docked</property>
+ </gz-gui>
+ </plugin>
+ </gui>
+
+ <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>0.2 0.2 0.2 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>
+ <box>
+ <size>20 20 0.1</size>
+ </box>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <geometry>
+ <box>
+ <size>20 20 0.1</size>
+ </box>
+ </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>
+ </world>
+</sdf>