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fix tabs and set default ping to true
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@hmoyen
hmoyen committed Jul 19, 2024
1 parent 6598717 commit b0801ba
Showing 1 changed file with 48 additions and 53 deletions.
101 changes: 48 additions & 53 deletions models/dave_worlds/worlds/usbl_tutorial.world
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Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,18 @@

<sdf version="1.4">
<world name="default">
<!-- <include filename="ground_plane.model"/>
<include filename="sun.light"/> -->

<include>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
</uri>
<pose> 0 0 0 0 0 0 </pose>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
</uri>
<pose>0 0 0 0 0 0</pose>
</include>

<include>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
</uri>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
</uri>
</include>

<model name="box">
Expand All @@ -41,20 +40,20 @@
</visual>
</link>

<plugin
filename="UsblTransceiver"
name="dave_gz_sensor_plugins::UsblTransceiver">
<namespace>USBL</namespace>
<transceiver_device>transceiver_manufacturer</transceiver_device>
<transponder_device>transponder_manufacturer</transponder_device>
<transponder_ID>1,2</transponder_ID>
<transceiver_ID>168</transceiver_ID>
<enable_ping_scheduler>false</enable_ping_scheduler>
<interrogation_mode>common</interrogation_mode>
<ping_frequency>0.5</ping_frequency>
<transponder_attached_object>sphere,sphere2</transponder_attached_object>
<sound_speed>1540</sound_speed>
</plugin>
<plugin
filename="UsblTransceiver"
name="dave_gz_sensor_plugins::UsblTransceiver">
<namespace>USBL</namespace>
<transceiver_device>transceiver_manufacturer</transceiver_device>
<transponder_device>transponder_manufacturer</transponder_device>
<transponder_ID>1,2</transponder_ID>
<transceiver_ID>168</transceiver_ID>
<enable_ping_scheduler>true</enable_ping_scheduler>
<interrogation_mode>common</interrogation_mode>
<ping_frequency>0.5</ping_frequency>
<transponder_attached_object>sphere,sphere2</transponder_attached_object>
<sound_speed>1540</sound_speed>
</plugin>
</model>

<model name="sphere">
Expand All @@ -80,23 +79,21 @@
</material>
</visual>
</link>
<plugin
filename="UsblTransponder"
name="dave_gz_sensor_plugins::UsblTransponder">
<namespace>USBL</namespace>
<transponder_device>transponder_manufacturer</transponder_device>
<transponder_ID>1</transponder_ID>
<transceiver_device>transceiver_manufacturer</transceiver_device>
<transceiver_ID>168</transceiver_ID>
<transceiver_model>box</transceiver_model>
<mu>0</mu>
<sigma>0.0</sigma>
</plugin>

<plugin
filename="UsblTransponder"
name="dave_gz_sensor_plugins::UsblTransponder">
<namespace>USBL</namespace>
<transponder_device>transponder_manufacturer</transponder_device>
<transponder_ID>1</transponder_ID>
<transceiver_device>transceiver_manufacturer</transceiver_device>
<transceiver_ID>168</transceiver_ID>
<transceiver_model>box</transceiver_model>
<mu>0</mu>
<sigma>0.0</sigma>
</plugin>
</model>


<model name="sphere2">
<model name="sphere2">
<pose>6 6 1 0 0 0</pose>
<link name="sphere2_link">
<collision name="collision">
Expand All @@ -119,21 +116,19 @@
</material>
</visual>
</link>
<plugin
filename="UsblTransponder"
name="dave_gz_sensor_plugins::UsblTransponder">
<namespace>USBL</namespace>
<transponder_device>transponder_manufacturer</transponder_device>
<transponder_ID>2</transponder_ID>
<transceiver_device>transceiver_manufacturer</transceiver_device>
<transceiver_ID>168</transceiver_ID>
<transceiver_model>box</transceiver_model>
<sound_speed>1540</sound_speed>
<mu>0</mu>
<sigma>0.0</sigma>
</plugin>

<plugin
filename="UsblTransponder"
name="dave_gz_sensor_plugins::UsblTransponder">
<namespace>USBL</namespace>
<transponder_device>transponder_manufacturer</transponder_device>
<transponder_ID>2</transponder_ID>
<transceiver_device>transceiver_manufacturer</transceiver_device>
<transceiver_ID>168</transceiver_ID>
<transceiver_model>box</transceiver_model>
<sound_speed>1540</sound_speed>
<mu>0</mu>
<sigma>0.0</sigma>
</plugin>
</model>

</world>
</sdf>

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